//*******************************************************
// ShoreSide Configuration File

ServerHost = localhost
ServerPort = $(MOOS_PORT)
Community  = shoreside

#include plugs.moos <origin_warp>

//--------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 100

  Run = MOOSDB          @ NewConsole = false
  Run = pRealm          @ NewConsole = false
  Run = pMarineViewer   @ NewConsole = false
  Run = pLogger         @ NewConsole = false

  Run = pShare          @ NewConsole = false
  Run = pHostInfo       @ NewConsole = false
  Run = uFldShoreBroker @ NewConsole = false

  Run = uProcessWatch   @ NewConsole = false
  Run = uFldNodeComms   @ NewConsole = false
  Run = uTimerScript    @ NewConsole = false
}

#include plugs.moos <pShare>
#include plugs.moos <pHostInfo>
#include plugs.moos <uProcessWatch>


//--------------------------------------------------
// ufldnodecomms Configuration Block

ProcessConfig = uFldNodeComms
{
  AppTick       = 2
  CommsTick     = 2

  comms_range      = 5000
  critical_range   = 25

  min_msg_interval = 0
  max_msg_length   = 1000000
  groups           = false

  view_node_rpt_pulses = false
}

//--------------------------------------------------
// uFldShoreBroker Configuration Block

ProcessConfig = uFldShoreBroker
{
  AppTick       = 1
  CommsTick     = 1

  qbridge  = DEPLOY, RETURN, STATION_KEEP, NODE_REPORT, NODE_MESSAGE
  qbridge  = MOOS_MANUAL_OVERRIDE, APPCAST_REQ, AVOID
  qbridge  = SAY_MOOS, GRID_REQUEST
  qbridge  = TRACKLINE_WAYPOINTS_UP

	bridge   = src=HEARTBEAT

  bridge   = src=HELM_MAP_CLEAR, alias=HELM_MAP_CLEAR
}

//--------------------------------------------------
// pLogger Configuration Block

ProcessConfig = pLogger
{
  AppTick       = 10
  CommsTick     = 10

  File          = XLOG_SHORESIDE
  PATH          = ./
  SyncLog       = true @ 0.2
  AsyncLog      = true
  FileTimeStamp = true

  LogAuxSrc     = true

  // Log it all!!!!!
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
}

//--------------------------------------------------------
ProcessConfig = pMarineViewer
{
  AppTick    = 4
  CommsTick  = 4

  tiff_file            = LA_east_channel_sat.tif
  set_pan_x            = -30
  set_pan_y            = -204
  zoom                 = 0.42

  //tiff_file            = LA_sat.tif
  //set_pan_x            = 4510
  //set_pan_y            = 856
  //zoom                 = 1.37
  
  vehicles_shape_scale = 6
  vehicles_name_mode   = names

  circle_viewable_all = true

  //	beat_flag = HEARTBEAT=true
	
  appcast_viewable = true
  appcast_color_scheme = indigo
  seglist_viewable_labels  = false	

  left_context[update_waypointpoint]  = TRACKLINE_WAYPOINTS_UP_ABE = points=$[XPOS],$[YPOS]

  scope  = DEPLOY_ALL

  action = STATION_KEEP_ALL = false
  action = STATION_KEEP_ALL = true

	action = BLOCK_HEARTBEAT = true
	action = BLOCK_HEARTBEAT = false
	
  button_one   = DEPLOY  # DEPLOY_ALL=true
  button_one   = MOOS_MANUAL_OVERRIDE_ALL=false
  button_one   = RETURN_ALL=false # STATION_KEEP_ALL=false

  button_two   = RETURN  # RETURN_ALL=true
  button_two   = RETURN  # STATION_KEEP_ALL=false

	button_three = ALLSTOP # DEPLOY_ALL=false

	button_four  = STATION # STATION_KEEP_ALL=true


  button_five  = VALUE    # GRID_REQUEST_ABE=value	
  button_six   = VARIANCE # GRID_REQUEST_ABE=variance

  button_seven  = GRAD     # GRID_REQUEST_ABE=grad	
  button_eight  = VAR_GRAD # GRID_REQUEST_ABE=grad_var

  button_nine   = FILE     # GRID_REQUEST_ABE=file
  button_ten    = REWARD   # GRID_REQUEST_ABE=reward
}



//------------------------------------------------------------
// uTimerScript configuration block

ProcessConfig = uTimerScript
{
  AppTick   = 4
  CommsTick = 4

  paused      = false
  reset_max   = unlimited
  reset_time  = end

  script_name = HEARTBEAT_SCRIPT

  event = var=HEARTBEAT, val="true", time=1
}