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

#include plug_origin_warp.moos
//#define REGION_GRID -274,-127:286,-127:286,-447:-274,-447
#define REGION_GRID -274,-127:6,-127:6,-287:-274,-287

//------------------------------------------------------------
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 100

  Run = MOOSDB             @ NewConsole = false
  Run = uProcessWatch      @ NewConsole = false
  Run = pShare             @ NewConsole = false
  Run = pLogger            @ NewConsole = false
  Run = pNodeReporter      @ NewConsole = false
  Run = pMarinePID         @ NewConsole = false
  Run = pContactMgrV20     @ NewConsole = false
  Run = pHelmIvP           @ NewConsole = false
  Run = pHostInfo          @ NewConsole = false
  Run = uFldNodeBroker     @ NewConsole = false
  Run = pDeadManPost       @ NewConsole = false
  Run = pRealm             @ NewConsole = false
  Run = uFldMessageHandler @ NewConsole = false
  Run = pOpinionManager    @ NewConsole = false
  Run = pRealm             @ NewConsole = false
  Run = pProxonoi2          @ NewConsole = false
  Run = uOptionMarker      @ NewConsole = false
  
  Run = pBloomStormCtrl    @ NewConsole = false
  Run = pGroupComboAlloc   @ NewConsole = false
  Run = pProxonoiGridSearch @ NewConsole = false
  //Run = uNetworkViz        @ NewConsole = false

#ifdef STATIC_COL yes
  Run = pOpinionFixer      @ NewConsole = false
#endif

#ifdef XMODE SIM
  Run = uSimMarine         @ NewConsole = false
#elseifdef XMODE M300
  Run = iM300              @ NewConsole = false
  Run = iM300Health        @ NewConsole = false
#endif
}


#ifdef XMODE SIM
#include plug_uSimMarine.moos
#elseifdef XMODE M300
#include plug_iM300.moos
#include plug_iM300Health.moos
#endif

#include plug_pShare.moos

#include plug_pLogger.moos
#include plug_pHostInfo.moos
#include plug_uProcessWatch.moos

#include plug_pOpinionManager.moos
#include plug_pProxonoi.moos
#include plug_pBloomStormCtrl.moos
#include plug_pGroupComboAlloc.moos
#include plug_pProxonoiGridSearch.moos



#ifdef STATIC_COL yes
  #include plug_pOpinionFixer.moos
#endif

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

     ok_skew   = any
  behaviors    = targ_$(VNAME).bhv
  verbose      = false
  domain       = course:0:359:360
  domain       = speed:0:2.0:21
  hold_on_apps = pContactMgrV20 //, pTaskManager
}

//---------------------------------------
// pNodeReporter Config Block
	
ProcessConfig = pNodeReporter
{
  AppTick     = 2
  CommsTick   = 2

  vessel_type = kayak
}

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

  heartbeat_var   = HEARTBEAT
  max_noheart     = 20
  post_policy     = reset
  active_at_start = false
  deadflag        = RETURN = true
  deadflag        = STATION_KEEP = false
  deadflag        = DEPLOY = false
}

	
//--------------------------------------------------
// uFldMessageHandler Config Block
	
ProcessConfig = uFldMessageHandler
{
  AppTick   = 3
  CommsTick = 3

  strict_addressing = false
}

//--------------------------------------------------
// uFldNodeBroker Config Block

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

  try_shore_host = pshare_route=$(SHORE_IP):$(SHORE_PSHARE)

  bridge = src=VIEW_POLYGON
  bridge = src=VIEW_POINT
  bridge = src=VIEW_SEGLIST
  bridge = src=VIEW_CIRCLE
  bridge = src=VIEW_GRID
  bridge = src=APPCAST
  bridge = src=TASK_MGR_STAT
  bridge = src=BVOI_STATE
  bridge = src=VOI_REGION_POLY
  bridge = src=CONVOY_RECAP
  bridge = src=CONVOY_STAT_RECAP
  bridge = src=CONVOY_SPD_POLICY
  bridge = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT
  bridge = src=SAMPLE_FINISHED_LOG
  
  bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE
  //bridge = src=MEDIATED_MESSAGE_LOCAL, alias=MEDIATED_MESSAGE
  //bridge = src=ACK_MESSAGE_LOCAL, alias=ACK_MESSAGE
  bridge = src=OPTION, alias=OPTION_$(VNAME)
}

//---------------------------------------
// pMarinePIDV22 Config Block
	
ProcessConfig = pMarinePID
{
  AppTick    = 1
  CommsTick  = 1

  verbose       = true
  depth_control = false
  active_start  = true

  // Yaw PID controller (Set for M300)
  yaw_pid_kp             = 0.9 
  yaw_pid_kd             = 0.6 
  yaw_pid_ki             = 0.3  
  yaw_pid_integral_limit = 0.3 

  // Speed PID controller
  speed_pid_kp           = 1.0
  speed_pid_kd           = 0.0
  speed_pid_ki           = 0.0
  speed_pid_integral_limit = 0.07

  // Maximums
  maxrudder  = 100 // 100
  maxthrust  = 100

  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
  //SPEED_FACTOR = 20
  deprecated_ok = true
}

//--------------------------------------------------------
// pContactMgrV20 config block

ProcessConfig = pContactMgrV20
{
  AppTick   = 2
  CommsTick = 2

  decay = 30,60

  alert_verbose = true

	post_all_ranges = true
	
  contact_max_age = 35
	display_radii_id = avd
  display_radii = false
  alert_range_color = gray70
  cpa_range_color   = gray30
}


//-------------------------------------------------------------
// pOpinionInput

ProcessConfig = pOpinionInput
{
  AppTick   = 4 
  CommsTick = 4

        danger_min = 42
        danger_max = 100
  danger_min_range = 1.0
}


//------------------------------------------
// pMediator config block

ProcessConfig = pMediator
{
  AppTick   = 4
  CommsTick = 4

	//app_logging = true

	//no_ack_vars = MUSTER_COLLAB
	no_ack_vars = CONVOY_STAT_RECAP_ALLY
	
	resend_thresh = 3
	max_tries = 6
}


//------------------------------------------
// pTaskManager config block

//ProcessConfig = pTaskManager
{
  AppTick   = 4
  CommsTick = 4

	//app_logging = true
	
	//task_utc_mandatory = true
	
	max_appcast_events = 10
	//ignore_msg = CONVOY_STAT_RECAP_ALLY
}

//------------------------------------------
// pRealm config block

ProcessConfig = pRealm
{
  AppTick   = 4
  CommsTick = 4

	msg_max_hist = 20
	trunc_length = 270
	wrap_length  = 90

	summary_interval = 2.0
	relcast_interval  = 0.8
	
	hist_var = MISSION_TASK
	hist_var = TASK_BID
	//hist_var = NODE_MESSAGE
	//hist_var = NODE_MESSAGE_LOCAL
	hist_var = TASK_STATE
	hist_var = TASK_MGR_STATUS	
}



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

   circle_position = x=75,y=-195,radius=50
   max_speed = 5
   aggression = 1

   encircle_active = true
   consider_thresh = 30
   on_circle_thresh = 20

   message_color = dodger_blue // or "off"
}


//----------------------------------------
//ProcessConfig = uOpinionAnalysis
{
   AppTick   = 0.5
   CommsTick = 0.5
}



//------------------------------------------
// uOptionMarker configuration  block
   
ProcessConfig = uOptionMarker
{
  AppTick   = 2
  CommsTick = 2

  edge_size = 3.0
  radius    = 6.0

  opinion_saturated_limit = 0.1
  post_circ_with_stale_opinion = true
  visibility_cond_var = DEPLOY
  
  color_set = EXPLORE:white
  color_set = EXPLOIT:red

  
}

//-----------------------------------------
// uNetworkViz configuration  block
   
ProcessConfig = uNetworkViz
{
  AppTick   = 1
  CommsTick = 1

}