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

#include plug_origin_warp.moos

//------------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 500
   
  Run = MOOSDB             @ NewConsole = false
  Run = uProcessWatch      @ NewConsole = false
  Run = pShare             @ NewConsole = false
  Run = pLogger            @ NewConsole = false
  Run = pNodeReporter      @ NewConsole = false
  Run = pHelmIvP           @ NewConsole = false
  Run = pHostInfo          @ NewConsole = false
  Run = uFldNodeBroker     @ NewConsole = false
  Run = uFldMessageHandler @ NewConsole = false
  Run = uLoadWatch         @ NewConsole = false
  Run = uMemWatch          @ NewConsole = false
  Run = iSay               @ NewConsole = false
  Run = pContactMgrV20     @ NewConsole = false
  //Run = pTowManager        @ NewConsole = false
  Run = pTaskManager       @ NewConsole = false
  Run = pRealm             @ NewConsole = false
  Run = pEvalConvoy        @ NewConsole = false

  Run = iM300              @ NewConsole = false
  Run = iM300Health        @ NewConsole = false
  Run = pMarinePID         @ NewConsole = false
  Run = iHydroMAN_IvPExtend @ NewConsole = false
  Run = uTimerScript       @ NewConsole = false ~ uTimerScript_PING

  Run = pDynamLearning     @ NewConsole = false	
}

#include plug_iM300.moos
#include plug_iM300Health.moos
#include plug_pMarinePID.moos
#include plug_uFldMessageHandler.moos
#include plug_uTimerScript_PING.moos
#include plug_pDynamLearning.moos
#include plug_pTowManager.moos
#include plug_pContactMgrV20.moos
#include plug_uMemWatch.moos
#include plug_pShare.moos
#include plug_pHostInfo.moos
#include plug_pLogger.moos
#include plug_uProcessWatch.moos
#include plug_uLoadWatch.moos
#include plug_iSay.moos

//------------------------------------------------
// iHydroMAN_IvPExtend config block

ProcessConfig = iHydroMAN_IvPExtend
{
   AppTick   = 4
   CommsTick = 4

   LatOrigin = 42.358436
   LongOrigin = -71.087448

   hydroman_gateway_port = $(HYDROMAN_IPORT)
   hydroman_gateway_ip = 127.0.0.1

   // *********************************************************************************************
   // OWNSHIP NAVIGATION RELATED
   // *********************************************************************************************

   gps_expiration_time = 5             // in seconds
   compass_stdev = 1                   // stdev in degrees
   range_stdev = 1                    // in meters

   // Prefixes of the ownship sensor data messages, which will be sent to HydroMAN
   prefix_gps_msg = GPS
   prefix_imu_msg = IMU
   prefix_compass_msg = NAV
   prefix_actuator_msg = PYDIR_THRUST

   // Prefixes for nav and target nav output provided by HydroMAN
   // Msg style eg: "prefix_nav_data" + X/Y/LAT/LON/HEADING
   prefix_nav_output = HYDROMAN_NAV_           

   // *********************************************************************************************
   // TARGET VEHICLE NAVIGATION RELATED 
   // *********************************************************************************************

   ownship_name=$(VNAME)

   // Prefixes of the target vehicle sensor data messages, which will be sent to HydroMAN
   // Msg style eg: "range_msg" 
   range_msg = CRS_RANGE_REPORT
   bearing_msg = CRS_BEARING_REPORT
   target_track_msg = TARGET_TRACK

   // Msg style eg: "prefix_target_nav_output" + "target_name" + X/Y/LAT/LONG/HEADING
   prefix_target_nav_output = HYDROMAN_TARGET_NAV_  

   publish_target_node_report = false
   use_particle_nav_for_track = true
}

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

ProcessConfig = pTaskManager
{
  AppTick   = 4
  CommsTick = 4

	max_appcast_events = 20
	ignore_msg = CONVOY_STAT_RECAP_ALLY
}

//------------------------------------------
// pEvalConvoy config block

ProcessConfig = pEvalConvoy
{
  AppTick   = 4
  CommsTick = 4

	on_tail_thresh    = 10
	alignment_thresh  = 60 
	tracking_thresh   = 1.2 
	rng_switch_thresh = 1
}

//------------------------------------------
// 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_RCVD
	hist_var = NODE_MESSAGE
	hist_var = NODE_MESSAGE_LOCAL
	hist_var = TASK_STATE
	hist_var = TASK_MGR_STATUS
	
	scope_set = name=events, vars = MISSION_TASK : TASK_WPT : TASK_OUR_BID : NODE_MESSAGE
	scope_set = name=events, vars = NODE_MESSAGE_LOCAL : BCM_REPORT_REQUEST : CONTACTS_5000
	scope_set = name=events, vars = TRANSIT : TASK_OUR_STATE : TASK_BID : TASK_CONVOY : UP_CONVOY
	scope_set = name=events, vars = CONVOY: MODE: UP_CONVOY

	scope_set = name=events_thin, vars = MISSION_TASK : TASK_WPT : TASK_OUR_BID : CONTACTS_5000
	scope_set = name=events_thin, vars = BCM_REPORT_REQUEST : TRANSIT : TASK_OUR_STATE : TASK_BID
	scope_set = name=events_thin, vars = TM_ALERT_REQUEST

	scope_set = name=bcm, vars = BCM_REPORT_REQUEST : CONTACTS_5000
}

//----------------------------------------------------
// pTowManager Configuration Block  

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

	ok_skew = any
  Behaviors    = targ_$(VNAME).bhv  
  Verbose      = false
  Domain       = course:0:359:360
  Domain       = speed:0:$(MAXSPD):21

	hold_on_apps = pContactMgrV20, pTaskManager
}

//--------------------------------------------------------
// pNodeReporter Configuration Block 

ProcessConfig = pNodeReporter
{
  AppTick     = 2
  CommsTick   = 2

  alt_nav_prefix = GT_
  alt_nav_name = _GT
  alt_nav_group  = gnd_truth

  platform_group = normal

  platform_color = $(COLOR)
  platform_type = kayak
  terse_reports = true
}

//--------------------------------------------------
// uFldNodeBroker configuration block from plugin

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

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

  bridge = src=VIEW_POLYGON
  bridge = src=VIEW_CIRCLE
  bridge = src=VIEW_POINT
  bridge = src=VIEW_SEGLIST
  bridge = src=VIEW_WEDGE
  bridge = src=APPCAST
  bridge = src=REALMCAST
  bridge = src=TASK_MGR_STATUS
  bridge = src=CONVOY_RECAP
  bridge = src=CONVOY_STAT_RECAP
  bridge = src=CONVOY_SPD_POLICY
  bridge = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT
  bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE

  bridge =  src=CRS_RANGE_REQUEST

  bridge =  src=VISUALIZE_TARGET,         alias=VIEW_SEGLIST_TARGET
  bridge =  src=VISUALIZE_NAV, 					  alias=VIEW_SEGLIST_NAV
  bridge =  src=VISUALIZE_HM_NAV,         alias=VIEW_SEGLIST_HM_NAV
  bridge =  src=VISUALIZE_RANGE,          alias=VIEW_RANGE_%(VNAME)
  bridge =  src=VISUALIZE_RANGE_CENTER,   alias=VISUALIZE_RANGE_CENTER_%(VNAME)
  bridge =  src=TARGET_TRACK_LOCAL,       alias=TARGET_TRACK_%(VNAME)
}