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

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

#include plug_origin_warp.moos

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

  Run = MOOSDB              @ NewConsole = false
  Run = pRealm              @ NewConsole = false
  #ifdef LAUNCH_GUI yes
    Run = pMarineViewer       @ NewConsole = false
  #endif
  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 = pDemusterAssign     @ NewConsole = false
  // Run = uFldCollisionDetect @ NewConsole = false
  Run = uFldTaskMonitor @ NewConsole = false
}

#include plug_pShare.moos
#include plug_pHostInfo.moos

//------------------------------------------------
// pDemusterAssign config block

// ProcessConfig = pDemusterAssign
// {
//    AppTick   = 4
//    CommsTick = 4

//    margin = $(FORMATION_MARGIN)
//    margin_muster = 8
//    distance = $(FORMATION_DISTANCE)
   
//    //Formation specific parameters
//    circle_radius = $(CIRCLE_RADIUS)
//    arrow_angle = 90

//    //Dubin parameters
//    dubin_turn_radius = $(TURN_RADIUS)

//    //Assignment parameters
//    assignment_algorithm = $(ASSIGNMENT_ALGORITHM)
//    assignment_metric = $(ASSIGNMENT_METRIC)
//    heading_distance_weight = $(HEAD_DIST_WEIGHT)

//    project_first_point = $(PROJECT_FIRST)
//    capture_radius = 2.5 //Needed for the projection

//    turn_in_place = $(TURN_IN_PLACE)
//    mode = $(MODE)
//    number_of_controlers = 2


//   // // When only for random
//   //  demuster_point = 20,-30
//   //  type = random
// }

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

ProcessConfig = uFldNodeComms
{
  AppTick       = 10
  CommsTick     = 10

  // comms_range      = 30
  // critical_range   = 15
  comms_range      = 300
  critical_range   = 150

  min_msg_interval = 0
  max_msg_length   = 10000
  groups           = false

  view_node_rpt_pulses = false
  pulse_duration = 0
}

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

ProcessConfig = uFldShoreBroker
{
  AppTick       = 10
  CommsTick     = 10

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

  qbridge  = DEMUSTER
  qbridge  = CLUSTER
  qbridge  = DUBIN_UPDATE
  qbridge  = CLUSTER_UPDATE
  qbridge  = DEMUSTER_CONFIG
  qbridge  = AVOID


	bridge   = src=HEARTBEAT

  bridge   = src=HELM_MAP_CLEAR, alias=HELM_MAP_CLEAR
  bridge   = src=SIM_THR_FAULT_L
  bridge   = src=SIM_THR_FAULT_R

  qbridge  = YOU_HAVE_CONTROL
  qbridge  = WAYPOINT_UPDATE

  qbridge  = MISSION_TASK 
}

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

ProcessConfig = pLogger
{
  AppTick       = 10
  CommsTick     = 10

  File          = LOG_SHORESIDE
  #ifdef BATCH_NAME
  PATH          = ./logs_simulation/%(BATCH_NAME)/%(MISSION_NAME)
  Log = DEMUSTER_BEGIN @ 0
  Log = DEMUSTER_COMPLETE @ 0  
  #elseifdef SIM TRUE
  PATH          = ./logs_simulation/%(MISSION_NAME)
  Log = DEMUSTER_BEGIN @ 0
  Log = DEMUSTER_COMPLETE @ 0  
  // Log it all!!!!!
  // WildCardLogging = true
  // WildCardOmitPattern = *_STATUS
  // WildCardOmitPattern = DB_VARSUMMARY
  // WildCardOmitPattern = DB_RWSUMMARY
  #else
  PATH          = ./
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
  #endif
  
  SyncLog       = true @ 0.2
  AsyncLog      = true
  FileTimeStamp = true

  LogAuxSrc     = true
}

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

  //tiff_file            = forrest19.tif
  tiff_file            = MIT_SP.tif
  tiff_file            = mit_sp_osm18.tif
  set_pan_x            = 10
  set_pan_y            = -320
  zoom                 = 1.8
  vehicles_shape_scale = 2
  vehicles_name_mode   = names

  circle_viewable_all = true

  trails_color = off
  trails_length = 0

	beat_flag = HEARTBEAT=true
	
  appcast_viewable = true
  appcast_color_scheme = indigo

  scope  = DEPLOY_ALL

  action = STATION_KEEP_ALL = false
  action = STATION_KEEP_ALL = true

  button_one       = DEPLOY      # DEPLOY_ALL=true
  button_one       = MISSION_TASK_ALL = type=decluster_task,id=1,pos_idx=0,task_time=$[UTC]
  button_one       = MOOS_MANUAL_OVERRIDE_ALL=false
  button_one       = RETURN_ALL=false # STATION_KEEP_ALL=false
  button_one       = DEMUSTER_ALL=true
  button_one       = CLUSTER_ALL=false
  button_one       = DEMUSTER_BEGIN = true

  // button_one       = DEPLOY      # DEPLOY_ALL=true
  // button_one       = MOOS_MANUAL_OVERRIDE_ALL=false
  // button_one       = RETURN_ALL=false # STATION_KEEP_ALL=false
  // button_one       = DEMUSTER_ALL=false
  // button_one       = DEMUSTER_ASSIGN=true

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

	button_three     = ALLSTOP # DEPLOY_ALL=false

	button_four      = STATION # STATION_KEEP_ALL=true
  button_four      = DEMUSTER_ALL=false
  button_four      = CLUSTER_ALL=false


  button_five  = DECLUSTER  # NEW_ANCHOR_POINT = 0, 0
  button_five  = DEMUSTER_CONFIG=type_circle
  button_five  = DEMUSTER_ALL=false
  button_five  = STATION_KEEP_ALL=true
  button_five  = DEMUSTER_ASSIGN=true
  button_five  = DUBIN_UPDATE_ALL=only_right_turns=false
  button_five  = DEMUSTER_CONFIG_ALL=synch_true
  button_five  = DEMUSTER_CONFIG_ALL=safety_distance_set=3
  button_five  = DEMUSTER_BEGIN=true //ended prematurely

  button_six   = CLUSTER  # NEW_ANCHOR_POINT = 20, -30
  button_six   = DEMUSTER_CONFIG=type_random
  button_six   = DEMUSTER_ALL=false
  button_six   = STATION_KEEP_ALL=true
  button_six   = DEMUSTER_ASSIGN=true
  button_six   = DUBIN_UPDATE_ALL=only_right_turns=true
  button_six   = DEMUSTER_CONFIG_ALL=synch_false
  button_six   = DEMUSTER_CONFIG_ALL=safety_distance_set=5
  button_six   = DEMUSTER_COMPLETE=true //ended prematurely
}

//--------------------------------------------------------
// uProcessWatch Configuration Block

ProcessConfig = uProcessWatch
{
  AppTick   = 1
  CommsTick = 1

  allow_retractions = true

  watch_all = true      // default is true

  nowatch = uXMS*
  nowatch = uPokeDB*

  summary_wait = 10
}


// ProcessConfig = uFldCollisionDetect                             
// {                                                               
//   AppTick   = 4                                                 
//   CommsTick = 4                                                 

//   // condition = DEPLOY_ALL = true                                 
//   condition = DEMUSTERING = true                                 

//   encounter_flag = ENCOUNTER = $CPA                             
//   collision_flag = COLLISION = $CPA                             
//   near_miss_flag = NEAR_MISS = vname1=$V1,vname2=$V2,cpa=$CPA   

//   encounter_range = 8 //in meters      
//   near_miss_range = 4    
//   collision_range = 2                                           

//   pulse_render   = true               
//   pulse_range    = 10       
//   pulse_duration = 10

//   encounter_rings = false       

//   report_all_encounters = true  
// }   


//---------------------------------------------------------
// uFldTaskMonitor Config Block

ProcessConfig = uFldTaskMonitor
{
  AppTick    = 10
  CommsTick  = 10

	report_discrepancies = false
	
	app_logging = off
}