//-------------------------------------------------
// NAME: M. Benjamin, MIT
// FILE: $(VNAME).moos

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

#include plug_origin_warp.moos

//------------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 50
   
  Run = MOOSDB         @ NewConsole = false
  Run = uProcessWatch  @ NewConsole = false
  Run = pShare         @ NewConsole = false
  Run = uSimMarineV22  @ NewConsole = false
  Run = pLogger        @ NewConsole = false
  Run = pNodeReporter  @ NewConsole = false
  Run = pMarinePID     @ NewConsole = false
  Run = pHelmIvP       @ NewConsole = false
  Run = pHostInfo      @ NewConsole = false
  Run = uFldNodeBroker @ NewConsole = false
  Run = uLoadWatch     @ NewConsole = false
  Run = uMemWatch      @ NewConsole = false
  Run = iSay           @ NewConsole = false
  Run = pContactMgrV20 @ NewConsole = false
  Run = pRealm         @ NewConsole = false
  Run = uXMS           @ NewConsole = false

}

//---------------------------------------------------------
// uXMS Config Block

ProcessConfig = uXMS
{
  AppTick    = 2
  CommsTick  = 2

	var = DRIFT_VECTOR_ADD
	var = MISSION_HASH
}

//---------------------------------------------------------
// pRealm Config Block

ProcessConfig = pRealm
{
  AppTick    = 2
  CommsTick  = 2

	//summary_interval = 7.6
  //relcast_interval = 0.55
}

//----------------------------------------------------
// pHelmIvP Configuration Block  

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

	//app_logging = true
	
  Behaviors    = targ_$(VNAME).bhv  
  Verbose      = false
  Domain       = course:0:359:360
  Domain       = speed:0:5:26

	hold_on_apps = pContactMgrV20
}
	
//--------------------------------------------------------
// pNodeReporter Configuration Block 

ProcessConfig = pNodeReporter
{
  AppTick     = 2
  CommsTick   = 2

  vessel_type = $(VTYPE)
  terse_reports = true

	group = alpha
}

//--------------------------------------------------------
// pContactMgrV20 Configuration Block

ProcessConfig = pContactMgrV20
{
  AppTick   = 2
  CommsTick = 2

  decay = 30,60

  alert_verbose = true

  contact_max_age  = 35
  display_radii    = true
	display_radii_id = avd

	//match_region = pts = {60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40}
	//match_type = kayak, uuv

	post_closest_range = true
	
  display_radii     = true
  alert_range_color = gray70
  cpa_range_color   = gray30
}

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

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

  try_shore_host = pshare_route=localhost:$(SHORE_PSHARE)

	shadow_shore = ip=192.168.7.22, name=henry, dur=45000
	
  bridge = src=VIEW_POLYGON
  bridge = src=VIEW_CIRCLE
  bridge = src=VIEW_POINT
  bridge = src=VIEW_SEGLIST
  bridge = src=NODE_REPORT_LOCAL,  alias=NODE_REPORT
  bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE
  bridge = src=SYSTEM_LENGTH, alias=SYSTEM_LENGTH

  bridge = src=FIRE_REQUEST, alias=FIRE_REQUEST
}

#include plug_uMemWatch.moos
#include plug_pShare.moos
#include plug_pHostInfo.moos
#include plug_uSimMarineV22.moos
#include plug_pMarinePID.moos
#include plug_pLogger.moos
#include plug_uProcessWatch.moos
#include plug_uLoadWatch.moos
#include plug_iSay.moos