//-------------------------------------------------
// NAME: M. Benjamin, MIT CSAIL
// 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 = uSimMarine     @ 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 = uFldTrackAIS   @ NewConsole = false
  Run = uSimAIS        @ NewConsole = false
}

  
//------------------------------------------------
// uFldAIS config block

ProcessConfig = uFldTrackAIS
{
  AppTick   = 2
  CommsTick = 2
}

  
//------------------------------------------------
// uSimAIS config block

ProcessConfig = uSimAIS
{
  AppTick   = 2
  CommsTick = 2

  MOOS_PUB_VAR = SERIAL_AIS
  DATA_FILE    = /Users/bicole/moos-ivp-pavlab/data/serial_raw_ais.txt
}

  
//---------------------------------------------------------
// 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
  
  Behaviors    = targ_$(VNAME).bhv
  Verbose      = false
  Domain       = course:0:359:360
  Domain       = speed:0:19:40

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

ProcessConfig = pNodeReporter
{
  AppTick     = 2
  CommsTick   = 2

  vessel_type = $(VTYPE)
  terse_reports = true
  crossfill_policy = fill-empty
}

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

ProcessConfig = pContactMgrV20
{
  AppTick   = 2
  CommsTick = 2

  alert_verbose        = true
  contact_max_age      = 3600
  contact_local_coords = force_lat_lon
  //decay              = 30,60
  alert_range_color    = gray70
  cpa_range_color      = gray30
  display_radii        = true
  display_radii_id     = avd
  //match_region       = pts = {60,-160 : 150,-160 : 180,-100 : 150,-40}
	//match_type         = kayak, uuv
  max_retired_history  = 50
  post_closest_range   = true
  recap_interval       = 10
  reject_range         = 2000
  
}

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

ProcessConfig = uFldNodeBroker
{
  AppTick   = 1
  CommsTick = 1

  try_shore_host = pshare_route=localhost:$(SHORE_PSHARE)

  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
}

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