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

ServerHost = localhost
ServerPort = 9000
Community  = shoreside

#include plugs.moos <origin_warp>
  
//--------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 100

  Run = MOOSDB          @ NewConsole = false
#ifdef LAUNCH_GUI yes
  Run = pMarineViewer   @ NewConsole = false
#endif

  Run = uFldJoustMgr    @ NewConsole = false
  Run = pLogger         @ NewConsole = false
  Run = pShare          @ NewConsole = false
  Run = pHostInfo       @ NewConsole = false
  Run = uFldShoreBroker @ NewConsole = false
  Run = uFldNodeComms   @ NewConsole = false
	Run = uFldCollisionDetect @ NewConsole = false
  Run = uProcessWatch   @ NewConsole = false
  Run = pRealm          @ NewConsole = false
  Run = uFldUnison      @ NewConsole = false
  Run = uTimerScript    @ NewConsole = false
}

#include plugs.moos <pShare>
#include plugs.moos <pHostInfo>
#include plugs.moos <uProcessWatch>

//--------------------------------------------------
// uFldUnison Config Block

ProcessConfig = uFldUnison
{
  AppTick    = 4
  CommsTick  = 4

	app_logging = true
	
	check_pair = READY_HOLD=true
	post_pair  = STATION_KEEP_ALL=false

	delay = 2
	verbose = true
}

//--------------------------------------------------
// uFldCollisionDetect Config Block

ProcessConfig = uFldCollisionDetect
{
  AppTick       = 4
  CommsTick     = 4

	app_logging = true
	
  encounter_range = 40
  collision_range = 4
  near_miss_range = 12

  // condition = COLLISION_DETECT=true                                          
  condition = DEPLOY_ALL=true

  report_all_encounters = true

  // collision_flag = COLLISION_$UP_V1_$UP_V2 = $CPA                            
  collision_flag = COLLISION = $CPA
  near_miss_flag = NEAR_MISS = $CPA
  encounter_flag = ENCOUNTER = $CPA
  //encounter_flag = DENSITY = $[cal@60]                                        

  near_miss_flag = NEAR_MISS_$UP_V1 = $CPA
  near_miss_flag = NEAR_MISS_$UP_V2 = $CPA
  collision_flag = COLLISION_$UP_V1 = $CPA
  collision_flag = COLLISION_$UP_V2 = $CPA

  encounter_flag = EVAL_LOITER_REQ_$UP_V1 = id=$IDX, cpa=$CPA, v2=$V2
  encounter_flag = EVAL_LOITER_REQ_$UP_V2 = id=$IDX, cpa=$CPA, v2=$V1

  encounter_rings = false
  pulse_render   = true
  pulse_range    = 20
  pulse_duration = 30
}

//---------------------------------------------------------
// uFldJoustMgr Config Block

ProcessConfig = uFldJoustMgr
{
  AppTick   = 2
  CommsTick = 2

  //circle = $(CIRCLE)

	app_logging = true
	
	joust_file = joust.txt
	updates = LR_UPDATE	
}

//--------------------------------------------------
// uFldNodeComms Config Block

ProcessConfig = uFldNodeComms
{
  AppTick   = 2
  CommsTick = 2

           comms_range = 75
        critical_range = 50
      min_msg_interval = 0
        max_msg_length = 1000
  view_node_rpt_pulses = true
}

//--------------------------------------------------
// uFldShoreBroker Config Block

ProcessConfig = uFldShoreBroker
{
  AppTick   = 1
  CommsTick = 1

  qbridge = DEPLOY, NODE_REPORT, NODE_MESSAGE
  qbridge = STATION_KEEP, APPCAST_REQ, LR_UPDATE, RETURN_UPDATES
  qbridge = MOOS_MANUAL_OVERIDE, LOITER, WPT_UPDATE, LOITER_UPDATE
  qbridge = BHV_ABLE_FILTER
  qbridge = XYZ_DISABLE_TARGET
  qbridge = XYZ_REENABLE_TARGET

  bridge  = src=AVOID, alias=AVOID
 
  bridge  = src=RETURN_ALL, alias=RETURN
  bridge  = src=RETURN_$V,  alias=RETURN
}

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

ProcessConfig = pLogger
{
  AppTick   = 10
  CommsTick = 10
  
  File          = XLOG_SHORESIDE
  PATH          = ./
  AsyncLog      = true
  FileTimeStamp = true

  Log = GIVEN_OBSTACLE @ 0 nosync

  // Log it all!!!!!
  WildCardLogging = true 
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = *_ITER_GAP
  WildCardOmitPattern = *_ITER_LEN
  WildCardOmitPattern = APPCAST
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
}


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

  tiff_file            = MIT_SP.tif
  set_pan_x            = -120
  set_pan_y            = -180
  zoom                 = 1.04
  vehicles_shape_scale = 1.5
  vehicles_name_mode   = names+shortmode

  polygon_viewable_all    = true
  polygon_viewable_labels = false
  seglist_viewable_all    = true
  seglist_viewable_labels = false
  point_viewable_all    = true
  point_viewable_labels = false

  appcast_viewable     = true
  appcast_color_scheme = indigo

  action = AVOID="true"
  action = LR_UPDATE_ALL="speed=1.5"
  action = LR_UPDATE_ALL="speed=1.6"
  action = LR_UPDATE_ALL="speed=1.7"
  action = LR_UPDATE_ALL="speed=1.8"
  action = LR_UPDATE_ALL="speed=1.9"
  action = LR_UPDATE_ALL="speed=2.0"

  comms_pulse_viewable_all = true
  range_pulse_viewable_all = false
  node_pulse_viewable_all  = false

  vehicles_name_mode = names

  stale_report_thresh = 2
  stale_remove_thresh = 20000
  
  scope = UFJ_ARRIVALS

	cmd = label=DEPLOY, var=DEPLOY,  sval=true,  receivers=all:$(VNAMES)
  cmd = label=DEPLOY, var=MOOS_MANUAL_OVERIDE,  sval=false,  receivers=all:$(VNAMES)
  cmd = label=DEPLOY, var=RETURN,  sval=false,  receivers=all:$(VNAMES)
  cmd = label=DEPLOY, var=STATION_KEEP,  sval=false,  receivers=all:$(VNAMES)

  cmd = label=RETURN, var=RETURN, sval=true, receivers=all:$(VNAMES)
  cmd = label=RETURN, var=STATION_KEEP, sval=false, receivers=all:$(VNAMES)
	
  cmd = label=STATION, var=STATION_KEEP, sval=true, receivers=all:$(VNAMES)
  cmd = label=STATION, var=RETURN, sval=false, receivers=all:$(VNAMES)
	
  cmd = label=ALLSTOP, var=DEPLOY, sval=false, receivers=all:$(VNAMES)
	
  //right_context[enable] = BHV_ABLE_FILTER_$[UP_VNAME] = contact=$[UP_VNAME_CLOSEST], action=enable
  right_context[enable] = XYZ_REENABLE_TARGET_$[UP_VNAME] = $[UP_VNAME_CLOSEST]

	//left_context[disable] = BHV_ABLE_FILTER_$[UP_VNAME] = contact=$[UP_VNAME_CLOSEST], action=disable
  left_context[disable] = XYZ_DISABLE_TARGET_$[UP_VNAME] = $[UP_VNAME_CLOSEST]
  left_context[return] = RETURN_UPDATES_$[UP_VNAME] = point=$[X],$[Y]
  left_context[return] = RETURN_$[UP_VNAME] = true
  left_context[return] = STATION_KEEP_$[UP_VNAME] = false
	
  button_1 = DEPLOY  # DEPLOY_ALL=true 
  button_1 = DEPLOY  # MOOS_MANUAL_OVERIDE_ALL=false 
  button_1 = RETURN_ALL=false #
  button_1 = STATION_KEEP_ALL=false #

  button_2 = STATION  # DEPLOY_ALL=true 
  button_2 = MOOS_MANUAL_OVERIDE_ALL=false 
  button_2 = RETURN_ALL=false #
  button_2 = STATION_KEEP_ALL=true

  button_3 = RETURN  # RETURN_ALL=true # LOITER_ALL=false
	button_4 = ALLSTOP # DEPLOY_ALL=false

  //button_three = SPD_SAME # WPT_UPDATE_ALL="use_alt_speed=true"
  //button_three = LOITER_UPDATE_ALL="use_alt_speed=true"

  //button_four  = SPD_DIFF # WPT_UPDATE_ALL="use_alt_speed=false"
  //button_four  = LOITER_UPDATE_ALL="use_alt_speed=false"

  //button_three = AVOID:ON  # AVOID=colregs
  //button_four  = AVOID:OFF # AVOID=false
}


ProcessConfig = uTimerScript
{
  AppTick   = 1
  CommsTick = 1

  paused      = false
  reset_max   = unlimited
  reset_time  = end

  script_name = DEPLOY_script

  //event = var=DEPLOY_ALL, val="true", time=100
  //event = var=MOOS_MANUAL_OVERIDE_ALL, val="false", time=100
  event = var=STATION_KEEP_ALL, val="false", time=100
  
}