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

ServerHost = localhost
ServerPort = 9000
Community  = shoreside

TERM_REPORTING = true

#include plug_origin_warp1.moos
  
//--------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 200

  Run = MOOSDB          @ NewConsole = false
  Run = pShare          @ NewConsole = false
  Run = uXMS            @ NewConsole = false
  Run = pRealm          @ NewConsole = false
  Run = pMarineViewer   @ NewConsole = false
  Run = pLogger         @ NewConsole = false
  Run = pHostInfo       @ NewConsole = false
  Run = uFldShoreBroker @ NewConsole = false
  Run = uFldNodeComms   @ NewConsole = false
  Run = uFldVoronoi     @ NewConsole = false
  Run = uFldSearchDetect @ NewConsole = false ~uFldSearchDetect_Disc
  Run = pKalmanSolutionGen @NewConsole = false
}

#include plug_pHostInfo.moos
#include plug_pShare.moos
#include plug_uFldSearchDetect.moos
#include plug_pMarineViewer1.moos
#include plug_pKalmanSolutionGen.moos

//--------------------------------------------------
// uMACView Configuration Block

ProcessConfig = uMACView
{
  AppTick       = 1
  CommsTick     = 1

	watch_cluster = key=mission, vars=DEPLOY:RETURN:COVER:AVOID:STATION_KEEP:MODE
	watch_cluster = key=odometry, vars=ODOMETRY_DIST:PROXONOI_POLY:PROXONOI_REGION:DESIRED_HEADING

	content_mode = realmcast
	//realmcast_channel = kim:pNodeReporter
	realmcast_channel = mission:COVER
}
ProcessConfig = uXMS
{
  AppTick       = 1
  CommsTick     = 1

VAR=NUM_OF_DOUBLE_DETECTIONS
VAR=NUM_DETECTIONS
VAR=TARGET_SPEED
VAR=TARGET_HEADING
VAR=HEADING_ESTIMATE
VAR=SPEED_ESTIMATE
VAR=TIME_DELTA
VAR=DISTANCE_DELTA
VAR=SPEED_ERROR
VAR=HEADING_ERROR
VAR=SONAR_DETECTION
VAR=COUNTER
VAR=CPA_CHECK

}



//---------------------------------------------------------
// uFldVoronoi Config Block

ProcessConfig = uFldVoronoi
{
  AppTick    = 0.2
  CommsTick  = 0.2
  name_reject=ADVERSARY
  region = $(COVER_REGION)
  }


//--------------------------------------------------
// uFldNodeComms Configuration Block

ProcessConfig = uFldNodeComms
{
  AppTick   = 4
  CommsTick = 4

           comms_range = 100000
        critical_range = 10000
      min_msg_interval = 5
			min_rpt_interval = 300
        max_msg_length = 1000
  view_node_rpt_pulses = false

	
	pulse_duration = 12
}

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

ProcessConfig = uFldShoreBroker
{
  AppTick   = 1
  CommsTick = 1

  qbridge = DEPLOY, NODE_REPORT, NODE_MESSAGE, COVER
  qbridge = STATION_KEEP, APPCAST_REQ, PROX_POLY_VIEW, PROX_CLEAR
  qbridge = MOOS_MANUAL_OVERRIDE, LOITER, WPT_UPDATE
  qbridge = REALMCAST_REQ
	qbridge = DETECTION
  qbridge = GOT_A_HIT
  bridge  = src=AVOID, alias=AVOID
  bridge  = src=VECTOR
  bridge  = src=SEARCH
  bridge  = src=GOGO
  bridge  = src=VCOVER_UPDATE
  bridge  = src=VECTOR_UPDATE
  bridge  = src=SEARCH_UPDATE
  bridge  = src=RETURN_ALL, alias=RETURN
  bridge  = src=RETURN_$V,  alias=RETURN
  bridge  = src=DETECTION_$V, alias=DETECTION
  bridge  = src=GOT_A_HIT_$V, alias=GOT_A_HIT

}

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

ProcessConfig = pLogger
{
  AppTick       = 6
  CommsTick     = 6

  Log = WATCHCAST @ 0 nosync
	
  File          = XLOG_SHORESIDE
  PATH          = ./
  AsyncLog      = true
  FileTimeStamp = true

  // Log it all!!!!!
  WildCardLogging = true 
  WildCardOmitPattern = *_STATUS

}