// Alder mission file
ServerHost = localhost
ServerPort = 9000
Community  = alpha
MOOSTimeWarp = 1

LatOrigin  = 43.825300 
LongOrigin = -70.330400 

//------------------------------------------
// Antler config block
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 200

  Run = MOOSDB        @ NewConsole = false
  //Run = pLogger     @ NewConsole = false
  Run = pMarineViewer	@ NewConsole = false
  //Run = uProcessWatch @ NewConsole = false
  RUn = pShare        @ NewConsole = false
}

//------------------------------------------
// pShare config block

ProcessConfig = pShare
{
  AppTick    = 10
  CommsTick  = 10

  input = route =  localhost:8085
  output = src_name=APPCAST_REQ, route=192.168.1.200:8082
  
  //发送消息看以下格式
  //output = src_name=Y, dest_name=B, route=host:port
  output = src_name=uMission_action_cmd,route=192.168.1.200:8082
  output = src_name=DEPLOY, route=192.168.1.200:8082
  output = src_name=RETURN, route=192.168.1.200:8082
  output = src_name=MOOS_MANUAL_OVERIDE, route=192.168.1.200:8082
  output = src_name=PZ, route=192.168.1.200:8082
  output = src_name=LED, route=192.168.1.200:8082
  output = src_name = MOOS_MANUAL_OVERIDE*, route=192.168.1.200:8082
}

//------------------------------------------
// uProcessWatch config block

ProcessConfig = uProcessWatch
{
  AppTick   = 4
  CommsTick = 4

  summary_wait = 5

  nowatch   = uXMS*
  nowatch   = uMAC*
  nowatch   = uPokeDB*
  nowatch   = uQueryDB*
  nowatch   = uTermCommand*
  watch_all = true
}

//------------------------------------------
// pMarineViewer config block

ProcessConfig = pMarineViewer
{
  AppTick    = 4
  CommsTick  = 4

  TIFF_FILE            = forrest19.tif
  set_pan_x            = -90
  set_pan_y            = -280
  zoom                 = 1
  vehicle_shape_scale  = 1.5
  hash_delta           = 50
  hash_shade           = 0.4
  hash_viewable        = true

  scope = rtU_speed_cmd
  scope = rtU_u
  scope = rtU_v
  scope = rtU_w
  scope = rtU_phi
  scope = rtU_theta
  scope = rtU_psi
  scope = rtU_x
  scope = rtU_y
  scope = rtU_z
  scope = rtU_dx
  scope = rtU_dy
  scope = rtU_dz
  scope = rtU_heading_cmd
  scope = rtU_depth_cmd
  scope = rtY_MainThrusterSpeedCmd
  scope = rtY_DirectUpperRudderServoAngleCmd
  scope = rtY_DirectLowerRudderServoAngleCmd
  scope = rtY_DirectLeftRudderServoAngleCmd
  scope = rtY_DirectRightRudderServoAngleCmd
  scope = rtY_heading_error
  scope = rtY_pitch_error
  scope = rtY_depth_error

   // Appcast configuration
  appcast_height       = 75
  appcast_width        = 30
  appcast_viewable     = true
  appcast_color_scheme = indigo
  nodes_font_size      = medium
  procs_font_size      = medium
  appcast_font_size    = small

  BUTTON_ONE = DEPLOY # DEPLOY=true
  BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false

  BUTTON_TWO = RETURN # RETURN=true

  BUTTON_Three = PZ # PZ=true

  BUTTON_Four = LED # LED=on
  BUTTON_Five = MANUAL_OVERIDE # MOOS_MANUAL_OVERIDE=true

  //cmd = label=MANUAL_FALSE, var=MOOS_MANUAL_OVERIDE,  sval=false,  receivers=auv150
  //cmd = label=MANUAL_TRUE, var=MOOS_MANUAL_OVERIDE,  sval=true,  receivers=auv150
}

//------------------------------------------
// pLogger config block

ProcessConfig = pLogger
{
  AppTick       = 10
  CommsTick     = 10
  
  File          = XLOG_SHORESIDE
  PATH          = ./
  SyncLog       = true @ 0.2
  AsyncLog      = true
  FileTimeStamp = true

  LogAuxSrc     = true

  // Log it all!!!!!
  WildCardLogging = true 

  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
}