ServerHost   = localhost
ServerPort   = 9000
Community    = zjk
MOOSTimeWarp = 1

// Forest Lake
//这两个参数没有pMarineViewer就会闪退
LatOrigin  = 43.825300 
LongOrigin = -70.330400 

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

  Run = MOOSDB        @ NewConsole = false
  //Run = pLogger     @ NewConsole = false
  Run = pMarineViewer	@ NewConsole = false
  Run = pRealm	      @ NewConsole = false
  Run = pShare        @ NewConsole = false
}
ProcessConfig = pShare
{
  AppTick    = 2
  CommsTick  = 2

  input = route =  localhost:8085
  output = src_name=APPCAST_REQ, route=10.25.0.230:8081
  
  //输出有两个端口，8081和8082，选择用1或者2
  //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=10.25.0.230:8081
  output = src_name=uMotion_config_cmd,route=10.25.0.230:8081
}

ProcessConfig = pLogger
{
  AppTick   = 8
  CommsTick = 8

  AsyncLog = true

  // For variables that are published in a bundle on their first post,
  // explicitly declare their logging request
  //Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC
  //Log = REPORT @ 0 NOSYNC
  //Log = BHV_SETTINGS @ 0 NOSYNC
  Log = OPREGION_RESET @ 0 NOSYNC

  LogAuxSrc = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
  WildCardExclusionLog = true
}
//------------------------------------------
// pMarineViewer config block

ProcessConfig = pMarineViewer
{
  AppTick    = 4
  CommsTick  = 4

  tiff_file            = forrest19.tif
	//tiff_file            = MIT_SP.tif
  vehicles_name_mode = names+depth //+shortmode


  set_pan_x            = -90
  set_pan_y            = -280
  zoom                 = 0.65
  vehicle_shape_scale  = 1.5
  hash_delta           = 50
  hash_shade           = 0.22
  hash_viewable        = true

  trails_point_size   = 1

	//op_vertex = x=-83, y=-47,    lwidth=1,lcolor=yellow,looped=true,group=moa
  //op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa
  //op_vertex = x=94.6, y=-62.2,   lwidth=1,lcolor=yellow,looped=true,group=moa
  //op_vertex = x=58,   y=20,    lwidth=1,lcolor=yellow,looped=true,group=moa

  // Appcast configuration
  appcast_height       = 75
  appcast_width        = 30
  appcast_viewable     = true
  appcast_color_scheme = indigo
  nodes_font_size      = xlarge
  procs_font_size      = xlarge
  appcast_font_size    = large
  
  // datum_viewable = true
  // datum_size     = 18
  // gui_size = small

  // left_context[survey-point] = DEPLOY=true
  // left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false
  // left_context[survey-point] = RETURN=false

  right_context[return] = DEPLOY=true
  right_context[return] = MOOS_MANUAL_OVERRIDE=false
  right_context[return] = RETURN=false

  scope  = RETURN
  scope  = WPT_STAT
  scope  = VIEW_SEGLIST
  scope  = VIEW_POINT
  scope  = VIEW_POLYGON
  scope  = MVIEWER_LCLICK
  scope  = MVIEWER_RCLICK

  button_one = START # uMission_action_cmd={"taskName":"east_waypt_survey","action":"start"}
  button_two = STOP # uMission_action_cmd={"taskName":"east_waypt_survey","action":"stop"}
  button_three = ReConfig # uMotion_config_cmd = true
  button_four = SendSecurityZone # SendSaftRules = true


  action  = MENU_KEY=deploy # DEPLOY = true # RETURN = false
  action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false
  action  = RETURN=true
  action  = UPDATES_RETURN=speed=1.4
  cmd = label=DEPLOY, var=DEPLOY,  sval=true,  receivers=all:$(VNAMES)
  cmd = label=DEPLOY, var=MOOS_MANUAL_OVERRIDE,  sval=false,  receivers=all:$(VNAMES)
  cmd = label=DEPLOY, var=AVOID,  sval=true,  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=PERMUTE, var=UTS_FORWARD,  dval=0,  receivers=shore

  cmd = label=STATION, var=STATION_KEEP,  sval=true,  receivers=all:$(VNAMES), color=pink

  cmd = label=LOITER-FAST, var=UP_LOITER,  sval=speed=2.8,  receivers=all:$(VNAMES)
  cmd = label=LOITER-SLOW, var=UP_LOITER,  sval=speed=1.4,  receivers=all:$(VNAMES)

  cmd = label=LOITER-CLOCKWISE-TRUE,  var=UP_LOITER, sval=clockwise=true,  receivers=all:$(VNAMES)
  cmd = label=LOITER-CLOCKWISE-FALSE, var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES)
  cmd = label=LOITER-CLOCKWISE-BEST,  var=UP_LOITER, sval=clockwise=false, receivers=all:$(VNAMES)
}