skills/moos-ivp-mission-builder/assets/baseline-two-vehicle/meta_shoreside.moos

//-------------------------------------------------
// FILE: meta_shoreside.moos
// NAME: Author Name
//-------------------------------------------------

ServerHost = localhost
ServerPort = $(MOOS_PORT)
Community  = shoreside

#include plug_origin_warp.moos

//----------------------------------------------------
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 100

  Run = MOOSDB          @ NewConsole = false
  Run = pRealm          @ NewConsole = false
  Run = uProcessWatch   @ NewConsole = false
  Run = uLoadWatch      @ NewConsole = false
  Run = pShare          @ NewConsole = false
  Run = pHostInfo       @ NewConsole = false
  Run = pLogger         @ NewConsole = false
  Run = uFldShoreBroker @ NewConsole = false
  Run = uFldNodeComms   @ NewConsole = false
#ifdef LAUNCH_GUI yes
  Run = pMarineViewer   @ NewConsole = false
#endif
}

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

  input = route = localhost:$(PSHARE_PORT)
}

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

  relcast_interval = 0.8
  summary_interval = 2.0
}

//----------------------------------------------------
ProcessConfig = uProcessWatch
{
  AppTick   = 1
  CommsTick = 1

  allow_retractions = true
  watch_all = true
  nowatch = uMAC*
  nowatch = uXMS*
  nowatch = uPokeDB*
  nowatch = uQueryDB*
  summary_wait = 12
}

//----------------------------------------------------
ProcessConfig = uLoadWatch
{
  AppTick   = 1
  CommsTick = 1

  thresh = app=pMarineViewer, gapthresh=5
  thresh = app=uFldNodeComms, gapthresh=4
  thresh = app=pHostInfo,     gapthresh=5
  thresh = app=any,           gapthresh=2.0

  breach_trigger = 5
}

//----------------------------------------------------
ProcessConfig = pHostInfo
{
  AppTick   = 1
  CommsTick = 1

  default_hostip_force = $(IP_ADDR=localhost)
}

//----------------------------------------------------
ProcessConfig = pLogger
{
  AppTick       = 5
  CommsTick     = 5
  File          = XLOG_SHORESIDE
  PATH          = ./
  AsyncLog      = true
  FileTimeStamp = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
}

//----------------------------------------------------
ProcessConfig = uFldShoreBroker
{
  AppTick   = 1
  CommsTick = 1

  auto_bridge_appcast = true

  qbridge = DEPLOY, RETURN, STATION_KEEP
  qbridge = MOOS_MANUAL_OVERRIDE
  qbridge = NODE_REPORT, NODE_MESSAGE
  qbridge = RETURN_UPDATES
}

//----------------------------------------------------
ProcessConfig = uFldNodeComms
{
  AppTick   = 2
  CommsTick = 2

  comms_range      = 500
  critical_range   = 25
  min_msg_interval = 15
  max_msg_length   = 1000
  groups           = true

  view_node_rpt_pulses = false
}

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

  tiff_file            = MIT_SP.tif
  set_pan_x            = 5
  set_pan_y            = -115
  zoom                 = 1.5
  vehicles_shape_scale = 1.5
  vehicles_name_mode   = names

  appcast_viewable     = true
  appcast_height       = 75
  appcast_width        = 30
  appcast_color_scheme = indigo
  appcast_font_size    = large
  procs_font_size      = large
  nodes_font_size      = large

  stale_report_thresh = 10
  stale_remove_thresh = 18

  scope = DEPLOY_ALL
  scope = RETURN_ALL
  scope = STATION_KEEP_ALL
  scope = PROC_WATCH_SUMMARY
  scope = PROC_WATCH_ALL_OK
  scope = ULW_BREACH
  scope = ULW_NEAR_BREACH

  left_context[return_point] = RETURN_$[UP_VNAME_CLOSEST] = true
  left_context[return_point] = RETURN_UPDATES_$[UP_VNAME_CLOSEST] = points=$[XPOS],$[YPOS]

  button_1 = DEPLOY # DEPLOY_ALL=true
  button_1 = MOOS_MANUAL_OVERRIDE_ALL=false
  button_1 = RETURN_ALL=false
  button_1 = STATION_KEEP_ALL=false

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

  button_3 = RETURN # RETURN_ALL=true
  button_3 = STATION_KEEP_ALL=false

  button_4 = ALLSTOP # DEPLOY_ALL=false
  button_4 = RETURN_ALL=false
  button_4 = STATION_KEEP_ALL=false
  button_4 = MOOS_MANUAL_OVERRIDE_ALL=true
}