# Make backup CDL files from the editor (true or false).
backup_files = false

# Show the values of the slider bars instead of the symbolic names
ShowSliderValues = True

# Hide the parameters for a state/trigger of FSA in detail for default. (true or false)
HideStateTriggerParameters = True

# Disable Path Planner. (true or false)
DisablePathPlanner = false

# Disable Honeywell Real-Time Analyzer. (true or false)
DisableHoneywellRTAnalyzer = false

# Disable MissionExpert. (true or false)
DisableMissionExpert = true

# Set the capabilities of the user.
#   Need Execute in order to run a configuration  
#   Need Modify in order to be able to modify parameters in a configuration
#   Need Edit in order to be able to create or modify configurations
#   Need Create in order to be able to create new components
#   Need Library in order to be able to modify library components
#   Need RealRobots in order to be able to run real robots
#   Need MExpModifyCBRLib in order to be able to modify the library of the CBRServer.
#
user_privileges = Execute, Modify, Edit, Create, RealRobots, Library, MExpModifyCBRLib

# Select which primitives are shown to the user
# List architectures here to restrict names to only those names occurring
# in all of the listed architectures.  The default is to show all names.
 # Architectures:
#    AuRA
#    AuRA.urban
#    UGV
#
restrict_names = AuRA.urban

# List of comma separated directories and root names of the 
# CDL description libraries to load.
# Will try to load xxx.gen, xxx.AuRA, and xxx.UGV 
CDL_libraries = /net/hr2/endo/2020/mission/lib/default,
                /net/hr2/endo/2020/mission/lib/agents


# Optional: Configuration to load as the empty config.
#DefaultConfiguration = /net/hr2/endo/2020/mission/lib/FSA.cdl
DefaultConfiguration = /net/hr2/endo/2020/mission/lib/default.cdl

# Where to find the map overlays
MapOverlays = .

# Default Overlay
DefaultOverlay = TSRB_Parking-8F.ovl

# Default remote host
#DefaultHost = cortez.cc.gatech.edu

# Directory of the remote machine where the robot executable should be
# FTP-ed to, and executed from. (Note: It only affects if you specified
# a machine name in the "Remote host computer" field of the run dialog.)
RemoteHostRobotDir = /home/mars2020/demos

# The user name for executing the robot executable on a remote machine.
# If it is commented, the name of the user who are running mlab will
# be used. (Note: It only affects if you specified a machine name in
# the "Remote host computer" field of the run dialog.)
RemoteShellUserName = mars2020

# The machine name that laserfit is running on.
LaserFitMachineName = columbus

# Default robot color
DefaultColor = blue

# Default HServer ID that the robot executable and HServer connect each other via IPT 
DefaultHServerName = fred

# Directory to write the event logs.
# None are written if this is empty.
#EventLogDir = .

# Directory to write the event replay CDL files. The event logging (above) has to be on.
# None are written if this is empty or the event logging is off.
#ReplayDir = .

# Directory for saving the Mission Expert output data files.
# The files will be deleted if this option is commented.
#MExpDataFilesDir = .

# Name (with path) for the socket of CBR Planner.
#CBRServerSocketName = /tmp/robot-cbrplanner.socket

# The first robot's start position. It has to be defined as PP. If it is commented,
# default "StartPlace" will be used.
FirstRobotStartPlace = StartPlace

# Offsets to start robots at. This is for the 2nd and later robots in the multi-robot mission.
# The first robot won't be affected. Not for the extra robots. 
RobotStart_dx = -2
RobotStart_dy = 0

# Extra robots to add to the run.
#ExtraRobots = "Enemy \"./robots/SentryRobot1\" red (robot_type = HOLONOMIC, run_type= SIMULATION)"

# The extra robot's start position. It has to be defined as PP. If it is commented,
# it will be treated as one of the multi-robot (i.e., having RobotStart_dx RobotStart_dy
# offsets).
#ExtraRobotStartPlace = SentryPost

# Offsets to start extra robots at. This is for the 2nd and later extra robots.
# The first extra robot won't be affected. If these are uncommented, RobotStart_dx
# and RobotStart_dy above will be used.
ExtraRobotStart_dx = 1
ExtraRobotStart_dy = 0

# Whether to enable the robot data logging. (Not the usability or event log.)
LogRobotData = False

# Whether to show the current status of the robot when mlab is running
ShowRobotStatus = False

# Whether to disable to the feedback from the robot to mlab. It can be
# enabled again during the execution via the mlab menu bar.
CutOffFeedbackToRobot = False

# Whether to popup the CMDLi dialog, and use the input file to monitor
# the progress of the mision. Commenting this line or filling an empty
# string here will disable the capability.
CMDLiDialogInputFile = testCMDLi.cmdl

# Console-JBox ID. If commented, it won't be connected.
ConsoleJBoxID = 24

# *********** CNL Architecture configuration ********************

# Directories to look in for link libraries.   
# Seperate each path with a colon.  Newlines are allowed after the colon.
lib_paths = /net/hr2/endo/2020/mission/lib

# List of comma separated directories and root names of the 
# CNL source files and libraries to load.
# Will try to load libxxx.a and include xxx.inc as the cnl header file
# The editor will look for yyy.cnl in these locations for each extern agent
CNL_libraries = /net/hr2/endo/2020/mission/lib/cnl

# directories to look in for CNL source files to display in the editor.
CNL_sources = /net/hr2/endo/2020/mission/src/libcnl

# cflags parm passed to C++ compiler
# Add -g if you want to debug the robot
cflags = -I/net/hr2/endo/2020/mission/include,
         -I/net/hr2/endo/2020/mission/src/cmdli/MLab_agent/include

# ldflags parm passed to C++ compiler
# Uncomment -s and -O if you want to optimize it
# for the executable size.
ldflags = -L/net/hr2/endo/2020/mission/lib,
#        -s,
#        -O,
        -lcnl,
		-lhardware_drivers,
		-lipt,
		-lstdc++,
		-lm,
		-lqlearn,
        -lcbr_behavioral_select,
        -ldstar,
        -lGTechBehavior,
        -L/net/hr2/endo/2020/mission/src/cmdli/MLab_agent/lib,
    	-lmic_cmdli,
	    -lpthread,
	    -lz

# *********** Real robot configuration flags ********************
# The list of the allowed JBoxes that can be considered as robots
AllowedRobotJBoxIDs = 19, 22, 23

# The list of real robots we know about
robots = HServer

# Any misc robot settings that will be dumped to the script file
#MiscRobotSettings = "set show-trails on",
#		    "set scale-robots on",
#		    "set ROBOT-LENGTH 0.5" 
MiscRobotSettings = "set show-trails on",
		    "set scale-robots off",
		    "set ROBOT-LENGTH 10.0" 

# Any list of strings attached to the robot name will be appended
# to the startup parameters for that robot.  The robot names are
# case sensitive.

HServer  = "robot_type = HSERVER",
	 "danger_range = 1.0",
	 "compass_type = NOCOMPASS",
	 "use_reverse = 0",
	 "draw_obstacles = 1",
	 "lurch_mode = 0",
	 "wait_for_turn = 0",
	 "drive_wait_angle = 90",
	 "adjust_obstacles = 1",
	 "use_sonar = 0",
	 "use_laser = 1",
	 "use_cognachrome = 0",
	 "wait_for_ack = 0",
	 "multiple_hservers = 0"
