ProcessConfig = ANTLER
{
   MSBetweenLaunches=10
   Run = MOOSDB @ NewConsole = false
   Run = pTranslator @ NewConsole = true ~ pTranslator_MOOS2PB
   Run = pTranslator @ NewConsole = true ~ pTranslator_PB2MOOS
   Run = uXMS @ NewConsole = true
}


ProcessConfig = pTranslator_MOOS2PB
{
  # write some stuff to start us off
  common {
    verbosity: DEBUG2
    initializer { type: INI_DOUBLE moos_var: "NAV_X" dval: 100 }
    initializer { type: INI_DOUBLE moos_var: "NAV_Y" dval: 200 }
    initializer { type: INI_DOUBLE moos_var: "NAV_SPEED" dval: 1.2 }
    initializer { type: INI_DOUBLE moos_var: "NAV_LAT" dval: 42.2598 }
    initializer { type: INI_DOUBLE moos_var: "NAV_LONG" dval: -75.7861 }
    initializer { type: INI_STRING moos_var: "VEHICLE_NAME" sval: "AUV23" }
  }

  load_proto_file: "node_report.proto"  

  # translate NAV* into "NodeReport" then publish this a prefixed TextFormat
  # suitable for parsing with parse_for_moos(...)
  # from "goby/moos/moos_protobuf_helpers.h"
  translator_entry {  # Describes how to trigger (generate) a 
                      # Protobuf message from a MOOS event and how 
                      # to re-publish the result (repeated)
    protobuf_name: "NodeReport"  # Fully qualified name (including package, 
                                 # if any) of a DCCL protobuf message to tag 
                                 # this parser to. (required)
    trigger {  #  (optional)
      type: TRIGGER_TIME  #  (TRIGGER_PUBLISH, TRIGGER_TIME) 
                             # (optional) (default=TRIGGER_PUBLISH)
      period: 5  #  (optional)
    }

    create {  #  (repeated)
      technique: TECHNIQUE_FORMAT  
      moos_var: "VEHICLE_NAME"  #  (required)
      format: "%2%"  #  (optional)
    }

    create {  #  (repeated)
      technique: TECHNIQUE_FORMAT  
      moos_var: "DB_TIME"  #  (required)
      format: "%1:1%"  #  (optional)
    }

    create {  #  (repeated)
      technique: TECHNIQUE_FORMAT  
      moos_var: "NAV_LAT"  #  (required)
      format: "%4:1%"  #  (optional)
    }

    create {  #  (repeated)
      technique: TECHNIQUE_FORMAT  
      moos_var: "NAV_LONG"  #  (required)
      format: "%4:2%"  #  (optional)
    }

    create {  #  (repeated)
      technique: TECHNIQUE_FORMAT  
      moos_var: "NAV_X"  #  (required)
      format: "%5:1%"  #  (optional)
    }
    create {  #  (repeated)
      technique: TECHNIQUE_FORMAT  
      moos_var: "NAV_Y"  #  (required)
      format: "%5:2%"  #  (optional)
    }

    create {  #  (repeated)
      technique: TECHNIQUE_FORMAT  
      moos_var: "NAV_SPEED"  #  (required)
      format: "%8%"  #  (optional)
    }

    publish {  #  (repeated)
      technique: TECHNIQUE_PREFIXED_PROTOBUF_TEXT_FORMAT  
      moos_var: "NODE_REPORT_LOCAL_PB"  #  (required)
    }


    # examples
    publish {  #  (repeated)
      technique: TECHNIQUE_PROTOBUF_TEXT_FORMAT
      moos_var: "NODE_REPORT_LOCAL_PROTOBUF_TEXT_FORMAT"  #  (required)
    }

    publish {  #  (repeated)
      technique: TECHNIQUE_PROTOBUF_NATIVE_ENCODED
      moos_var: "NODE_REPORT_LOCAL_PROTOBUF_NATIVE_ENCODED"  #  (required)
    }

    publish {  #  (repeated)
      technique: TECHNIQUE_COMMA_SEPARATED_KEY_EQUALS_VALUE_PAIRS
      moos_var: "NODE_REPORT_LOCAL_COMMA_SEPARATED_KEY_EQUALS_VALUE_PAIRS"  #  (required)
    }

  }
}

ProcessConfig = pTranslator_PB2MOOS
{
  # write some stuff to start us off
  common {
    verbosity: DEBUG2
  }

  load_shared_library: "/home/toby/lamss/lib/liblamss_protobuf.so" 
                        # Path to a shared library containing 
                        # compiled Protobuf files. Preferred 
                        # over load_dccl_proto_file. (repeated)

  # loopback the NODE_REPORT_LOCAL_PB to VEHNAME_NAV*
  translator_entry {  # Describes how to trigger (generate) a 
                      # Protobuf message from a MOOS event and how 
                      # to re-publish the result (repeated)
    protobuf_name: "NodeReport"  # Fully qualified name (including package, 
                                 # if any) of a DCCL protobuf message to tag 
                                 # this parser to. (required)
    trigger {  #  (optional)
      type: TRIGGER_PUBLISH  #  (TRIGGER_PUBLISH, TRIGGER_TIME) 
                             # (optional) (default=TRIGGER_PUBLISH)
      moos_var: "NODE_REPORT_LOCAL_PB"
    }

    create {  #  (repeated)
      technique: TECHNIQUE_PREFIXED_PROTOBUF_TEXT_FORMAT  
      moos_var: "NODE_REPORT_LOCAL_PB"  #  (required)
    }

    publish {  #  (repeated)
      technique: TECHNIQUE_FORMAT
      moos_var: "%2%_NAV_X"  #  (required)
      format: "%5:1%"
      
    }
    publish {  #  (repeated)
      technique: TECHNIQUE_FORMAT
      moos_var: "%2%_NAV_Y"  #  (required)
      format: "%5:2%"  
    }
  }
}


ProcessConfig = uXMS
{
   VAR = NAV_X, NAV_Y, NAV_SPEED, NAV_LONG, NAV_LAT
   VAR = NODE_REPORT_LOCAL_PB, NODE_REPORT_LOCAL_PROTOBUF_TEXT_FORMAT, NODE_REPORT_LOCAL_PROTOBUF_NATIVE_ENCODED, NODE_REPORT_LOCAL_COMMA_SEPARATED_KEY_EQUALS_VALUE_PAIRS
   VAR = AUV23_NAV_X, AUV23_NAV_Y
}