//--------    FILE: alpha.bhv  -------------

initialize   DEPLOY = false
initialize   RETURN = false
initialize   SURVEY = false
initialize   AVOID  = true
  
set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set MODE = STATION-KEEPING {
  MODE = ACTIVE
  STATION_KEEP = true
}                       

set MODE = SURVEYING {
  MODE = ACTIVE
  RETURN != true
  SURVEY = true
} 

set MODE = RETURNING {
  MODE = ACTIVE
  RETURN = true
} 

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name       = waypt_survey
  pwt        = 100
  updates    = SURVEY_UPDATE
  condition  = MODE==SURVEYING
  perpetual  = true
  endflag    = RETURN = true

          repeat = 0
           speed = 1.2
  capture_radius = 3.0 
    capture_line = true
     slip_radius = 8.0
          points = 41,-25:64,-41:28,-60:50,-92:5,-100

     visual_hints = vertex_size  = 4             // default
     visual_hints = vertex_color = dodger_blue   // default
}

//----------------------------------------------
Behavior = BHV_StationKeep
{
  name         = station-keep
  pwt          = 100
  condition    = MODE==STATION-KEEPING

  center_activate = true
     inner_radius = 5
     outer_radius = 10 
      outer_speed = 1.0

    transit_speed = 1.3
       swing_time = 7
     visual_hints = vertex_size=0, edge_color=gray50
}


//----------------------------------------------
Behavior = BHV_AvoidCollision
{
  name       = avdcol_
  pwt        = 350
  condition  = AVOID = true 
  condition  = MODE==ACTIVE
  condition  = MODE!=ACTIVE:STATION-KEEPING
  updates    = CONTACT_INFO
  endflag    = CONTACT_RESOLVED = $[CONTACT]
  templating = spawn

             contact = to-be-set
    on_no_contact_ok = true
         extrapolate = true
               decay = 30,60

         use_refinery = true

        pwt_outer_dist = 35
        pwt_inner_dist = 10
        completed_dist = 40
     min_util_cpa_dist = 10
     max_util_cpa_dist = 18
             pwt_grade = linear
//   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  updates    = RETURN_UPDATE
  condition  = MODE==RETURNING
  perpetual  = true
  endflag    = RETURN = false
  endflag    = STATION_KEEP=true

           speed = 1.0
  capture_radius = 2.0
     slip_radius = 8.0
           point = $(START_POS)

     visual_hints = vertex_size  = 4             // default
     visual_hints = vertex_color = dodger_blue   // default
}