//-------- FILE: $(VNAME).bhv ------------- initialize DEPLOY = false initialize RETURN = false initialize SURVEY = false initialize STATION = false Set MODE = ACTIVE { DEPLOY = true } INACTIVE set MODE = STATION-KEEPING { MODE = ACTIVE STATION = true } set MODE = RETURNING { MODE = ACTIVE RETURN = true } SURVEYING //---------------------------------------------- Behavior = BHV_ConstantDepth { name = bhv_const_depth pwt = 100 duration = no-time-limit condition = MODE==ACTIVE updates = DEPTH_VALUE depth = 10 peakwidth = 4 basewidth = 2 summitdelta = 10 } //---------------------------------------------- Behavior = BHV_StationKeep { name = station-keep pwt = 100 condition = MODE==STATION-KEEPING center_activate = true inner_radius = 5 outer_radius = 10 outer_speed = 1.0 transit_speed = 1.3 swing_time = 7 visual_hints = vertex_size=0, edge_color=gray50 } //---------------------------------------------- Behavior = BHV_Waypoint { name = waypt_survey pwt = 100 condition = MODE==SURVEYING endflag = RETURN = true perpetual = true speed = 2 // meters per second radius = 5.0 slip_radius = 15.0 lead = 15 #ifdef VNAME VNAME1 points = format=lawnmower,label=jakesearch,x=-40,y=-237.5,height=325,width=240,lane_width=40,rows=ns,startx=0,starty=0 visual_hints = vertex_color=yellow, edge_color=green #elseifdef VNAME VNAME2 points = format=lawnmower,label=kaspersearch,x=262.5,y=-237.5,height=325,width=255,lane_width=20,rows=north-south,degs=0 visual_hints = vertex_color=yellow, edge_color=gray25 #endif endflag = NODE_MESSAGE = src_node=$(VNAME),dest_node=all,var_name=SURVEY,string_val=COMPLETE repeat = 0 visual_hints = nextpt_color=red, nextpt_lcolor=green visual_hints = vertex_size=1, edge_size=1 // points = -200,-130:-90,-420:-57,-402:-170,-120:-129,-104:-22,-388:20,-370:-84,-85:-42,-69:59,-354:100,-339:-2,-53:39,-34:140,-322:175,-311:80,-23:121,-7:216,-290:256,-275:167,3:203,14:296,-260:330,-244:244,6 } //---------------------------------------------- Behavior = BHV_Waypoint { name = waypt_return pwt = 100 condition = MODE==RETURNING perpetual = true endflag = RETURN = false endflag = DEPLOY = false endflag = HAZARDSET_REQUEST = true endflag = NODE_MESSAGE_LOCAL = src_node=$(VNAME),dest_node=all,var_name=SURVEY,string_val=COMPLETE speed = 2.0 radius = 2.0 nm_radius = 8.0 points = $(START_POS) }