//----------------------------------------------
// Vehicle behavior file
//----------------------------------------------

initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   STATION_KEEP = false
initialize   SURVEY  = true
initialize   AVOID   = true
initialize   SURVEY_UNDERWAY = false
initialize   OPREGION = true

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

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

//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name         = waypt_survey
  pwt          = 100
  condition    = MODE==SURVEYING
  perpetual    = true
  updates      = SURVEY_UPDATES
  activeflag   = SURVEY_UNDERWAY = true
  inactiveflag = SURVEY_UNDERWAY = false
  endflag      = RETURN = true

         speed = 2   // meters per second
        radius = 5.0
   slip_radius = 15.0
          lead = 8
	  lead_damper=1
	points = format=lawnmower, label=archie_survey, x=$(SURVEY_X), y=$(SURVEY_Y), width=$(WIDTH), height=$(HEIGHT),lane_width=$(LANE_WIDTH), rows=north-south, degs=$(DEGREES)

        repeat = 0
  visual_hints = nextpt_color=red, nextpt_lcolor=green
  visual_hints = vertex_color=yellow, edge_color=gray85
  visual_hints = vertex_size=1, edge_size=1
}

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = RETURN = true
  condition  = DEPLOY = true
  perpetual  = true
  endflag    = RETURN = false
  endflag    = DEPLOY = false

         speed = 2.0
        radius = 2.0
     nm_radius = 8.0
        points = $(START_POS)
        repeat = 10
          lead = 8
}

//----------------------------------------------
Behavior = BHV_ConstantDepth
{
  name       = const_depth

  depth      = 8
  duration   = no-time-limit
}