//---------------------------------------------------
// Helm Behavior file 

initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   STATION_KEEP = false
initialize   LOITER  = false
initialize   TRANSIT  = true
initialize   AVOID   = true
initialize   AVOID_TYPE = colregs

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

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

set MODE = TRANSITING {
  MODE = ACTIVE
  LOITER = false
  TRANSIT = true
}

set MODE = LOITERING {
  MODE = ACTIVE
  LOITER = true
  }

  #include plug_BHV_AvdColregs.bhv
  #include plug_BHV_OpRegion.bhv

Behavior = BHV_HSLine
{
  name        = hsline
  time_on_leg = 20
}

//-----------TRANSIT-------------------------------
Behavior = BHV_Waypoint
{
    name      = waypt_transit
    pwt       = 100
    updates   = UP_TRANSIT
    condition = MODE==TRANSITING
  //endflag   = STATION_KEEP = true
  //endflag   = AVOID = false
//  cycleflag = STATION_KEEP = true
    cycleflag = UTS_FORWARD=0
    efficiency_measure = all
        speed = $(SPEED)
              radius = 5.0
         slip_radius = 15.0
         points = 150,-110: 0,-110:0,-130:150,-130
         //$(WPT_PTS)
               order = $(WPT_ORDER)
              repeat = forever
                lead = 25
  crs_spd_zaic_ratio = 70
  // $(LOITER_POS),label=$(VNAME)_TRANSIT

  }
  
//-----------STATION-----------------------------------
Behavior = BHV_StationKeep
{
  name         = station-keep
  pwt          = 100
  condition    = MODE==STATION-KEEPING
  inactiveflag = STATIONING = false
  activeflag   = STATIONING = true

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

       transit_speed = 1.3
          swing_time = 7
//  hibernation_radius = 25
        visual_hints = vertex_size=0, edge_color=gray50
}



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

      speed = 2.5
     radius = 3.0
  nm_radius = 15.0
     points = $(RETURN_POS)
     repeat = 10
       lead = 8
}




//----------------------------------------------
//Behavior = BHV_Loiter
{
  name      = loiter
  pwt       = 100
  condition = MODE==LOITERING
  updates   = UP_LOITER
  runflag   = VEHICLE_UNDERWAY = TRUE
  endflag   = VEHICLE_UNDERWAY = FALSE

   post_suffix = A
         speed = 1.3
     clockwise = false
        radius = 8.0
     nm_radius = 15.0
       polygon = radial:: $(LOITER_POS), radius=5, pts=8, snap=1, label=$(VNAME)_LOITER
  visual_hints = nextpt_color=white, nextpt_lcolor=khaki
  visual_hints = edge_color=orange, vertex_color=white
  visual_hints = edge_size=1, vertex_size=2
}