initialize           TRAIL = false
initialize    STATION_KEEP = true
initialize          RETURN = false
initialize         DEPLOY  = false
initialize         TAGGED  = false
initialize ENEMY_TERRITORY = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

set MODE = TRAILING {
  MODE   = ACTIVE
  TRAIL  = true
}

set MODE = RETURNING {
  MODE   = ACTIVE
  RETURN = true
  TAGGED = false
} ATTACKING

set MODE = TAGGED {
  MODE    = ACTIVE:ATTACKING
  TAGGED != false
} UNTAGGED

set MODE = AVOIDING {
  MODE            = ACTIVE:ATTACKING:UNTAGGED
  ENEMY_TERRITORY = true
}

Behavior = BHV_AvoidCollision
{
  name         = avdcollision_                     // example
  pwt = 200

  //behavior specific configuration
  condition = MODE==ACTIVE
  templating   = spawn                             // example

  updates   = CONTACT_INFO

  endflag = CONTACT_RESOLVED = $[CONTACT] // example

             contact = chaser2
             decay = 15,30
    on_no_contact_ok = true
         extrapolate = true

        completed_dist = 22
        pwt_outer_dist = 200
        pwt_inner_dist = 50
     min_util_cpa_dist = 10
     max_util_cpa_dist = 75
             pwt_grade = linear
   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_grab
  pwt       = 50
  perpetual = true

  condition = MODE==UNTAGGED
  updates   = WPT_UPDATE

  endflag   = FLAG_GRAB_REQUEST=vname=$(VNAME)
  endflag   = RETURN=true

               speed = 5   // meters per second
        capture_line = false
      capture_radius = 5.0
         slip_radius = 5.0

             points = $(GRAB_POS)

    visual_hints = nextpt_color=gray20
    visual_hints = nextpt_vertex_size=2
    visual_hints = nextpt_lcolor=invisible
    visual_hints = label_color=invisible
    visual_hints = vertex_color=invisible, edge_color=invisible
    visual_hints = vertex_size=2, edge_size=1
}

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name = waypt_untag
  pwt = 100
  perpetual = true

  condition = MODE==TAGGED

  activeflag = RETURN = false
  endflag   = TAGGED = false

              speed = 5
     capture_radius = 10.0
        slip_radius = 10.0
             points = $(UNTAG_POS)
}

//Behavior = BHV_OpRegion
{
  name    = opregion
  pwt    = 100
  condition  = MODE==ACTIVE

  polygon = pts={-220, -120 : -100, -430 : 380, -240 : 254, 46 : 112, 21 }, label_area=SAFETY_OPAREA

  breached_poly_flag = SAY_MOOS = ALERT op region has been violated

  trigger_entry_time = 1
  trigger_exit_time = 1

  visual_hints = edge_color   = aqua
  visual_hints = edge_size=1
}

//Behavior = BHV_Trail
{
  name         = trail_mokai                // example
  pwt          = 100                   // default
  condition    = MODE == TRAILING //TRAIL_ALLOWED = true
  updates      = TRAIL_INFO            // example
//  runflag = NODE_MESSAGE_LOCAL=src_node=betty,dest_node=mokai,var_name=SAY_MOOS,string_val=Betty Is Following
//  runflag = NODE_MESSAGE_LOCAL=src_node=betty,dest_node=mokai,var_name=SAY_MOOS,string_val=file=t2_affirmative.wav
  runflag = NODE_MESSAGE_LOCAL=src_node=betty,dest_node=mokai,var_name=SAY_MOOS,string_val=file=t3_programmed.wav

  // General Contact Behavior Parameters
                  contact = mokai        // example
                    decay = 15,30            // default (seconds)
              extrapolate = true             // default
         on_no_contact_ok = true             // default
              time_on_leg = 60               // default (seconds)

  // Parameters specific to this behavior
                nm_radius = 1          // default (meters)
         no_alert_request = false      // default
  post_trail_dist_on_idle = true       // default
           pwt_outer_dist = 0          // default (meters)
                   radius = 1          // default (meters)
              trail_angle = 220        // default (degrees)
         trail_angle_type = relative   // default (relative or absolute)
              trail_range = 8          // default (meters)
}

Behavior = BHV_StationKeep
{
  name      = station-keep
  pwt       = 100
  condition = MODE == STATION-KEEPING
//  runflag = NODE_MESSAGE_LOCAL=src_node=betty,dest_node=mokai,var_name=SAY_MOOS,string_val=Betty Is Stationing
  runflag = NODE_MESSAGE_LOCAL=src_node=betty,dest_node=mokai,var_name=SAY_MOOS,string_val=file=t2_no_problemo.wav
     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=blue
}

//------RETURN----------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_return
  pwt       = 100
  updates   = RETURN_UPDATES
  condition = MODE == RETURNING
//  runflag = NODE_MESSAGE_LOCAL=src_node=betty,dest_node=mokai,var_name=SAY_MOOS,string_val=Betty Is Returning
  runflag   = NODE_MESSAGE_LOCAL=src_node=betty,dest_node=mokai,var_name=SAY_MOOS,string_val=file=t1_be_back.wav
  endflag   = STATION_KEEP = true

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