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

initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   CHASING = true
initialize   AVOID   = true
initialize   STATION_KEEP = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

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

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

   post_suffix = A
         speed = 5
     clockwise = best
        radius = 4.0
     nm_radius = 8.0
       polygon = radial:: $(LOITER_POS), radius=20, pts=8, snap=1, label=$(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
}

//----------------------------------------------
// Behavior = BHV_Waypoint
// {
//   name      = waypt_search
//   pwt       = 100
//   condition = MODE==CHASING
//   endflag   = UTS_RESET=true
//   updates   = WPT_UPDATE
//   perpetual = true
//
//                speed = 2   // meters per second
//         capture_line = true
//       capture_radius = 5.0
//          slip_radius = 15.0
//
//              polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40
//              repeat = 0
//
//     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_return
  pwt       = 100
  updates   = RETURN_UPDATES
  condition = MODE==RETURNING
  endflag   = STATION_KEEP = true
  endflag   = DEPLOY = false
	perpetual = true

              speed = 2.0
     capture_radius = 3.0
        slip_radius = 15.0
             points = $(START_POS)
             repeat = 10
       lead = 8
}

//----------------------------------------------
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
        visual_hints = vertex_size=0, edge_color=gray50
}