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

initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   TAGGED  = false
initialize ENEMY_TERRITORY = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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_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 = -61.05,-70.72

    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 = 61.84,-13.2
}

//----------------------------------------------
Behavior = BHV_AvoidCollision
{
  name = avdc_chaser2
  pwt = 150
  perpetual = true

  //behavior specific configuration
  condition = MODE==ACTIVE

  updates   = CONTACT_INFO

  endflag      = CONTACT_AVOIDED=chaser2

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

        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_AvoidCollision
{
  name = avdc_human2
  pwt = 150
  perpetual = true

  //behavior specific configuration
  condition = MODE==ACTIVE

  updates   = CONTACT_INFO

  endflag      = CONTACT_AVOIDED=human2

             contact = human2
    on_no_contact_ok = true
         extrapolate = true
               decay = 15,30

        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_Confines
{
  name = stay_in_area
  pwt = 300
  perpetual = true

  //behavior specific configuration
  condition = MODE==ACTIVE

  polygon         = 51,21 : -81,-41 : -51,-105 : 81,-42 : label,stayIN
  lookahead_secs  = 3.0
  show_closest_pt = true
  use_zero_cone   = true
  should_normalize = true
}

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

  condition = MODE==RETURNING

  updates   = RETURN_UPDATES

  endflag   = DEPLOY = false

              speed = 5
     capture_radius = 10.0
        slip_radius = 10.0
             points = 61.84,-13.2
}