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

initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   STATION_KEEP = false
initialize   LOITER  = true
initialize   AVOID   = true
initialize   FLAGS_TO_GRAB   = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

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


//----------------------------------------------  
Behavior = BHV_AvdColregs
{
  name       = avdcol_
  pwt        = 300
  condition  = MODE==ACTIVE
  updates    = CONTACT_COLREGS
  endflag    = CONTACT_RESOLVED = $[CONTACT]
  templating = spawn

  activeflag = AVOIDING=true
  inactiveflag = AVOIDING=false

             contact = to-be-set
    on_no_contact_ok = true
         extrapolate = true
               decay = 30,60

        pwt_outer_dist = 40
        pwt_inner_dist = 15
        completed_dist = 50
     min_util_cpa_dist = 5
     max_util_cpa_dist = 25
}

	
//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name      = waypt_flags
  pwt       = 100
  condition = MODE==TRAVERSING
  condition = FLAGS_TO_GRAB = true
  endflag   = FLAGS_TO_GRAB = false
  updates   = FLAG_PATH
  perpetual = true

               speed = 4   // meters per second
        capture_line = true
      capture_radius = 5.0
         slip_radius = 15.0

             polygon = 0,0
             repeat = 0

  visual_hints = nextpt_color=yellow
    visual_hints = nextpt_vertex_size=8
    visual_hints = nextpt_lcolor=gray70
    visual_hints = vertex_color=dodger_blue, edge_color=white
    visual_hints = vertex_size=5, edge_size=1
}

//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name      = waypt_survey
  pwt       = 100
  condition = MODE==TRAVERSING
  condition = FLAGS_TO_GRAB = false
  endflag   = RETURN = true
  updates   = WPT_UPDATE
  perpetual = true

             lead = 50
      lead_damper = 4
    lead_to_start = true
            speed = 4   // 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 = 40

     visual_hints = nextpt_color=yellow
     visual_hints = label_color=invisible
     visual_hints = nextpt_vertex_size=8
     visual_hints = nextpt_lcolor=gray70
     visual_hints = vertex_color=dodger_blue, edge_color=white
     visual_hints = vertex_size=5, 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
}