//----------------------------------------------
// Vehicle behavior file
//----------------------------------------------

initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   STATION_KEEP = false
initialize   SURVEY  = true
initialize   AVOID   = true
initialize   SURVEY_UNDERWAY = false
initialize   OPREGION = true
initialize   SURVEY_FRONT = false
initialize   CONTAIN_SET  = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

set MODE = ESTIMATING {
  MODE = ACTIVE
  SURVEY = true
  RETURN = false
}

set MODE = FOLLOWING_FRONT  {
  MODE = ACTIVE
  SURVEY_FRONT = true
  //SURVEY = false
}

//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name         = waypt_circle
  pwt          = 100
  condition    = MODE==ESTIMATING
  perpetual    = false
  updates      = SURVEY_UPDATES
  activeflag   = SURVEY_UNDERWAY = true     
  inactiveflag = SURVEY_UNDERWAY = false
  endflag      = SURVEY_FRONT = true
  endflag      = SURVEY = false
  endflag      = CONTAIN_SET = true

         speed = 2   // meters per second
        radius = 5.0
   slip_radius = 15.0
          lead = 8
	  lead_damper=1
	points = format=ellipse, label=front_survey, x=$(SURVEY_X), y=$(SURVEY_Y), degs=$(DEGREES), pts=$(PTS), snap=1, major=$(MAJOR), minor=$(MINOR)

        repeat = 0
  visual_hints = nextpt_color=red, nextpt_lcolor=green
  visual_hints = vertex_color=yellow, edge_color=gray25
  visual_hints = vertex_size=1, edge_size=1
}

//-----------------------------------------------------------------------
//NOTE: This behavior, in IDLE STATE, determines max gradient,
//      and line of front by LMS linear regression
//-----------------------------------------------------------------------
Behavior = BHV_FollowFront
{
   name        = follow_front
   pwt         = 100
   condition   = MODE==FOLLOWING_FRONT
   perpetual   = true
   //activeflag  = SURVEY_UNDERWAY = true
   //duration    = 300  //equivalent to 5 minutes

   //----------------------------------------
   //Parameters specific to this behavior
   center = $(CENTER)
   base_width = $(BASE_WIDTH_F)
   peak_width = $(PEAK_WIDTH_F)
   vname=$(VNAME)
}

//------------------------------------------------------------------------
//NOTE: This waypoint behavior is for vehicle to travel between
//       two waypoints produced by BHV_FollowFront
//------------------------------------------------------------------------
Behavior = BHV_Waypoint
{
  name         = waypt_front_line
  pwt          = 100
  condition    = MODE==FOLLOWING_FRONT
  perpetual    = true
  updates      = FRONT_POINTS_UPDATE
  repeat       = 3
  duration     = 600                       
  activeflag   = SURVEY_UNDERWAY = true
  endflag      = RETURN = true
  //endflag      = SURVEY_FRONT = false
  endflag      = CONTAIN_SET = false
  //endlfag      = OPREGION = false

  
        speed = 2   // meters per second
        radius = 5.0
   slip_radius = 15.0
          lead = 8
	  lead_damper=1
	points = $(SURVEY_X),$(SURVEY_Y)  //center of survey circle

  visual_hints = nextpt_color=red, nextpt_lcolor=green
  visual_hints = vertex_color=yellow, edge_color=gray25
  visual_hints = vertex_size=1, edge_size=1

}

//----------------------------------------------------------------------
Behavior = BHV_ZigFront
{
  name         = zig_front
  pwt          = 150
  condition    = MODE==FOLLOWING_FRONT
  perpetual    = true
  activeflag   = SURVEY_UNDERWAY = true



   //--------------------------------------
   // Parameters specific to this behavior

   base_width        = $(BASE_WIDTH_Z)
   peak_width        = $(PEAK_WIDTH_Z)
   zig_duration      = $(ZIG_DURATION)
   zig_angle         = $(ZIG_ANGLE)
   percent_temp_hot  = $(PERCENT_TEMP_HOT)
   percent_temp_cold = $(PERCENT_TEMP_COLD)

}

//----------------------------------------------
Behavior = BHV_Contain
{
  name              = bhv_contain
  pwt               = 100

  condition         = MODE==ACTIVE
  condition         = CONTAIN_SET=true

  //-------------------------------------
  //Parameters distinct to this behavior

  buffer_distance  = $(BUFFER_DISTANCE)   //meters
  base_width       = $(BASE_WIDTH_C)
  peak_width       = $(PEAK_WIDTH_C)
}
       

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = RETURN = true
  condition  = DEPLOY = true
  perpetual  = true
  endflag    = RETURN = false
  endflag    = DEPLOY = false

         speed = 2.0
        radius = 2.0
     nm_radius = 8.0
        points = $(START_POS)
        repeat = 10
          lead = 8
}

//----------------------------------------------
Behavior = BHV_OpRegion
{
  name       = opregion
  pwt        = 100
  condition  = MODE==ACTIVE
  condition  = OPREGION=true
 
             polygon = pts={-50,-40 : 100,20 : 180,20 : 180,-200 : -50,-200 : -100,-75}
  trigger_entry_time = 1
  trigger_exit_time  = 1
        visual_hints = edge_size=1, vertex_size=2
}

//------------------------------------------------
//Behavior = BHV_AvoidCollision
{
  name       = avdcollision_
  pwt        = 200
  condition  = AVOID = true
  updates    = CONTACT_INFO
  endflag    = CONTACT_RESOLVED = $[CONTACT]
  templating = spawn

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

        pwt_outer_dist = 50
        pwt_inner_dist = 20
        completed_dist = 75
     min_util_cpa_dist = 8
     max_util_cpa_dist = 25
             pwt_grade = linear
   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}












//-------------------------------------------------------------------------------------------------------
// ----------------   OTHER BEHAVIORS THAT ARE NOT NEEDED -----------------------------------------------
//------------------------------------------------------------------------------------------------------

//---------------------------------------------
//Behavior = BHV_Waypoint
{
  name          = follow_front_triangle
  pwt           = 100
  condition     = MODE==FOLLOWING_FRONT
  perpetual     = true
  activeflag    = SURVEY_UNDERWAY = true
  endflag       = RETURN = true
  
	 speed = 2   // metersper second
        radius = 5.0
   slip_radius = 15.0
          lead = 8
	  lead_damper=1
	   points = format=radial, label=front_line, x=$(SURVEY_X), y=$(SURVEY_Y), radius=100, pts=3, snap=1
           repeat = 3
	   
  visual_hints = nextpt_color=red, nextpt_lcolor=green
  visual_hints = vertex_color=yellow, edge_color=gray25
  visual_hints = vertex_size=1, edge_size=1


}