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

initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   STATION_KEEP = false
initialize   LOITER  = false
initialize   TRANSIT  = true
initialize   AVOID   = true
initialize   AVOID_TYPE = colregs

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

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

set MODE = TRANSITING {
  MODE = ACTIVE
  LOITER = false
  TRANSIT = true
}

set MODE = LOITERING {
  MODE = ACTIVE
  LOITER = true
  }
  
//--------SAFETY OP_REGION--------------------------------------
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
}

  
//--------COLREGS--------------------------------------
//Behavior = BHV_AvdColregs
{
  name       = avdcol_
  pwt        = 300
  condition  = MODE==ACTIVE
  condition  = AVOID_TYPE = colregs
  condition  = STATION_KEEP = false
  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 = 40
     pwt_inner_dist = 15
     completed_dist = 50
  min_util_cpa_dist = 15
  max_util_cpa_dist = 15

//   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}
//-----------TRANSIT-------------------------------
Behavior = BHV_Waypoint
{
    name      = waypt_transit
    pwt       = 100
    updates   = UP_TRANSIT
    condition = MODE==TRANSITING
  //endflag   = STATION_KEEP = true
  //endflag   = AVOID = false
  //cycleflag = STATION_KEEP = true
    cycleflag = UTS_FORWARD=0

  efficiency_measure = all
        speed = 1.5
       radius = 5.0
  slip_radius = 15.0
       points = 0,-150
       repeat = forever
         lead = 8
  
  // $(LOITER_POS),label=$(VNAME)_TRANSIT

  }
  
//-----------STATION-----------------------------------
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
//  hibernation_radius = 25
        visual_hints = vertex_size=0, edge_color=gray50
}



//-----------RETURN-----------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_return
  pwt       = 100
  updates   = RETURN_UPDATES
  condition = MODE==RETURNING
  endflag   = STATION_KEEP = true
  endflag   = AVOID = false

      speed = 1.3
     radius = 3.0
  nm_radius = 15.0
     points = $(START_POS)
     repeat = 10
       lead = 8
}




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

   post_suffix = A
         speed = 1.3
     clockwise = false
        radius = 8.0
     nm_radius = 15.0
       polygon = radial:: $(LOITER_POS), radius=5, pts=8, snap=1, label=$(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
}

//-----------AVOID_COLLISION-----------------------------
//Behavior = BHV_AvoidCollision
{
  name         = ac_
  pwt          = 200
  condition    = AVOID = true 
  updates      = CONTACT_INFO
  idleflag     = AVOIDING = idle
  activeflag   = AVOIDING = active
  inactiveflag = AVOIDING = inactive
  runflag      = AVOIDING = running
  endflag      = AVOIDING = end
  endflag      = CONTACT_RESOLVED = $[CONTACT]
  templating   = spawn

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

        pwt_outer_dist = 40
        pwt_inner_dist = 20
        completed_dist = 100
     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
}