//--------    FILE: alpha.bhv   -------------

initialize   DEPLOY = false
initialize   RETURN = false

//----------------------------------------------
//Behavior = BHV_KCache
{ 
  name      = kcache
  pwt       = 1

  hdg_gap   = 10
}

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

  idleflag  = WPTING = idle
  runflag   = WPTING = running
  endflag   = WPTING = end
  inactiveflag = WPTING = inactive

  updates     = WPT_UPDATE
  perpetual   = true
   templating = clone
                lead = 8
         lead_damper = 1
       lead_to_start = true
               speed = 2   // meters per second
        capture_line = true
      capture_radius = 5.0
         slip_radius = 15.0
	efficiency_measure = all

             polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40
             repeat = 0

// uPokeDB alpha.moos++ WPT_UPDATE="name=1#polygon=60,-50 : 60,-170 : 150,-170 : 180,-110 : 150,-50#duration=20"
// uPokeDB alpha.moos++ WPT_UPDATE="name=1#speed=2"

//	ipf_type = roc

    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
    visual_hints = label_color=invisible
}

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

           speed = 2.0
  capture_radius = 2.0
     slip_radius = 8.0
          points = 0,-20
 }