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

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

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

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

set MODE = LOITERING {
  MODE = ACTIVE
  LOITER = true
} 


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

      ipf_type = zaic_spd
   post_suffix = A
         speed = 1.4
     clockwise = false
        radius = 8.0
     nm_radius = 15.0
       polygon = radial:: $(LOITER_POS), radius=15, pts=8, snap=1, label=$(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
}


//----------------------------------------------
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_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
}


//----------------------------------------------
Behavior = BHV_AvdColregsV19
{
  name         = avdcol_
  pwt          = 200
  condition    = AVOID = true 
  updates      = CONTACT_INFO
  endflag      = CONTACT_RESOLVED = $[CONTACT]
  templating   = spawn

        use_refinery = true

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

        pwt_outer_dist = 20
        pwt_inner_dist = 11
        completed_dist = 40
     min_util_cpa_dist = 8
     max_util_cpa_dist = 15
             pwt_grade = linear
   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}

//----------------------------------------------
//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

        use_refinery = true

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

        pwt_outer_dist = 20
        pwt_inner_dist = 11
        completed_dist = 40
     min_util_cpa_dist = 8
     max_util_cpa_dist = 15
             pwt_grade = linear
   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}

//----------------------------------------------
//Behavior=BHV_AvoidObstacle
{
  name       = avdob_
  pwt        = 300
  condition  = DEPLOY = true
  templating = spawn
  updates    = OBSTACLE_ALERT

     allowable_ttc = 10 
       buffer_dist = 7
    pwt_outer_dist = 25
    pwt_inner_dist = 15
    completed_dist = 30
}

//----------------------------------------------
Behavior = BHV_AvoidObstacleV21
{
  name       = avdob_
  pwt        = 300
  condition  = DEPLOY = true
  templating = spawn
  updates    = OBSTACLE_ALERT

        use_refinery = true
       allowable_ttc = 12 
      pwt_outer_dist = 15
      pwt_inner_dist = 5
      completed_dist = 18
   min_util_cpa_dist = 4
   max_util_cpa_dist = 8

    visual_hints = obstacle_edge_color = white
    visual_hints = obstacle_vertex_color = gray60
    visual_hints = obstacle_fill_color = gray60
    visual_hints = obstacle_fill_transparency = 0.7
    
    visual_hints = buffer_min_edge_color = gray60
    visual_hints = buffer_min_vertex_color = dodger_blue
    visual_hints = buffer_min_vertex_size = 1
    visual_hints = buffer_min_fill_color = gray70
    visual_hints = buffer_min_fill_transparency = 0.25

    visual_hints = buffer_max_edge_color = gray60
    visual_hints = buffer_max_vertex_color = dodger_blue
    visual_hints = buffer_max_vertex_size = 0
    visual_hints = buffer_max_fill_color = gray80
    visual_hints = buffer_max_fill_transparency = 0.1
}