//--------    FILE: gilda.bhv   -------------

initialize   DEPLOY   = false
initialize   RETURN   = false
initialize   TRANSIT  = false

//========================================================
// Hierarchical Mode Declarations
//  o ROOT            
//  |--o INACTIVE     
//  |--o ACTIVE       
//     |--o TRANSITING
//     |--o RETURNING
//========================================================


Set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set MODE = TRANSITING {
  MODE = ACTIVE
  TRANSIT = true
  RETURN != true
} 

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

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

       speed = 2.0
      radius = 2.0
   nm_radius = 8.0
       point = $(START_POS)
  visual_hints = nextpt_color=red, nextpt_lcolor=khaki
  visual_hints = edge_color=khaki, vertex_color=white
  visual_hints = edge_size=1, vertex_size=4
}

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_transit
  pwt       = 100
  condition = MODE==TRANSITING
  perpetual = true
  endflag   = TRANSITING = false
  endflag   = RETURN = true

     cycleflag = SURVEY = false
         speed = 1.1   // meters per second
        radius = 8.0
        points = label,transit:190,25:155,-20:45,-85:-40,-100
//        points = label,transit:140,40:120,-30:70,-110:40,-190:20,-220:-10,-260
        repeat = 99
  visual_hints = nextpt_color=red, nextpt_lcolor=khaki
  visual_hints = vertex_color=yellow, line_color=white
  visual_hints = vertex_size=2, edge_size=1
}