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

initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   TRANSIT = false
initialize   AVOID   = true
  
set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

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

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


//----------------------------------------------
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
        visual_hints = vertex_size=0, edge_color=gray50
}


//----------------------------------------------
//Behavior = BHV_AvdColregsV17

Behavior = BHV_AvoidCollision
{
  name       = avdcol_
  pwt        = 350
  condition  = AVOID = true 
  condition  = MODE==ACTIVE
  condition  = MODE!=ACTIVE:STATION-KEEPING
  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 = 20
        pwt_inner_dist = 8
        completed_dist = 40
     min_util_cpa_dist = 10
     max_util_cpa_dist = 15
             pwt_grade = linear
//   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}

//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name      = transit
  pwt       = 100
  condition = MODE==TRANSITING
  UPDATES   = WPT_UPDATE
  perpetual = true

                lead = 8
         lead_damper = 1
       lead_to_start = true
               speed = 3   // meters per second
        capture_line = true
      capture_radius = 5.0
         slip_radius = 15.0

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

  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
}

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

           speed = 3.0
  capture_radius = 2.0
     slip_radius = 8.0
           point = $(START_POS)

     visual_hints = vertex_size  = 4             // default
     visual_hints = vertex_color = dodger_blue   // default

}