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

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

   post_suffix = A
         speed = 1.3
     clockwise = best
        radius = 8.0
     nm_radius = 12.0
       polygon = radial:: $(LOITER_POS), radius=12, pts=8, snap=1, label=$(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_StationKeep
{
  name		  = station-keep
  pwt		    = 100

  condition	= MODE==STATION-KEEPING
 
     center_activate = true
	      inner_radius = 5
        outer_radius = 10
	       outer_speed = 1.0
	     transit_speed = 1.3
	        swing_time = 7
	hibernation_radius = 15

	      visual_hints = vertex_size=0, edge_color=dodger_blue
}

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  updates    = RETURN_UPDATES
  condition  = MODE==RETURNING

  perpetual  = true
  endflag    = RETURN = false
  endflag    = STATION_KEEP = true
	endflag    = AVOID   = false
  endflag    = MISSION = complete

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

//----------------------------------------------
Behavior = BHV_AvoidCollision
{
  name       = avdc_
  pwt        = 300
  condition  = MODE==ACTIVE
  condition  = AVOID=true
  updates    = CONTACT_INFO
  endflag    = CONTACT_RESOLVED = $[CONTACT]
  templating = spawn

  activeflag   = AVOIDING=true
  inactiveflag = AVOIDING=false


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

        pwt_outer_dist = 30
        pwt_inner_dist = 8
        completed_dist = 50
     min_util_cpa_dist = 5
     max_util_cpa_dist = 15
             pwt_grade = linear
   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}

//-----------------------------------------------
Behavior = BHV_OpRegion
{
  name		  = opregion
  pwt		    = 100
  condition	= MODE==ACTIVE

            polygon  = pts={-138,-59:-97,-162:90,-90:47,14}
  trigger_entry_time = 1
   trigger_exit_time = 1

        visual_hints = edge_size=1
}