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

initialize   DEPLOY = false
initialize   RETURN = false
initialize   AVOID  = true
initialize   AVOID_TYPE = colregs

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set MODE = SURVEYING {
  MODE = ACTIVE
  RETURN != true
} 

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

//----------------------------------------------
Behavior = BHV_AvdColregs
{
  name       = avdcol_
  pwt        = 300
  condition  = MODE==ACTIVE
  condition  = AVOID_TYPE = colregs
  updates    = CONTACT_COLREGS
  endflag    = CONTACT_RESOLVED = $[CONTACT]
  templating = spawn

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

        pwt_outer_dist = 30
        pwt_inner_dist = 10
        completed_dist = 50
     min_util_cpa_dist = 5
     max_util_cpa_dist = 10

//   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}

//----------------------------------------------
Behavior = BHV_AvoidCollision
{
  name       = avdcol_
  pwt        = 300
  condition  = MODE==ACTIVE
  condition  = AVOID_TYPE = normal
  updates    = CONTACT_COLREGS
  endflag    = CONTACT_RESOLVED = $[CONTACT]
  templating = spawn

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

        pwt_outer_dist = 30
        pwt_inner_dist = 10
        completed_dist = 50
     min_util_cpa_dist = 7
     max_util_cpa_dist = 12

//   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}

//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name      = waypt_survey
  pwt       = 100
  condition = MODE==SURVEYING
  endflag   = RETURN = true
  UPDATES   = WPT_UPDATE
  perpetual = true

            lead = 28
     lead_damper = 1
           speed = $(SPEED)   // meters per second
    capture_line = true
  capture_radius = 10.0
     slip_radius = 30.0

	   points = 50,-35 : 0,-55 : 12, -80:48,-95: 62,-60  // small home plate
//#ifdef PATTERN 1
//          points = 60,0 : 60,-160 : 150,-160 : 180,-80 : 150,0
//#elseifdef PATTERN 2
//          points = 60,-160 : 150,-160 : 180,-80 : 150,0 : 60,0
//#else
//          points = 60,-60 : 60,-180 : 150,-180 : 180,-120 : 150,-60
//#endif
          repeat = 1800
           order = $(ORDER)


    visual_hints = nextpt_color=red, nextpt_lcolor=green
    visual_hints = vertex_color=white, edge_color=grey60
    visual_hints = vertex_size=2, edge_size=1
}

//----------------------------------------------
//Behavior=BHV_HeadingHysteresis
{
  name       = heading_hyster
  pwt        = 100
  condition  = MODE==ACTIVE
  perpetual  = true

   memory_time = 10
}

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

           speed = 2.0
  capture_radius = 2.0
     slip_radius = 8.0
          points = $(START_POS)
}