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

initialize   DEPLOY   = false
initialize   RETURN   = false
initialize   STATION  = false
initialize   COLL_AVD = true
initialize   SAFETY   = true
initialize   LOITER   = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

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

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

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_return
  pwt       = 75
  updates   = RETURN_UPDATES
  condition = MODE==RETURNING
  endflag   = STATION = true
  cycleflag = RETURN  = false

      speed = $(CRUISESPEED)
     radius = 6.0
  nm_radius = 10.0
     points = $(RETURN_PT)
  perpetual = true
       lead = 8
}

//----------------------------------------------
Behavior = BHV_StationKeep
{
  name      = station_keep
  pwt       = 75
  condition = MODE==STATION-KEEPING

  center_activate = true
     inner_radius = 10
     outer_radius = 20
      outer_speed = 1.0
       swing_time = 10
}

//----------------------------------------------
Behavior = BHV_AvoidCollision
{
  name       = avd_
  pwt        = 100
  condition  = COLL_AVD = true
  condition  = MODE==ACTIVE
  updates    = CONTACT_INFO
  endflag    = CONTACT_RESOLVED = $[CONTACT]
  templating = spawn

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

//---------------------------------OLD
//        pwt_outer_dist = 50
//        pwt_inner_dist = 20
//        completed_dist = 75
//     min_util_cpa_dist = 8

//---------------------------------NEW
        pwt_outer_dist = 30
        pwt_inner_dist = 15
        completed_dist = 35
     min_util_cpa_dist = 8
//---------------------------------

     max_util_cpa_dist = 25
             pwt_grade = linear
   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}

//----------------------------------------------
Behavior = BHV_Loiter
{
  name      = loiter_pattern
  pwt       = 75
  updates   = LOITER_UPDATES
  condition = MODE==LOITERING
  endflag   = RETURN=true
  endflag   = DEPLOY=false

           speed = $(CRUISESPEED)
    acquire_dist = 20
  capture_radius = 5
       clockwise = true
         polygon = radial:: $(LOITER_PT), radius=20, pts=6, snap=1, label=$(VNAME)
     slip_radius = 8
    visual_hints = nextpt_color=white, nextpt_lcolor=khaki
    visual_hints = edge_color=blue, vertex_color=yellow
    visual_hints = edge_size=1, vertex_size=2
}


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

  polygon = pts={-50,-40 : 100,20 : 180,20 : 180,-200 : -50,-200 : -100,-75}
  trigger_entry_time = 1
  trigger_exit_time  = 1

  visual_hints = edge_size=1, vertex_size=2
}