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

initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   STATION_KEEP = false
initialize   SURVEY  = true
initialize   AVOID   = true
initialize   SAFETY  = 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 = SURVEYING {
  MODE = ACTIVE
  SURVEY = true
} 

//----------------------------------------------

Behavior = BHV_Waypoint
{ 
  name      = waypt_survey
  pwt       = 100
  condition = RETURN = false
  condition = (STRIKE_REPORT != STRIKE-evader)
  condition = DEPLOY = true
  condition = SURVEY = true
  endflag   = RETURN = true

  updates    = WPT_UPDATE
  perpetual  = true

                lead = 8
         lead_damper = 1
       lead_to_start = true
           speed = 4   // meters per second
        capture_line = true
      capture_radius = 5.0
         slip_radius = 15.0
	efficiency_measure = all

	           polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40
             order = normal
             repeat  = 3

    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_UPDATES
  condition = MODE==RETURNING
  activeflag = STATION_KEEP = false
  endflag   = STATION_KEEP = true
  //endflag   = AVOID = false

      speed = 4.0
     radius = 3.0
  nm_radius = 15.0
     points = $(START_POS)
     repeat = 10
       lead = 8
}

//----------------------------------------------
Behavior = BHV_StationKeep
{
  name         = station-keep
  pwt          = 100
  condition    = (MODE==STATION-KEEPING) or ((STRIKE_REPORT=STRIKE-evader) and (RETURN=false))
  inactiveflag = STATIONING = false
  activeflag   = STATIONING = true
  activeflag   = STATION_KEEP = true
  activeflag   = SURVEY     = false
  //activeflag   =  AVOID     = false

     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_OpRegion
 {
   // General Behavior Parameters
   // ---------------------------
   name         = op_region                 // example
   pwt          = 100                       // default
   condition    = SAFETY=true               // example
   condition    = RETURN=false
   updates      = OPREGION_UPDATES          // example

   // Parameters specific to this behavior
   // ------------------------------------
                  max_time = 0              // default (seconds)
                 max_depth = 0              // default (meters)
              min_altitude = 0              // default (meters)
                 reset_var = OPREGION_RESET // example
        trigger_entry_time = 1              // default (seconds)
         trigger_exit_time = 0.5            // default (seconds) 

                   polygon = pts={20,0:20,-200:190,-200:220,-140: 190, 0}, label=area_x

		    //polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40

    breached_altitude_flag = SAY_MOOS = Sir, the min altitude has been excceded
       breached_depth_flag = SAY_MOOS = Sir, the max depth has been excceded
        breached_poly_flag = SAY_MOOS = Sir, the op region has been violated
        breached_time_flag = SAY_MOOS = Sir, the maximum mission time has been exceeded

              visual_hints = vertex_color = brown  // default
              visual_hints = vertex_size  = 3      // default
              visual_hints = edge_color   = aqua   // default
              visual_hints = edge_size    = 1      // default
 }
 
 //----------------------------------------------