//*******************************************************
// Vehicle behavior configuration file

initialize   DEPLOY = false
initialize   RETURN = false
initialize   STATION_KEEP = false
initialize   OPTION = guard_base
initialize   RESCUE_REGION = pts={-262,-182:-82,-537:465,-310:251,37}

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set MODE = GUARDING_BASE {
    MODE = ACTIVE
    OPTION = guard_base
}

set MODE = PERIMETER_SEARCHING {
    MODE = ACTIVE
    OPTION = perim_search
}

set MODE = COVERING {
    MODE = ACTIVE
    OPTION = coverage
}

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

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




//----------------------------------------------
Behavior = BHV_Voronoi
{ 
  name      = voronoi_cover
  pwt       = 10
  condition  = MODE==COVERING
  idleflag   = PROX_POLY_VIEW = false
  activeflag = PROX_POLY_VIEW = true
  UPDATES   = VCOVER_UPDATE
  perpetual = true
  // Parameters specific to this behavior
  // ------------------------------------
    capture_radius  = 10
    activate_radius = 10
    //turn_radius = 500    
    //op_region= pts={-262,-182:-82,-537:465,-310:251,37}       
    speed = 1       
    stale_nav_thresh = 5
    stale_poly_thresh = 10

       setpt_method = center
 
   visual_hints = setpt_size   = 4 
   visual_hints = setpt_color  = dodger_blue 
   visual_hints = vertex_color  = yellow        // default
   visual_hints = vertex_lcolor = aqua          // default
   visual_hints = label         = zone3         // example
}



//----------------------------------------------
// Simple Guard Base behavior

//----------------------------------------------
Behavior = BHV_Loiter
{
  name      = guard_base_loiter
  pwt       = 100
  condition = MODE==GUARDING_BASE
  UPDATES   = LOITER_UPDATE
  perpetual = true
  runflag   = ENCIRCLE_ACTIVE=true
  idleflag  = ENCIRCLE_ACTIVE=false

  activeflag = ENCIRCLE_POSITION=format=ellipse, x=80, y=-245, degs=25, pts=14, snap=1,major=130, minor=80

   post_suffix = A
         speed = 1.3
     clockwise = false
        radius = 8.0
     nm_radius = 15.0
     polygon   = label=GUARD_BASE_LOITER, format=ellipse, x=80, y=-245, degs=25, pts=14, snap=1,major=130, minor=80
       //polygon = 63,11:72,-6:-72,-72:-80,-56:label,GUARD_BASE_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
}



//----------------------------------------------
// Simple Perimeter search behavior
	
//----------------------------------------------
Behavior = BHV_Loiter
{
  name      = loiter_perim_search
  pwt       = 100
  condition = MODE == PERIMETER_SEARCHING 
  endflag   = RETURN = true

  UPDATES   = LOITER_UPDATE_TWO
  perpetual = true

   post_suffix = B
         speed = 1.0
     clockwise = false
        radius = 8.0
     nm_radius = 15.0

	 polygon  = -222,-193:-70,-499:423,-300:240,1:label,PERIM_SEARCH


    visual_hints = nextpt_color=yellow
    visual_hints = nextpt_vertex_size=8
    visual_hints = nextpt_lcolor=gray70
    visual_hints = edge_color=white, vertex_color=dodger_blue
    visual_hints = vertex_size=5, edge_size=1
}

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

	   speed = $(SPEED)
  capture_radius = 2.0
     slip_radius = 8.0

#ifdef VNAME abe
	point = 52,9
#elseifdef VNAME ben
	point = 39,4
#elseifdef VNAME cal
	point = 29,0
#elseifdef VNAME deb
	point = 16,-6
#elseifdef VNAME eve
	point = 4,-11
#elseifdef VNAME fin
	point = 2,-15
#elseifdef VNAME max
	point = 26,-2
#elseifdef VNAME ned
	point = 12,-8
#elseifdef VNAME oak
	point = 40,-8
#else
	point = 0,-10
#endif
 }

//----------------------------------------------
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 = 0.5
          swing_time = 7
        visual_hints = vertex_size=0, edge_color=gray50
}


//----------------------------------------------
Behavior = BHV_AvoidCollision
{
  name       = avdcol_
  pwt        = 350
  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

         use_refinery = true

        pwt_outer_dist = 35
        pwt_inner_dist = 10
        completed_dist = 40
     min_util_cpa_dist = 10
     max_util_cpa_dist = 18
             pwt_grade = linear
//   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}