//-------------------------------------------------
// NAME: M. Benjamin, MIT MechE
// FILE: meta_vehicle_pp.moos
//-------------------------------------------------

initialize   DEPLOY  = false
initialize   TRANSIT = true
initialize   STATION = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set MODE = STATIONING {
  MODE = ACTIVE
  STATION = true
}

set MODE = TRANSITING {
  MODE = ACTIVE
  TRANSIT = true
}

	
//----------------------------------------------
Behavior = BHV_HSLine
{ 
  name = hsline
	condition = DEPLOY=true
	
	time_on_leg = 5
}

//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name      = waypt_sail
  pwt       = 60
  condition = MODE==TRANSITING
	endflag   = STATION = true
  updates   = SAILPT_UPDATE
  perpetual = true

            lead = 25
     lead_damper = 20
   lead_to_start = true
           speed = 2.0   // meters per second
    capture_line = true
  capture_radius = 5.0
     slip_radius = 20.0
           order = normal
	        repeat = 4

#ifdef REGION  pavlab
          point = 40,-80
#else
          point = 0, -100
#endif

    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_StationKeep
{
  name         = station-keep
  pwt          = 100
  condition    = MODE==STATIONING

     center_activate = true
        inner_radius = 50
        outer_radius = 100
         outer_speed = 1.0

       transit_speed = 1.3
          swing_time = 7
        visual_hints = vertex_size=0, edge_color=gray50
}


//----------------------------------------------
Behavior=BHV_SailFast
{
  name      = sail
  condition = MODE==TRANSITING
  pwt       = 100

  polar_plot = $(POLAR)
	
	//polar_plot = 0,0: 20,40: 45,65: 90,80: 110,90: 135,83: 150,83: 165,60: 180,50
}