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

initialize   DEPLOY = false
initialize   RETURN = false
initialize   SPDLIMIT = true
//initialize   DRIFT_X = 0.5
//initialize   DRIFT_Y = 0.7
initialize   AVOIDING = idle

//----------------------------------------------
Behavior = BHV_HSLine
{ 
  name = hsline

	time_on_leg = 5
	condition = DEPLOY=true
}

//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name      = waypt_survey
  pwt       = 100
  condition = RETURN = false
  condition = DEPLOY = true
	endflag   = RETURN = true
	endflag   = EFLAG  = endings=$[CTR2]
	cycleflag = CFLAG  = cyles=$[CTR1]
	wptflag   = WFLAG  = waypoints=$[CTR]

  updates   = WPT_UPDATE
  perpetual = true

	//wptflag_on_start = 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
          //points = pts={-12,-52:19,-126:84,-98:96,-50:53,-25}
          //points = pts={-12,-52:92,-308:84,-98:96,-50:53,-25}
          //points = pts={100,-50:100,-150:200,-150:200,-50}
          // 'standard'
          //points = pts={50,-50:150,0:225,-100:50,-180}
          // points with intermediaries like path planning
          points = pts={50,-50:150,0:  250,-15:190,-75:     225,-100:50,-180}


#else
          points = 0,-40 : 0,-160 : 90,-160 : 120,-100 : 90,-40
#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_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = RETURN = true
  condition  = DEPLOY = true
  perpetual  = true
  updates    = RETURN_UPDATE
  endflag    = RETURN = false
  endflag    = DEPLOY = false
  endflag    = MISSION = complete


	endflag    = EFLAG  = r_endings=$[CTR_02]
	cycleflag  = CFLAG  = r_cyles=$[CTR_01]
	wptflag    = WFLAG  = r_waypoints=$[CTR]

           speed = 2.0
  capture_radius = 10.0
     slip_radius = 20.0
          point = 0,-20
 }


//----------------------------------------------
//Behavior=BHV_SailFast
{
  name       = sail
  pwt        = 60
  condition  = RETURN = false
  condition  = DEPLOY = true

  polar_plot = $(POLAR)
	
	//polar_plot = 0,0: 20,40: 45,65: 90,80: 110,90: 135,83: 150,83: 165,60: 180,50
  //	polar_plot = 0,0: 20,40: 45,65: 90,80: 110,90: 135,83: 150,83: 165,60: 180,50
  // MB default with some v at 180
  // use default polar
  //  polar_plot = 0,0:28.8,40.95:47.1,67.57:64.1,82.25:89.3,84.11:110,90:135.7,81.18:149.4,77.47:160.2,59.63:167.6,38.29:180,35
  
  // From Ray Turissi Sept 9,2022
  // Must be in meta_ file since nsplug does not properly expand the polar string!!!
  polar_plot = 0,0:6,9:18,7:30,23:45,41:57,37:69,37:81,45:93,53:105,62:117,60:129,49:141,69:153,86:168,79:180,80
}