//--------    FILE: meta_vehicle.bhv   -------------

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

// //----------------------------------------------
Behavior = BHV_SailMax
{ 
  name      = sailmax
  pwt       = 100
  condition = RETURN = false
  condition = DEPLOY = true
	endflag   = MISSION_LEG = COMPLETE

  updates    = SAIL_UPDATE
  perpetual  = true
  
  	     lead      = 20
	     lead_damper = 10
             speed     = 2.0  // meters per second
      capture_line     = true
    capture_radius     = 5
       slip_radius     = 15
     channel_width     = 200  // m
  upwind_threshold     = 62   // degrees
  prop_timer_trigger   = 120  // sec
windir_filter_length   = 10   // sec
     replan_interval   = 120   // sec
  close_enough_angle   = 3    // degrees
  close_enough_pos     = 40   // m
   tack_imp_factor     = 1.5  // ratio

#ifdef SHAPE tri       
      points = pts={50,-50:100,-50:100,-150:50,-50}
      //points = pts={50,-50:300,-50:300,-150:50,-50}
#elseifdef SHAPE rect
      points = pts={25,-25:75,-25:75,-125:25,-125:25,-25}
#elseifdef SHAPE oct
      //points = pts={-250,120:-610,435:-700,350:-485,360:95,-30:-510,-60:-510,-400:450,-455:500,-655:-315,-770:75,-520}
      points = pts={48,-25:102,-25:140,-63:140,-117:102,-155:48,-155:10,-117:10,-63:48,-25}
      //points = pts={48,-125:102,-125:140,-163:140,-217:102,-255:48,-255:10,-217:10,-163:48,-125}
#endif          
#ifdef ORDER
                 order = $(ORDER)
#endif
#ifdef REPEAT                 
                repeat = $(REPEAT)
#endif

#include plug_polar.moos		

   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=6, 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]

      lead_condition = AVOIDING != active

                lead = 8
         lead_damper = 1
       lead_to_start = true

           speed = 2.0
  capture_radius = 2.0
     slip_radius = 8.0
#ifdef REGION pavlab    
          point = 0,-20
#else
          point = 0, 0
#endif          
 }