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

initialize   DEPLOY = false
initialize   RETURN = false
initialize   SEARCH_1 = false
initialize   SEARCH_2 = false
initialize   SEARCH_1_DONE = 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_SailWaypoint
{
  name       = 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
      
      upwind_threshold   = 45   // degrees
             patience    = 0.9  // amount of importance of course zaic

  // polar plot parameters for 0 to 180°
  // Dramatically simplified from historic by mjs on 2/7/2023
  // These are in heading/dimensionless magnitude pairs, _not_ speeds!
  polar_plot = 0,0:55,50:62,50:69,50:90,50:135,50:155,50:169,44:180,42 
 }

//----------------------------------------------
Behavior=BHV_SailWaypoint
{
  name      = sail
  pwt       = 100
  condition = RETURN = false
  condition = DEPLOY = true
  condition = SEARCH_1 = false
	// endflag   = RETURN = true
      endflag   = RETURN = true


  updates    = SAIL_UPDATE
  perpetual  = true

             speed     = 2.0  // meters per second
      capture_line     = false
    capture_radius     = 10
       slip_radius     = 15
  upwind_threshold     = 45   // degrees
          patience     = 0.9  // amount of importance of course zaic
//    dist_from_track     = 25   // sets allowable distance from trackline when navigating upwind
           
//           search     = true // indicates that the function is to search the area provided by points below
//      track_space     = 15 // width between sweeping lines in search pattern (25 may be sweet spot for simulation)
//      sensor_width     = 10  // the effective width covered by the vehicle's sensor or the area covered in a single pass, determines search grid cell size

// prop_installed       = true       


      //points = pts={50,-50:150,0:250,-15:190,-75:225,-100:50,-180}
      //points = pts={50,-50:150,0:225,-100:50,-180}          
      //points = pts={10,-40:80,-150:140,-90:-130,-120:70,0:30,-130}          
      //points = pts={-50,-100:150,-100:300,-250:-50,-250:-50,-100} 
      //points = pts={50,-100:200,-50:250,-200:100,-250}  
      // points = pts={50,-100:250,-25:300,-175:100,-250}
      // point  = 100,-50 // Cannonical Mission: Path to first search area
      // point  = 47,-398 // Cannonical Mission: Path to second search area
      points = pts={50,-50:100,-50:100,-150:50,-50} // triangle

      // points = pts={0,-50:150,-50:150,-200:0,-200} // rectangle
      // points = pts={50,-100:100,-100:100,-200:50,-200} // rectangle
      // points = pts={48,-25:102,-25:140,-63:140,-117:102,-155:48,-155:10,-117:10,-63:48,-25}// octagon
      // repeat = forever     // number of _additional_ repeats or 'forever'
      // order = toggle
  // polar plot parameters for 0 to 180°
  // Dramatically simplified from historic by mjs on 2/7/2023
  // These are in heading/dimensionless magnitude pairs, _not_ speeds!
  polar_plot = 0,0:55,50:62,50:69,50:90,50:135,50:155,50:169,44:180,42 

   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
}