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

#define SPD 5.0

#define REGION0_COLOR white
#define REGION1_COLOR red
#define REGION2_COLOR green
#define REGION3_COLOR yellow
#define REGION4_COLOR orange
#define REGION5_COLOR pink

#define BOTTOM_ZONE pts={64380,-24500:62547,-7640:82449,-9373:85620,-24063}
#define TOP_ZONE pts={44677,1481:42678,10925:58924,12905:63637,-185}



initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   TRANSIT = true
initialize   AVOID   = true
initialize   STATION_KEEP = false
initialize   OPTION = TOP_ZONE
initialize   OPTIONS_ACTIVE=true
initialize   RESCUE_REGION=$(TOP_ZONE)
  
set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set MODE = STATION_KEEPING {
  MODE = ACTIVE
  STATION_KEEP = true
}


set MODE = TOP_ZONE_SEARCHING {
  MODE = ACTIVE
  RETURN != true
  OPTION = TOP_ZONE	
}

set MODE = BOTTOM_ZONE_SEARCHING {
  MODE = ACTIVE
  RETURN != true
  OPTION = BOTTOM_ZONE
}

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


#ifdef VTYPE AUV
//-----------------------------
Behavior = BHV_ConstantDepth
{
   // General Behavior Parameters
   // ---------------------------
   name         = const_dep_survey   
   pwt          = 100
   condition  = (MODE==TOP_ZONE_SEARCHING) OR (MODE==BOTTOM_ZONE_SEARCHING)   
   updates      = CONST_DEP_UPDATES  

   // Parameters specific to this behavior
   // ------------------------------------
   duration=no-time-limit
   depth = 50
}

//-------------------------------
Behavior = BHV_Scout
{
  name       = scout
  pwt        = 100
  updates    = SCOUT_UPDATE
  condition  = (MODE==TOP_ZONE_SEARCHING) OR (MODE==BOTTOM_ZONE_SEARCHING)	
  perpetual  = true
  endflag    = RETURN = true
	
  capture_radius = 200
  desired_speed = 6.0
  
}



#else

//----------------------------------------------
Behavior = BHV_Voronoi2
{ 
  name      = voronoi_zone
  pwt       = 10
  condition  = (MODE==TOP_ZONE_SEARCHING) OR (MODE==BOTTOM_ZONE_SEARCHING)
  idleflag   = PROX_POLY_VIEW = false
  activeflag = PROX_POLY_VIEW = true
  UPDATES   = VCOVER_UPDATE
  perpetual = true
  // Parameters specific to this behavior
  // ------------------------------------
    capture_radius  = 300
    activate_radius = 500
    //turn_radius = 500    
    op_region=$(TOP_ZONE)    
    speed = 9
    stale_nav_thresh = 5
    stale_poly_thresh = 20

       setpt_method = center
     allow_slipping = true
 
   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         = zone2         // example
}

#endif


//#include plugs.bhv <bhv_avd_colregs>
//#include plugs.bhv <bhv_avd_cpa>


//----------------------------------------------
Behavior = BHV_Waypoint
{
  name        = waypt_return
  pwt         = 100
  updates     = RETURN_UPDATES
  condition   = MODE==RETURNING
  perpetual   = true
  endflag     = RETURN = false
  endflag     = STATION_KEEP=true
	spawnx_flag = RETURN_UPDATES=point=$[OSX],$[OSY]

           speed = 2.0
  capture_radius = 2.0
     slip_radius = 8.0
           point = 0,0

     visual_hints = vertex_size  = 4            
     visual_hints = vertex_color = dodger_blue  
}

//----------------------------------------------
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 = 1.3
       swing_time = 7
     visual_hints = vertex_size=0, edge_color=gray50
}

//----------------------------------------------
//Behavior = BHV_OpRegionV24
{
  name      = opreg
  pwt       = 300
	condition = MODE==ACTIVE
  updates   = RECOVER_UPDATES

  //core_poly = pts={60,10:-75.5402,-54.2561:-36.9866,-135.58:98.5536,-71.3241}
  core_poly = pts={120,10:-422,-247.2:-268,-572:274.4,-315.2}
  


  dynamic_region_var = RESCUE_REGION

  visual_hints = edge_size = 1

  visual_hints = save_edge_color = gray30
  visual_hints = halt_edge_color = gray40

  save_dist = 5
  halt_dist = 10
}


// Our own non-standard collision avoidance
//---------------------------------------------- 
Behavior = BHV_AvdColregsV19
{
  name       = avdcol_
  pwt        = 200

  condition  = AVOID = true 
  condition  = MODE==ACTIVE
  condition  = MODE!=ACTIVE::STATION_KEEPING

	updates    = CONTACT_INFO
  endflag    = CONTACT_RESOLVED = $[CONTACT]
  templating = spawn

  spawnx_flag  = ENCOUNTER_START = os=$(VNAME),cn=$[CONTACT],rng=$[RANGE],rel_brg=$[OS_CN_REL_BNG],targ_ang=$[CN_OS_REL_BNG],time=$[UTC]
  cnflag     = @cpa ENCOUNTER_END = os=$(VNAME), cn=$[CONTACT], rng=$[RANGE], rel_brg=$[OS_CN_REL_BNG], targ_ang=$[CN_OS_REL_BNG], time=$[UTC]

             contact = to-be-set
    on_no_contact_ok = true
         extrapolate = true
               decay = 10,20

    giveway_bow_dist = 10
        use_refinery = true

      pwt_outer_dist = 10
      pwt_inner_dist = 8
      completed_dist = 15
   min_util_cpa_dist = 8
   max_util_cpa_dist = 15
           pwt_grade = linear
 bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}