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

initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   TRANSIT = true
initialize   AVOID   = true
initialize   STATION_KEEP = false
initialize   OPTION = LOITER1
  
set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

set MODE = LOITERING1 {
  MODE = ACTIVE
  RETURN != true
  OPTION = LOITER1
}

set MODE = LOITERING2 {
  MODE = ACTIVE
  RETURN != true
  OPTION = LOITER2

}

set MODE = LOITERING3 {
  MODE = ACTIVE
  RETURN != true
  OPTION = LOITER3	
  
} 

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



//----------------------------------------------
Behavior = BHV_Loiter
{
  name      = loiter1
  pwt       = 100
  condition = MODE==LOITERING1

   post_suffix = A
         speed = 1.0
     clockwise = false
        radius = 8.0
     nm_radius = 15.0
       polygon = radial::x=45,y=-160, radius=35, pts=8, snap=1, label=$(VNAME)_LOITER

  visual_hints = nextpt_color=white, nextpt_lcolor=khaki
  visual_hints = edge_color=orange, vertex_color=white
  visual_hints = edge_size=1, vertex_size=2
}

//----------------------------------------------
Behavior = BHV_Loiter
{
  name      = loiter2
  pwt       = 100
  condition = MODE==LOITERING2

   post_suffix = A
         speed = 2.0
     clockwise = false
        radius = 8.0
     nm_radius = 15.0
       polygon = radial::x=45,y=-160, radius=65, pts=8, snap=1, label=$(VNAME)_LOITER

  visual_hints = nextpt_color=white, nextpt_lcolor=khaki
  visual_hints = edge_color=yellow, vertex_color=white
  visual_hints = edge_size=1, vertex_size=2
}

//----------------------------------------------
Behavior = BHV_Loiter
{
  name      = loiter3
  pwt       = 100
  condition = MODE==LOITERING3

   post_suffix = A
         speed = 3.0
     clockwise = false
        radius = 8.0
     nm_radius = 15.0
       polygon = radial::x=45,y=-160, radius=95, pts=8, snap=1, label=$(VNAME)_LOITER

  visual_hints = nextpt_color=white, nextpt_lcolor=khaki
  visual_hints = edge_color=red, vertex_color=white
  visual_hints = edge_size=1, vertex_size=2
}



//#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:-286.5,-182.9:-171,-426.8:235.8,-233.9}
  


  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
}