//--------    FILE: meta_wamv.bhv   -------------

initialize   DEPLOY = false
initialize   RETURN = false
initialize STATION_REQUEST = false
initialize WPT_REQUEST = false
initialize HDG_REQUEST = false

set MODE = ACTIVE {
	DEPLOY = true
} INACTIVE

set MODE = STATION-KEEPING {
	MODE = ACTIVE
	STATION_REQUEST = true
}

set MODE = CONST-HDG {
	MODE = ACTIVE
	HDG_REQUEST = true
}

set MODE = TRANSITING {
	MODE = ACTIVE
	WPT_REQUEST = true
}

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

// Station Keep Mode
//---------------------------------------------
Behavior=BHV_StationKeep
// Taken from oceanai.mit.edu/ivpman docs
//--------------------------------------------
{
   // General Behavior Parameters
   // ----------------------------
   name         = station_keep
   pwt          = 100                   // 100 default
   condition    = MODE==STATION-KEEPING
   updates      = STATION_UPDATES

   // Parameters specific to this behavior
   // ------------------------------------
      center_activate = true   // Creates a station point that is based on the current XY of the vessel
   hibernation_radius = -1      // default
         inner_radius = 8       // default
         outer_radius = 25      // default
         outer_speed  = 0.5     // default
       transit_speed  = 2     // default
           //station_pt = -60,-60
           swing_time = 0       // default

         visual_hints = vertex_size  = 1           // default
         visual_hints = edge_color   = light_blue  // default
         visual_hints = edge_size    = 1           // default
         visual_hints = label_color  = white       // default
         visual_hints = vertex_color = red         // default
}

// Waypoint Mode
//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypoint
  pwt       = 100
  condition = MODE==TRANSITING
  updates   = WPT_UPDATES // updates to this bhv come thru this var
	endflag   = WPT_REQUEST = false
	//perpetual = true
	templating   = spawn

	             // Set points from updates flag
	             //points = 50,-85:40,-200
               lead = 30
         lead_damper = 5
       lead_to_start = true
               speed = 3   // meters per second
        capture_line = true
      capture_radius = 10.0
         slip_radius = 15.0
        efficiency_measure = all

    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
		}

// Const Heading Mode
//---------------------------------------------
 Behavior = BHV_ConstantHeading
 {
   // General Behavior Parameters
   // ---------------------------
   name         = const_hdg            // example
   pwt          = 100                  // default
   condition    = MODE==CONST-HDG    // example
   updates      = CONST_HDG_UPDATES    // example
	 //templating   = spawn

	 perpetual    = true

   // Parameters specific to this behavior
   // ------------------------------------
              basewidth = 10           // default
               duration = 0            // default
                  heading = 0            // default
   heading_mismatch_var = HDG_DIFF     // example
              peakwidth = 10           // default
            summitdelta = 25           // default
}

//---------------------------------------------
 Behavior = BHV_ConstantSpeed
 {
   // General Behavior Parameters
   // ---------------------------
   name         = const_spd
   pwt          = 100                // default:100
   condition    = MODE==CONST-HDG
   updates      = CONST_SPD_UPDATES  // example
	 //templating   = spawn
	 perpetual    = true

   // Parameters specific to this behavior
   // ------------------------------------
            basewidth = 0.2          // default
             duration = 0            // default
                speed = 0            // default
   speed_mismatch_var = SPEED_DIFF   // example
            peakwidth = 0            // default
          summitdelta = 0            // default
}

//----------------------------------------------
Behavior=BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = MODE==RETURNING
  perpetual  = true
  updates    = RETURN_UPDATE
  endflag    = RETURN = false
  endflag    = DEPLOY = false
  endflag    = MISSION = complete

           speed = 4.0
  capture_radius = 2.0
     slip_radius = 8.0
          points = 0,-20
 }
//---------------------------------------------