//*******************************************************
// Vehicle behavior configuration file

initialize   DEPLOY = false
initialize   RETURN = false
initialize   STATION_KEEP = false
initialize   HEADING_ID = false
initialize   START_LINE_DONE = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

set MODE = HEADING_ID {
  MODE = ACTIVE
  RETURN = false
  HEADING_ID = true
}

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

	
//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_survey
  pwt       = 100
  condition = MODE==TRAVERSING
  endflag   = RETURN = true

  updates   = WPT_UPDATE
  perpetual = true

                lead = 8
         lead_damper = 1
       lead_to_start = true
              speed = $(SPEED)  // meters per second
	      
        capture_line = true
      capture_radius = 2
         slip_radius = 10
	efficiency_measure = all

	// Bigger home plate
  // polygon = pts={-17,-26:52,1:69,-40:41,-67:1,-68} 


	// Smaller home plate zones
#ifdef ZONE east
       //  polygon = pts={38,-37:64,-32:77,-16:59,11:23,-3}
#elseifdef ZONE west
       //  polygon = pts={-18,-30:-9,-57:16,-55:30,-42:12,-14}
#else
       //   polygon = pts={-2,-21:44,-2:56,-29:37,-48:10,-49}
       //     order = reverse
#endif
	
          repeat = 10
	  
       // Close lawn
        points = format=lawnmower, label=foxtrot, x=116, y=-57, height=60, width=180, lane_width=15, rows=east-west, startx=0, starty=0, degs=-20

       // Far lawn
//      points = format=lawnmower, label=foxtrot, x=92, y=-176, height=60, width=180, lane_width=15, rows=east-west, startx=0, starty=0, degs=-20


    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
}

//----------------------------------------------
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 = $(SPEED)
  capture_radius = 2.0
     slip_radius = 8.0

#ifdef ZONE east
  points = 18,0
#elseifdef ZONE west
  points = 8,-6
#else
  points = 0,-10
#endif

 }

//----------------------------------------------
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 = 0.5
          swing_time = 7
        visual_hints = vertex_size=0, edge_color=gray50
}







	
//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_start_line
  pwt       = 100
  condition = MODE==HEADING_ID
  condition = START_LINE_DONE==false
  endflag   = START_LINE_DONE=true

  updates   = WPT_UPDATE
  perpetual = true

                lead = 8
         lead_damper = 1
       lead_to_start = true
              speed = 1 // meters per second
	      
        capture_line = true
      capture_radius = 2
         slip_radius = 5
	efficiency_measure = all

	// Initial start line for heading ID, further west
	//points = -87,-104:-77,-104:-67,-104

	// new start line for heading ID
	points = 100,-146:110,-146:120,-146
          //repeat = 1


    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
}


//----------------------------------------------
Behavior = BHV_ConstantHeading	
{
  // General Behavior Parameters
  // ---------------------------
  name         = const_hdg            // example
  pwt          = 100                  // default
  condition    = MODE==HEADING_ID     // example
  condition    = START_LINE_DONE==true	 
  updates      = CONST_HDG_UPDATES    // example

  // Parameters specific to this behavior
  // ------------------------------------
             heading   = 90
             basewidth = 10           // default
	      duration = no-time-limit
  //             speed = 1.0          // default
  heading_mismatch_var = HDG_DIFF     // example
             peakwidth = 10           // default
           summitdelta = 25           // default
}



 Behavior = BHV_ConstantSpeed
 {
   // General Behavior Parameters
   // ---------------------------
   name         = const_spd_transit  // example
   pwt          = 100                // default
   condition    = MODE==HEADING_ID     // example
   condition    = START_LINE_DONE==true	 
   updates      = CONST_SPD_UPDATES  // example

   // Parameters specific to this behavior
   // ------------------------------------
            basewidth = 0.2          // default
             duration = no-time-limit
                speed = 1.0          // default
   speed_mismatch_var = SPEED_DIFF   // example
            peakwidth = 0            // default
          summitdelta = 0            // default
 }



Behavior = BHV_OpRegion
 {
   // General Behavior Parameters
   // ---------------------------
   name         = op_region                 // example
   pwt          = 100                       // default
   condition    = MODE==ACTIVE          // example
   updates      = OPREGION_UPDATES          // example

   // Parameters specific to this behavior
   // ------------------------------------
                  max_time = 0              // default (seconds)
                 max_depth = 0              // default (meters)
              min_altitude = 0              // default (meters)
                 reset_var = OPREGION_RESET // example
        trigger_entry_time = 1              // default (seconds)
         trigger_exit_time = 0.5            // default (seconds) 

                   //polygon = pts={-173,-109:-67,-316:350,-253:304,37}, label=area_x
		   //polygon = pts={-173,-109:-67,-316:575,-239:502,99}, label=area_x
 		   polygon = pts={-30,-25:-20,-53:27,-21:20,3}
        breached_poly_flag = SAY_MOOS = Sir, the op region has been violated

              visual_hints = vertex_color = brown  // default
              visual_hints = vertex_size  = 3      // default
              visual_hints = edge_color   = aqua   // default
              visual_hints = edge_size    = 1      // default
 }