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

initialize   DEPLOY = false
initialize   RETURN = false
initialize   STATION_KEEP = false
initialize   LEG_RUN = false
initialize   LEGPAUSE = false
	
set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

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

set MODE = ATURNING {
  MODE = ACTIVE
  LEGPAUSE = true
}
	
//set MODE = FIX_TURNING {
//  MODE = ACTIVE
//  LEGPAUSE = true
//}
	
set MODE = LEG_RUNNING {
  MODE = ACTIVE
  LEG_RUN = true
} 

//----------------------------------------------
Behavior = BHV_LegRunZ
{ 
  name      = legs
  pwt       = 100
  condition = MODE == LEG_RUNNING
  updates   = LEG_UPDATE
  perpetual = true

            lead = 5
     lead_damper = 1
           speed = 1.0
//    capture_line = true
  capture_radius = 5
     slip_radius = 15
		    patience = 90
	
	       leg = x=7,y=-57,len=50,ang=64.64
	turn1_bias = 100
	turn2_bias = 100
   turn1_dir = port
	 turn2_dir = star
    turn_ext = 10

	//leg_spds = 1.6,1.4,1.2,1.0,0.8,0.6,0.4

	init_leg_mode = far_turn
	
	      repeat = 3
     turn1_rad = 8
     turn2_rad = 8
       mid_pct = 20
			 midflag = LEGPAUSE=true
			 midflag = ATURN_ENGAGE = port,turnrad=3
	
	 adjust_turn = false
	
	 	legflag = PCT_TO_NEXT=$[PCT_NP]
    wptflag = LEG_RESULT="id=$[LEG_ID],dist=$[LEG_ODO],wraps=$[WRAPS]"
	
  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
  visual_hints = turn_edge_color=gray80
  visual_hints = turn_vertex_color=green
}

//----------------------------------------------
Behavior = BHV_AndersonTurn
{
  name      = aturn
  pwt       = 100
  condition = MODE==ATURNING
  endflag   = LEGPAUSE = false

  updates    = ATURN_UPDATE
  //endflag    = ATURN = false

  //default_turn_thresh = 340                                                                                                          
  engage_var = ATURN_ENGAGE
	
  //endflag = TURNING_TIME = $[TURN_TIME]
  //endflag = TURNING_DIST = $[TURN_DIST]
}


//----------------------------------------------
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
 
            lead = 8
     lead_damper = 1
   lead_to_start = true
           speed = 0.8
  capture_radius = 2.0
     slip_radius = 8.0

           point = 21,-1
}

//---------------------------------------------- 
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_OpRegionRecover
{
  name         = recover
  pwt          = 300
  updates      = RECOVER_UPDATES
  activeflag   = RECOVER = true
  inactiveflag = RECOVER = false

	// pav60 explicitly:
  // polygon = pts={60,10:-30.36,-32.837:-4.658,-87.053:85.702,-44.216}

	// pav90 explicitly
  polygon = pts={60,10:-75.54,-54.256:-36.987,-135.58:98.554,-71.324}
	//polygon = pts={60,10:-75.54,-54.256:-58,-96:79,-29}

	// Prefer to get the rescue region from uFldRescuMgr
	//dynamic_region_var = RECOVER_REGION
	
	buffer_dist = 5
	
	trigger_entry_time = 1
  trigger_exit_time  = 1

	visual_hints = edge_size = 2
	visual_hints = edge_color = gray30
	visual_hints = label_color = off
}

//----------------------------------------------
Behavior = BHV_OpRegion
 {
   name         = op_region                 
   pwt          = 100                       
   //condition    =a SAFETY=true            
   //updates      = OPREGION_UPDATES        

             max_time = 0              // default (seconds)
            reset_var = OPREGION_RESET // example
   trigger_entry_time = 1              // default (seconds)
    trigger_exit_time = 0.5            // default (seconds) 

              polygon = pts={69,14.3:67.6,16.5:65.7,18.2:63.4,19.4:60.8,20:55.7,19:-79.8,-45.2:-82,-46.6:-83.8,-48.6:-85,-50.9:-85.5,-53.4:-84.6,-58.5:-46,-139.9:-44.6,-142.1:-42.7,-143.8:-40.3,-145:-37.8,-145.5:-35.2,-145.4:-32.7,-144.6:102.8,-80.4:105,-78.9:106.8,-77:108,-74.7:108.5,-72.1:108.4,-69.5:107.6,-67}

   breached_poly_flag = SAY_MOOS = the op region has been violated

         visual_hints = vertex_color = burlywood
         visual_hints = vertex_size  = 0      
         visual_hints = edge_color   = burlywood
         visual_hints = edge_size    = 1      
         visual_hints = label_color = off
 }