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

initialize   DEPLOY = false
initialize   RETURN = false
initialize   STATION_KEEP = false
initialize   LEG_RUN = false
initialize   ATURN = false
initialize   FIX_TURN = false
initialize   FULL_STOP = 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 = FULL_STOPPING {
  MODE = ACTIVE
  FULL_STOP = true
}

set MODE = FIX_TURNING {
  MODE = ACTIVE
  FIX_TURN = true
}
	
set MODE = ATURNING {
  MODE = ACTIVE
  ATURN = true
}
	
set MODE = LEG_RUNNING {
  MODE = ACTIVE
  LEG_RUN = true
} 

//----------------------------------------------
Behavior = BHV_FullStop
{ 
  name      = fstop
  pwt       = 100
  condition = MODE==FULL_STOPPING
	endflag   = FULL_STOP = false

  updates   = FSTOP_UPDATE
  perpetual = true

	delay_complete = 15
	mark_duration = 2
	stop_thresh   = 0.1

	mark_flag   = SAY_MOOS=stopping
	unmark_flag = SAY_MOOS=halted

	endflag = STOPPING_TIME = $[STOP_TIME]
	endflag = STOPPING_DIST = $[STOP_DIST]
}

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

            lead = 5
     lead_damper = 1
           speed = 2.0
    capture_line = true
  capture_radius = 5
     slip_radius = 15
		    patience = 90
	
	       leg = x=7,y=-57,len=60,ang=64.64
	turn1_bias = 100
	turn2_bias = 100
   turn1_dir = port
	 turn2_dir = star
    turn_ext = 4

	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_leg_pct = 50
	mid_leg_flag = FIX_TURN=true
	
	// 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_FixedTurn
{
  name      = fturn
  pwt       = 100
  condition = MODE==FIX_TURNING
  //endflag   = FIX_TURN = false

  updates   = FTURN_UPDATE
  perpetual = true

  fix_turn  = 355
  mod_hdg   = 25
  turn_dir  = star
  speed     = auto

	inactive_flag = TINFO=hello
	inactive_flag = TUTC=$[UTC]

	runxflag = NOW_TIME=$[NOW]
	
	turn_delay = 0
	
  turn_spec = spd=auto, mhdg=20, fix=355, turn=auto, flag=FIX_TURN=false
  turn_spec = spd=-1, mhdg=30, fix=355, turn=port, flag=FIX_TURN=false
  turn_spec = spd=-1, mhdg=30, fix=355, turn=star, flag=FIX_TURN=false
  turn_spec = spd=-1, mhdg=30, fix=355, turn=port, flag=FIX_TURN=false
  //turn_spec = spd=1.5, mhdg=30, fix=355, turn=star, flag=FIX_TURN=false
  //turn_spec = spd=1.5, mhdg=30, fix=355, turn=port, flag=FIX_TURN=false
  //turn_spec = spd=1.0, mhdg=30, fix=355, turn=star, flag=FIX_TURN=false
  //turn_spec = spd=1.0, mhdg=30, fix=355, turn=port, flag=FIX_TURN=false

  schedule_repeat = true

  stale_nav_thresh = 5

  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_OpRegionV24
{
  name         = recover
  pwt          = 300
	condition    = DEPLOY = true
  updates      = RECOVER_UPDATES
  activeflag   = RECOVER = true
  inactiveflag = RECOVER = false

	// pav60 explicitly:
  // polygon = pts={60,10:-30.36,-32.84:-4.66,-87.05:85.7,-44.22}

	// pav90 explicitly
  core_poly = pts={60,10:-75.54,-54.26:-36.99,-135.58:98.55,-71.32}

	save_dist = 5
	halt_dist = 12
	
	trigger_entry_time = 1
  trigger_exit_time  = 1

	visual_hints = save_edge_color = gray30
  visual_hints = halt_edge_color = gray40
	visual_hints = save_label_color = off
	visual_hints = halt_label_color = off
}