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

initialize   DEPLOY = false
initialize   RETURN = false
initialize   STATION_KEEP = false
initialize   SURVEY_TYPE = learning

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

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

set MODE = LEARNING {
  MODE = ACTIVE
  RETURN = false
  SURVEY_TYPE = learning
} TESTING

	
//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_learn
  pwt       = 100
  condition = MODE==LEARNING
  endflag   = SURVEY_TYPE = testing

  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={10,-10:110,-200:80,-210} 


	// 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

   points = format=lawnmower, label=learning, x=35, y=-70, height=100, width=50, lane_width=10, rows=east-west, startx=0, starty=0, degs=-20
	
          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_Waypoint
{
  name      = waypt_test
  pwt       = 100
  condition = MODE==TESTING
  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={10,-10:110,-200:80,-210} 
	
          repeat = 3

    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_OpRegion
{
  name       = opregion
  pwt        = 100
  condition  = MODE==LEARNING


      //polygon = pts={-147,-106: 171,12: 280,-210: -45,-325}
      polygon = pts={-315,-130:-120,-640:625,-355:422,192}

  trigger_entry_time = 1
  trigger_exit_time  = 1
        visual_hints = edge_size=1, vertex_size=2, label_color=invisible
}

//----------------------------------------------
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
}