//--------    FILE: alpha.bhv  -------------

initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   TRANSIT = true
initialize   AVOID   = true
//initialize   VIEW_CIRCLE = "$(START_CIRCLE)$(CIRCLE_HINTS)"
  
set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

set MODE = TRANSITING {
  MODE = ACTIVE
  RETURN != true
  TRANSIT = true
} 

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

//----------------------------------------------
Behavior = BHV_LegRunZ
{
  name       = legrun
  pwt        = 100
  updates    = LR_UPDATE
  condition  = MODE==TRANSITING
  perpetual  = true

 // Leg vertices will be sent as an updte from uFldJoustMgr
 //          vx1 = $(VX1_POS)
 //          vx2 = $(VX2_POS)
      turn1_bias = 0
      turn2_bias = 0
       turn1_dir = port
       turn2_dir = star
			 turn1_rad = 10
			 turn2_rad = 10

           coord = false
    coord_extrap = true
		 coord_onleg = false
	
           speed = $(SPEED)
        patience = 80
  capture_radius = 6.0
    capture_line = true
     slip_radius = 10.0

     turn_pt_gap = 20

   init_leg_mode = far_turn
	
   offboard_tgap = 20
	
     visual_hints = turn_vertex_size  = 4   
     visual_hints = turn_vertex_color = $(COLOR)
}

//#ifdef COLAVD colregs
  //#include plugs_abe.bhv <bhv_avd_colregs>
//#else
  //#include plugs_abe.bhv <bhv_avd_cpa>
//#endif

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

           speed = 2.0
  capture_radius = 2.0
     slip_radius = 8.0
           point = $(START_POS)

     visual_hints = vertex_size  = 4            
     visual_hints = vertex_color = dodger_blue  
}

//----------------------------------------------
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_AvoidCollision
{
  name         = avdcpa_
  pwt          = 300

  condition    = AVOID = true 

  condition  = MODE==ACTIVE:TRANSITING
  updates    = CONTACT_INFO
  endflag    = CONTACT_RESOLVED = $[CONTACT]
  templating = spawn

  spawnx_flag  = ENCOUNTER_START = os=$(VNAME),cn=$[CONTACT],rng=$[RANGE],rel_brg=$[OS_CN_REL_BNG],targ_ang=$[CN_OS_REL_BNG],time=$[UTC]
  cnflag     = @cpa ENCOUNTER_END = os=$(VNAME), cn=$[CONTACT], rng=$[RANGE], rel_brg=$[OS_CN_REL_BNG], targ_ang=$[CN_OS_REL_BNG], time=$[UTC]

             contact = to-be-set
    on_no_contact_ok = true
         extrapolate = true
               decay = 30,60

	 use_refinery = true
        pwt_outer_dist = 35
        pwt_inner_dist = 10
        completed_dist = 40
     min_util_cpa_dist = 8
     max_util_cpa_dist = 15
             pwt_grade = linear
   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}