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

initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   TRANSIT = true
initialize   AVOID   = true
initialize   STATION_KEEP = false
//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_LegRun
{
  name       = legrun
  pwt        = 100
  updates    = LR_UPDATE
  condition  = MODE==TRANSITING
  perpetual  = true

#ifdef VNAME abe
             vx1 = 55,-82
             vx2 = -9,-82
#elseifdef VNAME ben
             vx1 = 23,-50
             vx2 = 23,-114
#elseifdef VNAME cal
             vx1 = 45.6,-59.4
             vx2 = 0.4,-104.6
#else
             vx1 = 0.4,-59.4
             vx2 = 45.6,-104.6
#endif


      turn1_bias = 0
      turn2_bias = 0
       turn1_dir = port
       turn2_dir = port
			 turn1_rad = 7
			 turn2_rad = 7


           speed = $(STOCK_SPD)
        patience = 85
  capture_radius = 6.0
    capture_line = true
     slip_radius = 10.0

	mid_turn_pct = 45
	mid_turn_flag = STATION_KEEP=true
	mid_turn_flag = READY_HOLD=true
	
     turn_pt_gap = 20

   init_leg_mode = far_turn
	
//   offboard_tgap = 20
	
     visual_hints = turn_vertex_size  = 4   
     visual_hints = turn_vertex_color = $(COLOR)
     visual_hints = nextpt_label_color = $(COLOR)
     visual_hints = legpt_label_color = $(COLOR)
     visual_hints = turn_label_color = $(COLOR)
}

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

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name        = waypt_return
  pwt         = 100
  updates     = RETURN_UPDATES
  condition   = MODE==RETURNING
  perpetual   = true
  endflag     = RETURN = false
  endflag     = STATION_KEEP=true
	spawnx_flag = RETURN_UPDATES=point=$[OSX],$[OSY]

           speed = 2.0
  capture_radius = 2.0
     slip_radius = 8.0
           point = 0,0

     visual_hints = vertex_size  = 4            
     visual_hints = vertex_color = dodger_blue  
     visual_hints = nextpt_label_color = $(COLOR)
}

//----------------------------------------------
Behavior = BHV_StationKeep
{
  name         = station-keep
  pwt          = 100
  condition    = MODE==STATION_KEEPING
	
  center_activate = true
     inner_radius = 5
     outer_radius = 7.5
      outer_speed = 0.6
    transit_speed = 0.9
       swing_time = 7
     visual_hints = vertex_size=0, edge_color=gray40
     visual_hints = label_color=gray50
}

//----------------------------------------------
Behavior = BHV_OpRegionV24
{
  name      = opreg
  pwt       = 300
	condition = MODE==ACTIVE
  updates   = RECOVER_UPDATES

  core_poly = pts={60,10: -75.54,-54.26: -22,-167: 112,-107}

  dynamic_region_var = RESCUE_REGION

  visual_hints = edge_size = 1

  visual_hints = save_edge_color = gray30
  visual_hints = halt_edge_color = gray40

  save_dist = 5
  halt_dist = 10
}