//--------    FILE: $(VNAME).bhv   -------------

initialize   DEPLOY = false
initialize   STATION_KEEP = false
initialize   RETURN = false
initialize   COVER  = true
initialize   AVOID  = true
initialize   AVOID_TYPE = colregs
initialize   VECTOR  = false
initialize   SEARCH  = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE
set MODE = RETURNING {
  RETURN = true
} 
set MODE = STATION-KEEPING {
  MODE = ACTIVE
  STATION_KEEP = true
	}

set MODE = COVERING {
  MODE = ACTIVE
  RETURN != true
  COVER = true
  SEARCH != true
} 
set MODE = REGION_SEARCH {
  MODE = ACTIVE
  SEARCH = true
}


//----------------------------------------------
Behavior = BHV_AvoidCollision
 {
   // General Behavior Parameters
   // ---------------------------
   name         = avdcollision_                     // example
   pwt          = 900                               // example
   condition    = MODE == ACTIVE                    // example
   updates      = CONTACT_INFO                      // example
   endflag = CONTACT_RESOLVED = $[CONTACT]          // example 
   templating   = spawn                             // example


   // General Contact Behavior Parameters
   // -----------------------------------
       bearing_lines = white:0, green:0.65, yellow:0.8, red:1.0   // example

               decay = 15,30            // default (seconds)
         extrapolate = true             // default
    on_no_contact_ok = true             // default
         time_on_leg = 60               // default (seconds)


   // Parameters specific to this behavior
   // ------------------------------------
      completed_dist = 15              // default
   max_util_cpa_dist = 10              // default
   min_util_cpa_dist = 6               // default
    no_alert_request = false           // default
           pwt_grade = linear          // default
      pwt_inner_dist = 25              // default
      pwt_outer_dist = 50              // default
}


//----------------------------------------------
Behavior = BHV_Voronoi
{ 
  name      = vcover
  pwt       = 10
  condition = MODE==COVERING
  //condition = VECTOR==false
  UPDATES   = VCOVER_UPDATE
  perpetual = true
  // Parameters specific to this behavior
  // ------------------------------------
    capture_radius  = $(CR)
    activate_radius = $(AR)
    //turn_radius = 500    
    op_region=$(COVER_REGION)       
    speed = $(SPEED)         
    stale_nav_thresh = 5
    stale_poly_thresh = 10

       setpt_method = $(SET_METHOD)
 
   visual_hints = setpt_size   = 4 
   visual_hints = setpt_color  = dodger_blue 
   //  visual_hints = vertex_color  = yellow        // default
   //  visual_hints = vertex_lcolor = aqua          // default
   //  visual_hints = label         = zone3         // example
}

//----------------------------------------------

Behavior = BHV_RegionSearchControl
{ 
  name      = regionsearch
  pwt       = 10
  condition = MODE==REGION_SEARCH
  UPDATES   = SEARCH_UPDATE
  perpetual = true
  // Parameters specific to this behavior
  // ------------------------------------ 
  speed = $(SPEED)
  spin_rad = $(SPIN)  
  op_region=$(COVER_REGION) 
  mode = $(SEARCH_MODE)
  random_number = $(RAN_NUM_GEN)
  speed_max = 3.0
}

Behavior = BHV_VectorField
{ 
  name      = vfield
  pwt       = 10
  condition = MODE==COVERING
  condition = VECTOR==true
  UPDATES   = VECTOR_UPDATE
  perpetual = true
  // Parameters specific to this behavior
  // ------------------------------------ 
     
  speed = $(SPEED)
  spin_rad = $(SPIN)  
  op_region=$(COVER_REGION) 
}
//----------------------------------------------
Behavior = BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = MODE==RETURNING
  perpetual  = true
  endflag    = RETURN = false
  endflag    = MOOS_MANUAL_OVERRIDE=true
  endflag    = MISSION = complete

           speed = 5.0
  capture_radius = 2.0
     slip_radius = 8.0
           point = $(START_POS)
}


//---------------------------------------------- 
Behavior = BHV_StationKeep
{
  name         = station-keep
  pwt          = 100
  condition    = MODE==STATION-KEEPING

     center_activate = true
        inner_radius = 10
        outer_radius = 20
         outer_speed = 1.0

       transit_speed = 1.3
          swing_time = 7
        visual_hints = vertex_size=0, edge_color=gray50
}

Behavior = BHV_OpRegion
{
  name       = opregion
  pwt        = 100
  condition  = MODE==ACTIVE
//  condition  = OPREGION=true

  polygon = pts={-11,-10:165,-10:165,-175:-11,-175}
  trigger_entry_time = 1
  trigger_exit_time  = 1
  visual_hints = edge_size=1, vertex_size=2, label_color=invisible
}