// This behavior file is for agent_blue vehicle

initialize   DEPLOY = false
initialize   RETURN = false
initialize   ENCOUNTER = false
initialize   OBJECTIVE = none

Behavior = BHV_Loiter
 {
   // General Behavior Parameters
   // ---------------------------
   name         = LOITER_1             
   pwt          = 100                   // default
   condition    = DEPLOY==true       
   condition    = ENCOUNTER==false       
   condition    = OBJECTIVE==LOITER_1       
   updates      = LOITER_UPDATES        

   // Parameters specific to this behavior
   // ------------------------------------
        acquire_dist = 10               // default
      capture_radius = 3                // default  
     center_activate = false            // default
           clockwise = best             // default
         slip_radius = 15               // default
               speed = 2                // default
       spiral_factor = -2               // default

             polygon = radial:: x=20,y=-40,radius=30, pts=16  

        visual_hints = vertex_size  = 1             // default
        visual_hints = edge_size    = 1             // default
        visual_hints = vertex_color = dodger_blue   // default
        visual_hints = edge_color   = white         // default
        visual_hints = nextpt_color = yellow        // default
        visual_hints = nextpt_lcolor = aqua         // default
        visual_hints = nextpt_vertex_size = 5       // default
        visual_hints = label        = loiter_1         
 }

  Behavior = BHV_Timer
 {
   name         = bhv_timer_1            // default
   condition    = DEPLOY==true       
   condition    = ENCOUNTER==false       
   condition    = OBJECTIVE==LOITER_1       

   duration     = 300                  

   endflag      = OBJECTIVE=LOITER_2          
   updates      = TIMER_UPDATES        
 }

 

 Behavior = BHV_Loiter
 {
   // General Behavior Parameters
   // ---------------------------
   name         = LOITER_2             
   pwt          = 100                   // default
   condition    = DEPLOY==true       
   condition    = ENCOUNTER==false       
   condition    = OBJECTIVE==LOITER_2       
   updates      = LOITER_UPDATES        

   // Parameters specific to this behavior
   // ------------------------------------
        acquire_dist = 10               // default
      capture_radius = 3                // default  
     center_activate = false            // default
           clockwise = best             // default
         slip_radius = 15               // default
               speed = 2                // default
       spiral_factor = -2               // default

             polygon = radial:: x=150,y=-40,radius=30, pts=16  

        visual_hints = vertex_size  = 1             // default
        visual_hints = edge_size    = 1             // default
        visual_hints = vertex_color = dodger_blue   // default
        visual_hints = edge_color   = white         // default
        visual_hints = nextpt_color = yellow        // default
        visual_hints = nextpt_lcolor = aqua         // default
        visual_hints = nextpt_vertex_size = 5       // default
        visual_hints = label        = loiter_2         
 }

   Behavior = BHV_Timer
 {
   name         = bhv_timer_2            // default
   condition    = DEPLOY==true       
   condition    = ENCOUNTER==false       
   condition    = OBJECTIVE==LOITER_2       

   duration     = 300                  

   endflag      = OBJECTIVE=return          
   updates      = TIMER_UPDATES        
 }

 Behavior = BHV_Trail
 {
   // General Behavior Parameters
   // ---------------------------
   name         = trail_red                
   pwt          = 100                   // default
   condition    = DEPLOY==true  
   condition    = ENCOUNTER==true  
   condition    = OBJECTIVE==trailing  
   updates      = TRAIL_INFO            
   //templating   = spawn                 
   perpetual = true


   // General Contact Behavior Parameters
   // -----------------------------------
             contact = agent_red        
               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
   // ------------------------------------
                 nm_radius = 10         // default (meters)
          no_alert_request = false      // default
   post_trail_dist_on_idle = true       // default
            pwt_outer_dist = 0          // default (meters)        
                    radius = 1          // default (meters) 
               trail_angle = 330        // default (degrees)
          trail_angle_type = relative   // default (or absolute)             
               trail_range = 10         // default (meters)
 }

Behavior = BHV_Timer
 {
   name         = bhv_trail_timer            // default
   condition    = DEPLOY==true       
   condition    = ENCOUNTER==true       
   condition    = OBJECTIVE==trailing       

   duration     = 300                  

   endflag      = OBJECTIVE=return          
   updates      = TIMER_UPDATES        
 }

//----------------------------------------------
Behavior=BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = OBJECTIVE==return
  perpetual  = true
  updates    = RETURN_UPDATE
  endflag    = RETURN = false
  endflag    = DEPLOY = false

	   speed = $(SPEED)
  capture_radius = 2.0
     slip_radius = 8.0

  points = 0,-10

 }

#include plugs/bhvs/std_bhvs/plug_stationkeep.bhv
#include plugs/bhvs/std_bhvs/plug_opregion.bhv
#include plugs/bhvs/std_bhvs/plug_colregs.bhv