//---------------------------------------------------
// Helm Behavior file 

initialize   DEPLOY  = false
initialize   MUSTER  = false
initialize   RETURN  = false
initialize   STATION = false
initialize   LOITER  = false
initialize   AVOID   = true
initialize   LEADER   = false
initialize   COMMS_POLICY = lean

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set MODE = STATIONING {
//  MODE = ACTIVE
  STATION = true
}

//set MODE = TRANSITING {
//  MODE = ACTIVE
//  LEADER = true
//}

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

set MODE = MUSTERING {
  MODE = ACTIVE
  MUSTER = true
}                       

set MODE = CONVOYING {
  MODE = ACTIVE
  CONVOY = true
} 

#ifdef TASKBHV DUBINS
//----------------------------------------------
Behavior = BHV_TaskWaypoint3
{ 
       name = circuit_leader
    updates = TASK_WPT
 templating = spawn
    condition = DEPLOY==true

         type = waypoint
 max_bid_wins = false
 
	// Typically set/overridden upon spawning event
	waypt   = $(LEADIN_POS)
  turn_radius = 5

  bidwonflag = TRANSIT = true
  bidwonflag = STATION = false
  bidwonflag = RETURN  = false
  bidwonflag = CONVOY  = true
  bidwonflag = LEADER  = true
  bidwonflag = TASK_WPT  = waypt=$(LEADIN_POS)
	xbidwonflag = MISSION_TASK = type=convoy,id=follow_$[OWNSHIP],contact=$[OWNSHIP],exempt=$[OWNSHIP],task_time=$[UTC]
	
	
}

//----------------------------------------------
Behavior = BHV_TaskConvoy3
{ 
       name = tconvoy_
    updates = TASK_CONVOY
 templating = spawn

         type = convoy
 max_bid_wins = false

   team_range = 5000
	team_by_group = true
  turn_radius = 5
	
  bidwonflag = CONVOY  = true
  bidwonflag = TRANSIT = false
  bidwonflag = STATION = false
  bidwonflag = UP_CONVOY = contact=$[CONTACT]

	xbidwonflag = MISSION_TASK = type=convoy,id=follow_$[OWNSHIP],contact=$[OWNSHIP], exempt=$[OWNSHIP]:$[EXEMPT]

}
#elseifdef TASKBHV SHALLOW

Behavior = BHV_TaskWaypoint2
{ 
       name = circuit_leader
    updates = TASK_WPT
 templating = spawn
    condition = DEPLOY==true

         type = waypoint
 max_bid_wins = false
 
	// Typically set/overridden upon spawning event
	waypt   = $(LEADIN_POS)

  bidwonflag = TRANSIT = true
  bidwonflag = STATION = false
  bidwonflag = RETURN  = false
  bidwonflag = CONVOY  = true
  bidwonflag = LEADER  = true
  bidwonflag = TASK_WPT  = waypt=$(LEADIN_POS)
	xbidwonflag = MISSION_TASK = type=convoy,id=follow_$[OWNSHIP],contact=$[OWNSHIP],exempt=$[OWNSHIP],task_time=$[UTC]
	
	
}

  //----------------------------------------------
Behavior = BHV_TaskConvoy2
{ 
       name = tconvoy_
    updates = TASK_CONVOY
 templating = spawn

         type = convoy
 max_bid_wins = false

   team_range = 5000
	team_by_group = true
	
  bidwonflag = CONVOY  = true
  bidwonflag = TRANSIT = false
  bidwonflag = STATION = false
  bidwonflag = UP_CONVOY = contact=$[CONTACT]

	xbidwonflag = MISSION_TASK = type=convoy,id=follow_$[OWNSHIP],contact=$[OWNSHIP], exempt=$[OWNSHIP]:$[EXEMPT]

}
#elseifdef TASKBHV DEF

Behavior = BHV_TaskWaypoint1
{ 
       name = circuit_leader
    updates = TASK_WPT
 templating = spawn
    condition = DEPLOY==true

         type = waypoint
 max_bid_wins = false
 
	// Typically set/overridden upon spawning event
	waypt   = $(LEADIN_POS)

  bidwonflag = TRANSIT = true
  bidwonflag = STATION = false
  bidwonflag = RETURN  = false
  bidwonflag = CONVOY  = true
  bidwonflag = LEADER  = true
  bidwonflag = TASK_WPT  = waypt=$(LEADIN_POS)
	xbidwonflag = MISSION_TASK = type=convoy,id=follow_$[OWNSHIP],contact=$[OWNSHIP],exempt=$[OWNSHIP],task_time=$[UTC]
	
	
}

Behavior = BHV_TaskConvoy1
{ 
       name = tconvoy_
    updates = TASK_CONVOY
 templating = spawn

         type = convoy
 max_bid_wins = false

   team_range = 5000
	team_by_group = true
	
  bidwonflag = CONVOY  = true
  bidwonflag = TRANSIT = false
  bidwonflag = STATION = false
  bidwonflag = UP_CONVOY = contact=$[CONTACT]

	xbidwonflag = MISSION_TASK = type=convoy,id=follow_$[OWNSHIP],contact=$[OWNSHIP], exempt=$[OWNSHIP]:$[EXEMPT]

}

#endif 

#ifdef CONVOY_POLICY CONVOYPD

//----------------------------------------------
Behavior = BHV_ConvoyPD
{
  name      = convoypd
  pwt       = 200
  condition = DEPLOY==true
  condition = RETURN==false
  condition = CONVOY==true
  
  type      = convoy
  is_leader = false
  desired_speed = 1.2
  point_update_distance = 0.5
  ideal_follow_range = 10
  max_lag_length = 50
  max_speed = 1.6
  full_stop_range = 2
   capture_radius = 3
      slip_radius = 20

  kp_spd_1 = 0.5
  kp_spd_2 = 0.2
  kd_spd_1 = 0.5
  kd_spd_2 = 0.2
  
  ki_spd = 0

  kp_hdg_1 = 1
  kp_hdg_2 = 0
  kd_hdg_1 = 1
  kd_hdg_2 = 0
  ki_hdg = 0

  coupled = true
  kpc_spd = 0.25
  kdc_spd = 0.1

}

#elseifdef CONVOY_POLICY CONVOYC

Behavior = BHV_ConvoyV21X
{
  name      = convoy
  pwt       = 100
  updates   = UP_CONVOY
  condition = MODE==CONVOYING
	contact   = unset_ok

              patience = 65
	        aft_patience = true
	      holding_policy = curr_hdg
	    active_convoying = false
    post_recap_verbose = true
	 
                 radius = 3
            slip_radius = 15

       inter_mark_range = 3
        tail_length_max = 10

 full_stop_convoy_range = 2

    slower_convoy_range = 5
    ideal_convoy_range = 8
   faster_convoy_range = 12
 full_lag_convoy_range = 16

//  slower_convoy_range = 10
//	   ideal_convoy_range = 15
//	  faster_convoy_range = 25
//  full_lag_convoy_range = 35		

  lag_speed_delta = 0.8

	convoy_flag = CONVOY_RNG=$[CONVOY_RNG]
	convoy_flag = CONVOY_TAIL_RNG=$[TAIL_RNG]
	convoy_flag = CONVOY_TAIL_ANG=$[TAIL_ANG]
	convoy_flag = CONVOY_MARKER_BNG=$[MARKER_BNG]
	convoy_flag = CONVOY_ALIGNMENT=$[ALIGNMENT]
	convoy_flag = CONVOY_TRK_ERR=$[TRK_ERR]
	
	visual_hints = marker_color=$(COLOR)
	visual_hints = marker_size=3
}

#endif

Behavior = BHV_Waypoint
 {
   // General Behavior Parameters
   // ---------------------------
   name         = circuit               // example
   pwt          = 100                   // default
   condition    = MODE==ACTIVE
   condition    = DEPLOY==true
   condition    = RETURN==false
   condition    = LEADER==true      // example
   updates      = TRANSIT_UPDATES       // example

   // Parameters specific to this behavior
   // ------------------------------------
      capture_radius = 3                       // default
        capture_line = false                   // default
                lead = 0                      // default
       lead_to_start = false                   // default
               order = normal                  // default 
              //Define polygon elsewhere

              #include plug_circuit.moos 

              repeat = 3
         slip_radius = 15
               speed = 1.2
             endflag = RETURN_ALL=true
             endflag = QUIT_MISSION=true
          
        visual_hints = vertex_size  = 3             // 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
 }

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