skills/moos-ivp-eval-mission-builder/assets/eval-single-vehicle/meta_vehicle.bhv

//-------------------------------------------------
// FILE: meta_vehicle.bhv
// NAME: MOOS-IvP Skills
//-------------------------------------------------

initialize DEPLOY = false
initialize WPT_DONE = false
initialize WPT_HIT = false
initialize CYCLE_HIT = false
initialize WAYPOINT_END = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set MODE = TRANSITING {
  MODE = ACTIVE
}

//----------------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_survey
  pwt       = 100
  condition = MODE==TRANSITING

  perpetual = false
  endflag   = WPT_DONE = true
  endflag   = WAYPOINT_END = true
  endflag   = DESIRED_SPEED = 0
  wptflag   = WPT_HIT = true
  cycleflag = CYCLE_HIT = true

  speed          = $(STOCK_SPD)
  capture_line   = true
  capture_radius = 5.0
  slip_radius    = 15.0
  point          = $(VDEST_POS)
  repeat         = 0

  wpt_status       = WPT_STAT
  wpt_index        = WPT_INDEX
  cycle_index_var  = CYCLE_INDEX
  wpt_dist_to_next = WPT_DIST_TO_NEXT

  visual_hints = nextpt_color=yellow
  visual_hints = nextpt_vertex_size=8
  visual_hints = vertex_color=dodger_blue, edge_color=white
  visual_hints = vertex_size=5, edge_size=1
}