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

//-------------------------------------------------
// FILE: meta_vehicle.bhv
// NAME: Author Name
//-------------------------------------------------

initialize DEPLOY = false
initialize RETURN = false
initialize STATION_KEEP = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

set MODE = STATION-KEEPING {
  MODE = ACTIVE
  STATION_KEEP = true
}

set MODE = TRANSITING {
  MODE = ACTIVE
  RETURN != true
  STATION_KEEP != true
}

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

  updates   = WPT_UPDATE
  perpetual = false
  endflag   = RETURN = true

  speed          = $(STOCK_SPD)
  capture_line   = true
  capture_radius = 5.0
  slip_radius    = 15.0
  polygon        = 0,0 : 80,0 : 80,-80 : 0,-80
  order          = normal
  repeat         = 1

  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
}

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

  speed     = $(STOCK_SPD)
  radius    = 4.0
  nm_radius = 15.0
  point     = $(VDEST_POS)
}

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

  center_activate = true
  inner_radius    = 5
  outer_radius    = 10
  outer_speed     = 1.0
  transit_speed   = $(STOCK_SPD)
  swing_time      = 7

  visual_hints = vertex_size=0, edge_color=gray50
}