morse-sim/meta_henry.bhv at master · moos-tutorials/morse-sim · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
initialize PATROL = true
initialize TRAILING_ALLOWED = false
initialize TRAIL = false

//-----------------------------------------------
// Helm Behavior File

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

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

set MODE = PATROLLING {
  MODE   = ACTIVE
  PATROL = true
  TRAIL != true
}

set MODE = TRAILING {
  MODE   = ACTIVE
  PATROL = true
  TRAILING_ALLOWED = true
  TRAIL  = true
}

//----------------------------------------------
Behavior = BHV_Loiter
{
  name      = loiter
  pwt       = 100
  condition = MODE == PATROLLING
  updates   = UP_LOITER

         speed = 1.3
     clockwise = false
        radius = 8.0
     nm_radius = 15.0
       polygon = radial:: x=110, y=-50, radius=20, pts=8, snap=1, label=HENRY_LOITER
  visual_hints = nextpt_color=white, nextpt_lcolor=khaki
  visual_hints = edge_color=blue, vertex_color=blue
  visual_hints = edge_size=1, vertex_size=2
}


//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_return
  pwt       = 100
  updates   = RETURN_UPDATES
  condition = MODE == RETURNING
  endflag   = STATION_KEEP = true

      speed = 1.3
     radius = 3.0
  nm_radius = 15.0
     points = $(START_POS)
     repeat = 10
       lead = 8
}

//----------------------------------------------
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 = 1.3
          swing_time = 7
  hibernation_radius = 25
        visual_hints = vertex_size=0, edge_color=blue
}


//----------------------------------------------
Behavior = BHV_AvoidCollision
{
  name       = avd_collision
  pwt        = 400
  condition  = MODE == ACTIVE
  condition  = MODE != STATION-KEEPING
  updates    = CONTACT_INFO
  endflag    = CONTACT_RESOLVED = $[CONTACT],avd
  templating = spawn

              contact = to-be-set
       pwt_outer_dist = 50
       pwt_inner_dist = 20
       completed_dist = 145
    min_util_cpa_dist = 8
    max_util_cpa_dist = 25
         active_grade = linear
     on_no_contact_ok = true
          extrapolate = true
                decay = 30,60
  bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}

//----------------------------------------------
Behavior = BHV_Trail
{
  name       = trail_contact
  pwt        = 100
  condition  = (MODE == TRAILING) or (MODE == PATROLLING)
  condition  = TRAILING_ALLOWED = true
  runflag    = TRAIL = true
  idleflag   = TRAIL = false
  updates    = TRAIL_INFO
  templating = spawn

              contact = to-be-set
       pwt_outer_dist = 325
            nm_radius = 18
               radius = 8
          trail_angle = 155
          trail_range = 35

     trail_angle_type = relative
     on_no_contact_ok = true
          extrapolate = true
                decay = 30,60
  bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}