# ****************************************************************************
# CUI
#
# The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
#
# The use, dissemination or disclosure of data in this file is subject to
# limitation or restriction. See accompanying README and LICENSE for details.
# ****************************************************************************

// converted BRAWLER v7.5 alt32.f and captrn.f
// Replicates the route maneuver 3,2,1,1 and cap turn 3,2,2,1 alternative behavior
// This behavior will just fly the WSF platform route

behavior alt3211_route_maneuver

   script_debug_writes off

   script_variables

      WsfQuantumTaskerProcessor processor;
      WsfPerceptionProcessor    perception;
      WsfBrawlerPlatform        brawlerPlatform;

      //**********************************************************************//
      //** debugging parameters                                             **//
      //**********************************************************************//
      bool     mDrawSteering     = false;

      //**********************************************************************//
      //** alternative parameters                                           **//
      //**********************************************************************//
      // Flag used to enable/disable this alternative
      bool mAlternative3211Enabled = true;

      // Alternative ID
      int ilevel = 3;
      int kalt   = 2;
      int icall  = 1;
      int lcall  = 1;

      //**********************************************************************//
      //********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
      //**********************************************************************//
      WsfDraw  mDraw             = WsfDraw();
      double   mLastTime         = 0.0;

   end_script_variables

   on_init
      if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
      {
         processor = (WsfQuantumTaskerProcessor)PROCESSOR;
      }
      perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
      brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
   end_on_init

   precondition
      #writeln_d(PLATFORM.Name(), " precondition behavior_alt3411_straight_flight, T=", TIME_NOW);

      ### Evaluate conditions that would prevent behavior alternative from running

      if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
      {
         writeln_d("not a quantum tasker!");
         return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
      }

      if (!mAlternative3211Enabled)
      {
         writeln_d("behavior not enabled!");
         return Failure("behavior alternative not enabled");
      }

      WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
      if(tasks.Count() > 0)
      {
         // Fail if we should be pursuing a weapon task
         return Failure("pursuing WEAPON task");
      }

      WsfRoute route = PLATFORM.Route();
      if (!route.IsValid() || route.Size() < 2)
      {
         // Fail if we do not have a valid route
         string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " invalid route");
         writeln_d(msg);
         return Failure(msg);
      }

      // Otherwise return a high score for this alternative
      // so it is picked and we just follow our route
      double score = 10.0;
      return score;

   end_precondition

   execute
      PLATFORM.ReturnToRoute();
   end_execute

end_behavior