# ****************************************************************************
# 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.
# ****************************************************************************

# Search behavior that can be driven by locations
# provided by a heat map

behavior search

   script_debug_writes off

   script_variables
      WsfQuantumTaskerProcessor processor;

      string mSearchRadarName = "radar";  // replace with sensor name on platform

      bool mDrawSteering = true;
      WsfDraw mDraw = WsfDraw();
   end_script_variables

   on_init
      if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
      {
         processor = (WsfQuantumTaskerProcessor)PROCESSOR;
      }
   end_on_init

   precondition
      writeln_d("T= ",TIME_NOW, " precondition search");
      if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
      {
         return Failure("behavior not attached to a quantum tasker processor!");
      }

      WsfTaskList tasks = processor.TasksReceivedOfType("SEARCH");
      writeln_d(" Tasks count is ", tasks.Count());
      if (tasks.Count() <= 0)
      {
         return Failure("No search tasks received");
      }
      else
      {
         return true;
      }
      return false;
   end_precondition

   execute
      writeln_d(PLATFORM.Name(), " executing search, T=", TIME_NOW);

      WsfGeoPoint targetPoint = WsfGeoPoint();
      double ownSpeed = PLATFORM.Speed();

      WsfTaskList tasks = processor.TasksReceivedOfType("SEARCH");
      WsfTask task = tasks.Entry(0);

      if (task.IsValid() && task.AuxDataExists("HeatPoint"))
      {
         writeln_d(PLATFORM.Name(), " has HeatPoint aux data, T=", TIME_NOW);
         targetPoint = (WsfGeoPoint)task.AuxDataObject("HeatPoint");
      }
      else
      {
         return;
      }

      //make sure radar is on
      WsfSensor searchRadar = PLATFORM.Sensor(mSearchRadarName);
      if (searchRadar.IsValid())
      {
         if (!searchRadar.IsTurnedOn())
         {
            searchRadar.TurnOn();
            writeln_d(PLATFORM.Name(), " turned on active radar ", searchRadar);
         }
         else
         {
            writeln_d("  radar already turned on");
         }
      }


      if (mDrawSteering == true)
      {
         mDraw.SetLayer("behavior_search");
         mDraw.SetDuration(PROCESSOR.UpdateInterval());
         mDraw.SetColor(1.0, 0.5, 0.0);
         mDraw.SetLineSize(1);
         mDraw.BeginLines();
            mDraw.Vertex(PLATFORM.Location());
            mDraw.Vertex(targetPoint);
         mDraw.End();
      }

      string msg = write_str("pursue-target: ", targetPoint, " at speed ", (string)ownSpeed);
      writeln_d("    T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);

      FlyTarget(PLATFORM, targetPoint, ownSpeed);
   end_execute

end_behavior