#+(and :allegro :allegro-ide) (in-package :common-graphics-user)
#+(and :allegro (not :allegro-ide)) (in-package :common-lisp-user)
#+(or :mcl :lispworks4.2 :cmu18 :sbcl) (in-package :common-lisp-user)

(defagent *agent-01* "*Agent-01*"


;;; ==============================================================================
;;; Establish control nodes that sense state...

;;; IF a target can be located, THEN turn to face the target.

(defsensor 1-rotate/follow *agent-01*
  (==> (and (target ?target ?agent) (location ?target ?x ?y ?z))
       (turnto-location ?x ?y ?z 1)))


;;; ==============================================================================
;;; Establish control nodes that initiate action...

;;; Asserts an intention to execute a turnto-location action.

(defeffector 1-turnto-location *agent-01*
  :r
  (==> (turnto-location ?x ?y ?z ?w) (upload-cmd turnto-location)))


;;; ==============================================================================
;;; Establish relationships between the control nodes...

(deftopology *agent-01* :basic-agent
  :threshold-devices
  nil
  :simple-relays
  nil
  :pseudo-states
  (i_start i_stop)
  :lines
  (((i_start :pos (1-rotate/follow)) (1-rotate/follow :pos (1-turnto-location))
    (1-turnto-location :pos (i_stop))))
  :starts
  (i_start))


)