#+(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-02* "*Agent-02*"


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

;;; IF agent is stationary, AND IF a target can be located, THEN turn 
;;; to face the target.

(defsensor 2-rotate/follow *agent-02*
  (==> (and (target ?target ?agent) (location ?target ?x ?y ?z))
       (turnto-location ?x ?y ?z 1)))


;;; IF agent is > 200 game units from a target, THEN assert that 
;;; agent is NOT within range, ELSE assert that agent IS within 
;;; range.

(defsensor 2-assess-range *agent-02*
  (==> (and (target ?target ?agent) (location ?target ?tx ?ty ?tz)
            (location ?agent ?ax ?ay ?az)
            (func within-n-units? ?ax ?ay ?tx ?ty 200 ?result))
       (within-range ?agent ?target ?result)))


;;; ==============================================================================
;;; Establish control nodes that evaluate state via some computation...

;;; IF target is found to NOT be within range, THEN assert an 
;;; intention to strafe towards the target.

(defdeliberator 2-outside-range *agent-02*
  (==> (and (within-range ?agent ?target no) (location ?target ?x ?y ?z))
       (strafeto-target ?x ?y ?z 1 ?target)))


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

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

(defeffector 2-turnto-location *agent-02*
  :r
  (==> (turnto-location ?x ?y ?z ?w) (upload-cmd turnto-location)))


;;; Asserts an intention to execute a strafeto-target action.

(defeffector 2-strafeto-target *agent-02*
  :r
  (==> (strafeto-target ?x ?y ?z ?priority ?target)
       (upload-cmd strafeto-target)))


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

(deftopology *agent-02* :basic-agent
  :threshold-devices
  ((td1 . 1))
  :simple-relays
  (sr1 sr2)
  :pseudo-states
  (i_start i_stop fork)
  :lines
  (((i_start :pos (fork)) (fork :pos (2-rotate/follow))
    (fork :pos (2-assess-range)) (2-assess-range :pos (2-outside-range))
    (2-outside-range :pos (sr1)) (2-outside-range :neg (td1))
    (td1 :pos (2-turnto-location)) (2-turnto-location :pos (i_stop))
    (sr1 :pos (2-strafeto-target)) (2-strafeto-target :pos (i_stop))
    (2-rotate/follow :pos (sr2)) (sr2 :pos (td1))))
  :starts
  (i_start))


)