#+(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-03* "*Agent-03*"


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

;;; If a target is <= 120 game units away, THEN assert that target is 
;;; within range, ELSE assert that target is not within range.

(defsensor 3-assess-range *agent-03*
  (==> (and (target ?target ?agent) (location ?target ?tx ?ty ?tz)
            (location ?agent ?ax ?ay ?az)
            (func within-n-units? ?ax ?ay ?tx ?ty 120 ?result))
       (within-range ?agent ?target ?result)))


;;; IF target is visible, THEN strafe towards the target.

(defsensor 3-strafe/target *agent-03*
  (==> (and (target ?target ?agent) (location ?target ?tx ?ty ?tz))
       (strafeto-target ?tx ?ty ?tz 1 ?target)))


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

(defsensor 3-rotate/follow *agent-03*
  (==> (and (target ?target ?agent) (velocity ?agent 0.0 0.0 ?zv)
            (location ?target ?x ?y ?z))
       (turnto-location ?x ?y ?z 1)))


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

;;; IF target is found to be within range, THEN assert an intention 
;;; to stop moving towards the target.

(defdeliberator 3-in-range *agent-03*
  (==> (within-range ?agent ?target yes) (stop-moving now)))


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

;;; Asserts an intention to execute a stop-moving action.

(defeffector 3-stop-moving *agent-03*
  :r
  (==> (stop-moving ?when) (upload-cmd stop-moving)))


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

(defeffector 3-strafeto-target *agent-03*
  :r
  (==> (strafeto-target ?x ?y ?z ?priority ?target)
       (upload-cmd strafeto-target)))


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

(defeffector 3-turnto-location *agent-03*
  :r
  (==> (turnto-location ?x ?y ?z ?w) (upload-cmd turnto-location)))


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

(deftopology *agent-03* :basic-agent
  :threshold-devices
  ((td1 . 1) (td2 . 1) (td3 . 1))
  :simple-relays
  (sr1 sr2 sr3 sr4 sr5)
  :pseudo-states
  (i_start i_stop fork)
  :lines
  (((i_start :pos (fork)) (fork :pos (3-assess-range))
    (fork :pos (3-strafe/target)) (fork :pos (3-rotate/follow))
    (3-rotate/follow :pos (sr1)) (sr1 :pos (sr2)) (sr2 :pos (td1))
    (sr2 :neg (td3)) (td3 :pos (3-stop-moving)) (3-stop-moving :pos (i_stop))
    (td1 :pos (3-turnto-location)) (3-turnto-location :pos (i_stop))
    (3-strafe/target :pos (sr3)) (sr3 :pos (td2)) (td2 :pos (sr4))
    (td2 :neg (td1)) (sr4 :pos (3-strafeto-target))
    (3-strafeto-target :pos (i_stop)) (3-assess-range :pos (3-in-range))
    (3-in-range :pos (sr5)) (3-in-range :neg (td2)) (sr5 :pos (td3))))
  :starts
  (i_start))


)