;;;;;;;SCI-FROBS.l By Brian Cole
;;;;;;;High School Computing institute 1997
;;;;;;;West Jordan High
;;;;;;;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; File:         sci-frobs.l
; Description:  This file contains the definitions of all the frobs that
;               are used by the sci-rover-interface.
; Author:       Patrick Dalton
; Created:      22-Jul-92
; Package:      
; RCS $Header: $
;
; (c) Copyright 1992, University of Utah
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;;;
;;; Magic Incantations
;;;

(eval-when (compile load eval)
  (in-package :cole)
  (require "frobs")
  (require "cassini"))
(eval-when (compile load eval)
  (use-package "FROBS")
  (shadowing-import 'cassini::collect)
  (use-package "CASSINI"))


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;;;
;;; sci-rover frob
;;;

(def-class sci-rover {class daemon}
  :slots (id m x y battery-charge charges-left collection
          body arm laser consequence visits view

	  ;; The sensor and emitter slots.  
	  ;; "ss" means "sensor status"
	  ;; "es" means "emitter status" 
	  ;; "emit-p" means "is the emitter on" 
          vis-ss   vis-es   vis-emit-p
          ir-ss    ir-es    ir-emit-p
          uv-ss    uv-es    uv-emit-p
          radio-ss radio-es radio-emit-p
          uwave-ss uwave-es uwave-emit-p
          xray-ss  xray-es  xray-emit-p
          audio-ss audio-es audio-emit-p

	  north north-visits   ;; Type of interface and number of visits there
	  south south-visits
	  east  east-visits
	  west  west-visits
	  fuel-remaining       ;; amount of battery charge left.
	  path-home            ;; path to take to reach home
	  fuel-to-go-home      ;; amount of battery charge to go home
	  home-x home-y home-m ;; coordinates of the base
	  last-x last-y last-m ;; the coordinates the rover was located in
                               ;; when it issued its last command
	  prev-x prev-y prev-m ;; the coordinates of the sector the rover was
                               ;; last in.
	  elevation            ;; elevation of the rover
	  at-home-p            ;; this tells us if we are at the home base
	  favored-directions   ;; A list of the directions in order of 
	                       ;; preference
	  safe-interfaces      ;; list of safe interfaces
	  terrain-map          ;; rovers terrain map
	  known-objects        ;; all objects the rover has seen
	  last-action          ;; the last command sent to cassini
	  last-move-action     ;; the last command that was a move
	  num-move-actions     ;; A count of the number times the rover has
                               ;; moved from one sector to another
	  allowed-consequences ;; the consequences that are allowed for the
	                       ;; last-action
	  next-actions         ;; list of actions to perform
	  state                ;; state of the rovers decisions
	  next-state           ;; the state to change when the actions are
                               ;; completed
	  )

  :mv    (visible-objects      ;; the objects the rover can see around itself
	  collected-objects    ;; the objects the rover has in its bin
	  ))


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;;;
;;; sci-object frob
;;;
;;;  a class to describe the objects the rover finds

(def-class sci-object nil
  :slots (id                   ; identification of the object
          color                ; color from all-things
          shape                ; shape from all-things
          size                 ; size from all-things
          surface-quality      ; surface characteristics
          sound                ; sound it is emitting
          radioactive-p        ; is it radioative?
          fluorescent-color    ; color that it gives under
                               ; fluorescent.
          warm-p               ; is it warm?
	  glow-color           ; the color the object glows            
	  tweaked-p            ; whether the objected has been tweaked 
	  times-cut            ; number of times an object has been cut
	  lasered-p            ; has the object been lasered?
	  location             ; current location of the object        
	                       ; maybe :collected :delivered :used-as-spare
	                       ; :object-vaporized :object-exploded
                               ; or the (x y m) of where it was last seen.
	  other
          ))


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;;;
;;; sci-sector frob
;;;
;;; A class to describe each sector of the map

(def-class sci-sector {class daemon}
  :slots (coord
	  elevation
	  (north        :unknown)
	  (north-visits 0)
	  north-cost
	  north-sector 
	  (east         :unknown)
	  (east-visits 0)
	  east-cost
	  east-sector
	  (south        :unknown)
	  (south-visits 0)
	  south-cost
	  south-sector
	  (west         :unknown)
	  (west-visits 0)
	  west-cost
	  west-sector 
	  (times-visited 0)
	  cost-to-home
	  path-to-home))

;; End of file.