/*
TEACH BOXDEMO

Aaron Sloman 24 Dec 2000
(Building on work by Duncan Fewkes).

Based on examples in teach brait1 example.

This file is a mixture of commented out text and some code (below).

To compile this file do this (in Ved).

    ENTER l1

This will create a control panel at top right and a window at bottom
right, containing a vehicle and five sound sources. You may have to use
the mouse to push the window up a little if its bottom edge is not
visible.

If you click on START the demo will start. You can use the SPEED UP
and SLOW DOWN buttons to change speed.

While it is running you can move the sound sources to see how they
affect the behaviour of the vehicle. You can turn on a blob trace,
which shows changes in speed, or a line trace, which shows only the
path traced by the vehicle as it moves. You can use the the third
tracing button to turn off tracing.

If the window gets messed up click on "Redraw window" to redraw
everything, without the trails so far.

You can use the "New sound source" button to create a new sound
source then move it somewhere to see what effect it has.

You can add a new box if you click on New box. Then select one
corner with mouse button 1, and move the mouse till the opposite
corner is in place. Then click with button 3 to fix the box.
(You can't (yet) move a box after drawing it.)

You can add a new vehicle by clicking on the 'New vehicle' button.

Note that if a vehicle (of the type created here) starts outside a box
it cannot move into it, and if it starts inside it cannot move out.
However, you can drag it across the walls of a box using the mouse.

If the vehicle gets stuck, you can use the mouse to drag it to a new
location then release it.

Try adding one or two new vehicles. If they get stuck you can move them.
You can also click on the Stop button to stop the demo, move things,
or add vehicles, then click on the Start button.


Note: to prevent unwanted interactions, event handling in the control
panel is delayed if a moving vehicle is being redrawn during a move.
If the demo becomes unresponsive to the button events on the
control panel you can click on the SLOW DOWN button, to slow down
the vehicles and improve the chance of an event being detected.

You can restart at any time by recompiling this file
    ENTER l1

However you may wish to try changing some of the parameters
below if you do that.

*/

create_window(500,500);

;;; create 5 sound sources
create_simple_source(1500, 1500, sound) ->;
create_simple_source(1500, 500, sound) ->;
create_simple_source(500, 500, sound) ->;
create_simple_source(500, 1500, sound) ->;
create_simple_source(1000, 1000, sound) ->;

vars vehicle1;


define make_vehicle() -> vehicle;
    ;;; An optional extra vehicle that can be created later by
    ;;; running this procedure.

    create_vehicle(
        200 , 120,
        500 + random(1000), 500 +random(500),
        random(360),

        [   [0 0 1 0]           ;;; sensor 1 -link to left motor
            [0 0 0 1]           ;;; sensor 2 -link to right motor
            [0 0 0 0]
            [0 0 0 0]],

        [   [basic_unit]        ;;; Unit types - all are basic units
            [basic_unit]
            [basic_unit]
            [basic_unit]],

        [
         [proximity left 0.9]
            ;;; sensor 1, front-left of vehicle
         [proximity right 0.9]
            ;;; sensor 2, front-right of vehicle
        ],

        []) -> vehicle;

enddefine;

make_vehicle() -> vehicle1;

vars box1;
create_box( [[40 40] [40 1960] [1960 1960] [1960 40]]) -> box1;

;;; create control panel
control_panel();

/*
--- $poplocal/local/brait/teach/boxdemo
--- Copyright University of Birmingham 2000. All rights reserved. ------
*/