;;; ********************************************************************
;;; behaviors.ss
;;; Susan Fox
;;; January 2, 2001

;;; Contains the set of procedures which communicate to the robot's
;;; C library functions, those having to do with turning on or off
;;; behaviors

;;; Requires utilities to be loaded
;(if (not (top-level-bound? 'UTIL.SSLOADED))
;    (load "util.ss"))

(define BEHAVIORS.SSLOADED #t)


;;; ********************************************************************
;;; Activation functions, one for each behavior


;;; Activate stop
;;;
(define beh-stop
  (lambda (priority)
    ;; call external C code here
    priority))


;;; Activate moveForward
;;;
(define beh-moveForward
  (lambda (velocity priority)
    ;; call external C code here
    priority))


;;; Activate goStraight
;;;
(define beh-goStraight
  (lambda (velocity direction priority)
    ;; call external C code here
    priority))


;;; Activate avoidObstaclet
;;;
(define beh-avoidObstaclet
  (lambda (distance velocity priority)
    ;; call external C code here
    priority))


;;; Activate avoidCollision
;;;
(define beh-avoidCollision
  (lambda (distance turn-rate priority)
    ;; call external C code here
    priority))


;;; Activate slowAvoid
;;;
(define beh-slowAvoid
  (lambda (distance velocity priority)
    ;; call external C code here
    priority))


;;; Activate goToPos
;;;
(define beh-goToPos
  (lambda (position velocity priority)
    ;; call external C code here
    priority))


;;; Activate followHallway
;;;
(define beh-followHallway
  (lambda (corridor priority)
    ;; call external C code here
    priority))


;;; Activate enterDoorway
;;;
(define beh-enterDoorway
  (lambda (door direction priority)
    ;; call external C code here
    priority))


;;; Activate turnToPos
;;;
(define beh-turnToPos
  (lambda (position priority)
    ;; call external C code here
    priority))


;;; Activate turnToAngle
;;;
(define beh-turnToAngle
  (lambda (direction angle priority)
    ;; call external C code here
    priority))


;;; Activate localize
;;;
(define beh-localize
  (lambda (priority)
    ;; call external C code here
    priority))

;;; ********************************************************************
;;; Procedures to turn off behaviors, one by one or a whole list
;;;

;;; turn-off takes a list of behavior names and turns off
;;; each one
;;;
(define turn-off 
  (lambda (behav-names)
    (if (not (null? behav-names))
	(begin
	  (case (car behav-names)
	    [(stop) (turn-off-stop)]
	    [(moveForward) (turn-off-moveForward)]
	    [(goStraight) (turn-off-goStraight)]
	    [(avoidObstacle) (turn-off-avoidObstacle)]
	    [(avoidCollision) (turn-off-avoidCollision)]
	    [(slowAvoid) (turn-off-slowAvoid)]
	    [(goToPos) (turn-off-goToPos)]
	    [(followHallway) (turn-off-followHallway)]
	    [(enterDoorway) (turn-off-enterDoorway)]
	    [(turnTo) (turn-off-turnTo)]
	    [(localize) (turn-off-localize)]
	    [else (error 'turn-off "Unknown behavior ~s" (car behav-names))])
	  (turn-off (cdr behav-names))))))


(define turn-off-stop
  (lambda ()
    ;; call C code to turn off behavior
    #f))

(define turn-off-moveForward
  (lambda ()
    ;; call C code to turn off behavior
    #f))

(define turn-off-goStraight
  (lambda ()
    ;; call C code to turn off behavior
    #f))

(define turn-off-avoidObstacle
  (lambda ()
    ;; call C code to turn off behavior
    #f))

(define turn-off-avoidCollision
  (lambda ()
    ;; call C code to turn off behavior
    #f))

(define turn-off-slowAvoid
  (lambda ()
    ;; call C code to turn off behavior
    #f))

(define turn-off-goToPos
  (lambda ()
    ;; call C code to turn off behavior
    #f))

(define turn-off-followHallway
  (lambda ()
    ;; call C code to turn off behavior
    #f))

(define turn-off-enterDoorway
  (lambda ()
    ;; call C code to turn off behavior
    #f))

(define turn-off-turnTo
  (lambda ()
    ;; call C code to turn off behavior
    #f))

(define turn-off-localize
  (lambda ()
    ;; call C code to turn off behavior
    #f))