;;; *********************************************************************
;;; Susan Fox
;;; December 27, 2000

;;; File:  casemem.ss


;;; This file defines the initial case memory of the system
;;;
;;; The initial structure has major branches for each different kind of
;;; case in memory, and then, for now, all cases are simply stored
;;; at a leaf.  I'll improve it when I have the time.


;;; Requires the memory files to have been loaded
(if (not (top-level-bound? 'MEMORY.SSLOADED))
    (load "memory.ss"))
(if (not (top-level-bound? 'MAP.SSLOADED))
    (load "map.ss"))

(define CASEMEM.SSLOADED #t)

;;; *********************************************************************


(define case-memory
  (make-node (build-index 'unspec) 3
    ;; first child: index-case
    (make-empty-tree)
    ;; second child: adapt-case
    (make-empty-tree)
    ;; third child: plan cases
    (make-leaf
      (make-case (build-index 'unspec)
	'(behavior
	   ((goStraight mod-fast curr-head) med)
	   ((avoidObstacle 150 moderate) med)
	   ((goToPos curr-pos-goal mod-fast 100) high)
	   ((avoidCollision 50 mod-fast) high)))
      (make-case (build-index 'unspec)
	'(behavior
	   ((followHallway curr-corr curr-head) med)
	   ((moveForward slow) med)
	   ((slowAvoid 50 very-slow) med-high)
	   ((avoidCollision 20 fast) high)
	   ((goToPos curr-pos-goal slow 100) med)))
      (make-case (build-index
		   (list 'task-loc (value-of-name 'olri-245)))
	'(plan
	   (move (dir north)
	     (in (location-name atrium))
	     (to (obstacle-type wall)))
	   (move (dir east)
	     (in (location-name atrium))
	     (to (location-name north-olin-hallway)))
	   (move (dir east)
	     (in (location-name north-olin-hallway))
	     (to (location-name olri-245)))))
      (make-case (build-index 'unspec)
	'(plan
	   (move (dir west)
	     (in (location-name south-olin-hallway))
	     (to (location-name atrium)))
	   (move (dir north)
	     (in (location-name atrium))
	     (to (location-name mid-olin-hallway)))
	   (move (dir east)
	     (in (location-name mid-olin-hallway))
	     (to (location-name olri-255))))))))