AgentStateMachine.rct

stm Agent {
	uses ArrivedInterface uses GotoInterface uses RadiationLevelI requires InspectionInterface var RadiationBelief : DangerLevel
	initial i0
	state PollingPerceptsMessages {
	}
	state Inspect {
	entry inspect ( )
	}

	junction j0

	transition t1 {
		from PollingPerceptsMessages
		to PollingPerceptsMessages
		trigger 
	RadiationLevel ? RadiationBelief
	}
	transition t2 {
		from PollingPerceptsMessages
		to j0
		trigger 
	arrived ? CurrentPosition
		condition CurrentPosition != waypoint_inverse ( CurrentWaypoint )
	}
	transition t3 {
		from j0
		to Inspect
		condition RadiationBelief == DangerLevel :: Green
	}
	var CurrentPosition : nat * nat
	transition t4 {
		from j0
		to PollingPerceptsMessages
		condition RadiationBelief != DangerLevel :: Green
		action goto ! ( waypoint_inverse ( 0 ) ) ; CurrentWaypoint = 0
	}
	transition t5 {
		from j1
		to PollingPerceptsMessages
		condition CurrentWaypoint <= number_of_waypoints
		action goto ! ( waypoint_inverse ( CurrentWaypoint ) )
	}
var CurrentWaypoint : nat
junction j1
	transition t6 {
		from Inspect
		to j1
		action CurrentWaypoint = CurrentWaypoint + 1
	}
	transition t0 {
		from i0
		to s0
	}
	requires NumberOfWaypointsI state s0 {
	}
	transition t7 {
		from s0
		to PollingPerceptsMessages
		trigger RadiationLevel ? RadiationBelief
		action goto ! waypoint_inverse ( 1 ) ; CurrentWaypoint = 1
	}
	transition t8 {
		from j1
		to PollingPerceptsMessages
		condition CurrentWaypoint == number_of_waypoints
		action goto ! waypoint_inverse ( 0 ) ; CurrentWaypoint = 0
	}
}