/* -*- Mode: Text -*-* */

/********************************************************************\
* File: grid_simpler.hs                                              *
* Date: 11/28/1997                                                   *
* Author: Cem Unsal                                                  *
*         Robotics Institute, Carnegie-Mellon University             *
*         unsal@ri.cmu.edu                                           *
*                                                                    *
* Description:                                                       *
* The Cell Creator, which also includes the position of the cells    *
* is used to describe the grid to be used in the simulation.         *
* See documentation for details.                                     *
*                                                                    *
* Cell generation is not automated; the locations and the adjoint    *
* cell definitions must be defined carefully.                        *
*                                                                    * 
* External C functions: <none>                                       *
*                                                                    *
* This file is distributed under the conditions described in the     *
* file 'CONDITIONS' which should accompany this file.                *
\********************************************************************/

#ifndef SAHS_GRID_HS
#define SAHS_GRID_HS

#include <cmu/sensors/cell.hs>

/* These numbers must be compatible with highway description.
 * See associated highway description file.
 */
global number xmax := 600;
global number ymax := 600;
global number xmin := 0;
global number ymin := 0;

global set(Cell) Cells;

global CellCreator ccc := create(CellCreator);

type CellCreator
{
  output Cell newcell;
         number c := 75;  
         // Cell size according to the animation window 'track' in TkShift;
         // definition of this animation window is given in sensor.{pdf,ps}

  state Cell c1,  c2,  c3,  c4,  c5,  c6,  c7,  c8,  c9,  c10,
             c11, c12, c13, c14, c15, c16, c17 ,c18, c19, c20,
             c21, c22, c23, c24, c25, c26, c27, c28;

  discrete start,  done;

  export finished;

  transition 
    start -> done {}
      define
      {
        // Define temporary cells
        Cell tc1 := create(Cell, x := 0, y := 0, cs := c);
        Cell tc2 := create(Cell, x := 0, y := c, cs := c);
        Cell tc3 := create(Cell, x := 0, y := 2*c, cs := c);
        Cell tc4 := create(Cell, x := 0, y := 3*c, cs := c);
        Cell tc5 := create(Cell, x := 0, y := 4*c, cs := c); 
        Cell tc6 := create(Cell, x := 0, y := 5*c, cs := c);
        Cell tc7 := create(Cell, x := 0, y := 6*c, cs := c);
        Cell tc8 := create(Cell, x := 0, y := 7*c, cs := c);
        Cell tc9 := create(Cell,  x := c, y := 7*c, cs := c);
        Cell tc10 := create(Cell, x := 2*c, y := 7*c, cs := c);
        Cell tc11 := create(Cell, x := 3*c, y := 7*c, cs := c);
        Cell tc12 := create(Cell, x := 3*c, y := 6*c, cs := c);
        Cell tc13 := create(Cell, x := 3*c, y := 5*c, cs := c);
        Cell tc14 := create(Cell, x := 4*c, y := 5*c, cs := c);
        Cell tc15 := create(Cell, x := 4*c, y := 4*c, cs := c);
        Cell tc16 := create(Cell, x := 5*c, y := 4*c, cs := c);
        Cell tc17 := create(Cell, x := 5*c, y := 3*c, cs := c);
        Cell tc18 := create(Cell, x := 6*c, y := 3*c, cs := c);
        Cell tc19 := create(Cell, x := 7*c, y := 3*c, cs := c);
        Cell tc20 := create(Cell, x := 7*c, y := 2*c, cs := c);
        Cell tc21 := create(Cell, x := 7*c, y := c, cs := c);
        Cell tc22 := create(Cell, x := 7*c, y := 0, cs := c);
        Cell tc23 := create(Cell, x := 6*c, y := 0, cs := c);
        Cell tc24 := create(Cell, x := 5*c, y := 0, cs := c);
        Cell tc25 := create(Cell, x := 4*c, y := 0, cs := c);
        Cell tc26 := create(Cell, x := 3*c, y := 0, cs := c);
        Cell tc27 := create(Cell, x := 2*c, y := 0, cs := c);
        Cell tc28 := create(Cell, x := 1*c, y := 0, cs := c);

      }
      do
      {
        // Define cells and their neighbors
        c1 := tc1; c10 := tc10; c11 := tc11; c20 := tc20; c21 := tc21;    
        c2 := tc2;  c9 := tc9;  c12 := tc12; c19 := tc19; c22 := tc22;
        c3 := tc3;  c8 := tc8;  c13 := tc13; c18 := tc18; c23 := tc23; 
        c4 := tc4;  c7 := tc7;  c14 := tc14; c17 := tc17; c24 := tc24;
        c5 := tc5;  c6 := tc6;  c15 := tc15; c16 := tc16; c25 := tc25;
        c28 := tc28; c27 := tc27; c26 := tc26;  

        Cells := Cells + {tc1, tc2, tc3, tc4, tc5, tc6, tc7, tc8, tc9, tc10,
                          tc11, tc12, tc13, tc14, tc15, tc16, tc17, tc18, tc19,
                          tc20, tc21, tc22, tc23, tc24, tc25, tc26, tc27, tc28};

        NC(c1):={tc2, tc28}; NC(c2):={tc1, tc3, tc28}; NC(c3):={tc2, tc4};
        NC(c4):={tc3, tc5}; NC(c5):={tc4, tc6}; NC(c6):={tc5, tc7};
        NC(c7):={tc6, tc8, tc9}; NC(c8):={tc7, tc9}; NC(c9):={tc7, tc8, tc10};
        NC(c10):={tc9, tc11, tc12}; NC(c11):={tc10, tc12}; 
        NC(c12):={tc10, tc11, tc13, tc14}; NC(c13):={tc12, tc14, tc15}; 
        NC(c14):={tc12, tc13, tc15, tc16}; NC(c15):={tc13, tc14, tc16, tc17};
        NC(c16):={tc14, tc15, tc17, tc18}; NC(c17):={tc15, tc16, tc18}; 
        NC(c18):={tc16, tc17, tc19, tc20}; NC(c19):={tc18, tc20}; 
        NC(c20):={tc18, tc19, tc21}; NC(c21):={tc20, tc22, tc23};
        NC(c22):={tc21, tc23}; NC(c23):={tc21, tc22, tc24}; 
        NC(c24):={tc23, tc25}; NC(c25):={tc24, tc26}; NC(c26):={tc25, tc27}; 
        NC(c27):={tc26, tc28}; NC(c28):={tc27, tc1, tc2}; 
      },

    done -> done {finished} 
    ;
    // This is required, otherwise you will see 
    // Shift run-time error due to a minel operation in
    // sensor operations. All adjoining cells must be defined
    // before any detection operations.
    // See source_grid.hs and roadsidesensor2_grid.hs for details.
}

#endif // SAHS_GRID_HS