mars_rover_agent.jam

GOALS:
	ACHIEVE explore_rocks;

PLAN:	{
	NAME:	"explore all the rocks agents knows the locations of"
	GOAL:
		ACHIEVE explore_rocks;
	BODY:
		EXECUTE println "EXPLORE_ROCKS_START";
		RETRIEVE position $x $y;
		RETRIEVE base $base_x $base_y;
    RETRIEVE number_of_known_rocks $n;
    RETRIEVEALL $all_rocks known_rock $rock $a $b $w;
		EXECUTE println "current position:"$x","$y;

    ASSIGN $i 0;
    WHILE : TEST (< $i $n)
	  {
      NEXTFACT $all_rocks rock $rock $a $b $w;
			ASSIGN $has_water 0;
			PERFORM goto_position $a $b $x $y;
			PERFORM analyze_the_rock $w $has_water;
			WHEN : TEST (== $has_water 1){
				EXECUTE println "WATER FOUND";
				PERFORM pick_up_rock $rock $a $b $w;
				EXECUTE println "GOING TO BASE";
				PERFORM goto_position $base_x $base_y $x $y;
			};

			ASSIGN $i (+ $i 1);
		};

    EXECUTE println  "ANALYSIS COMPLETED";
		PERFORM goto_position $base_x $base_y $x $y;
		EXECUTE println "EXPLORE_ROCKS_END";
}

PLAN:	{
	NAME:	"analyze the traces of a rock to check if it has water"
	GOAL:
		ACHIEVE analyze_the_rock $w $has_water;
	BODY:
		EXECUTE println "ANALYZING ROCK";
		ASSIGN $has_water 0;
		WHEN : TEST (== $w 1){
			ASSIGN $has_water 1;
		};
}

PLAN:	{
	NAME:	"pick up a rock"
	GOAL:
		ACHIEVE pick_up_rock $rock $a $b $w;
	BODY:
		ASSERT rocks_collected $rock $a $b $w; //Add it to the rock collection
		RETRACT known_rock $rock $a $b $w; //Remove the rock from that location since it was picked up
		EXECUTE println "ROCK PICKED UP";
}

PLAN:	{
	NAME:	"go to a certain position (x2,y2) from (x1,y1)"
	GOAL:
		ACHIEVE goto_position $x2 $y2 $x1 $y1;
	BODY:

		WHEN: TEST (> $x2 $x1){
			WHILE: TEST (!= $x2 $x1){
				PERFORM move_right $x1;
    		EXECUTE println "current position:"$x1","$y1;
			};
		};

		WHEN: TEST (< $x2 $x1){
			WHILE: TEST (!= $x2 $x1){
				PERFORM move_left $x1;
    		EXECUTE println "current position:"$x1","$y1;	
			};
		};

		WHEN: TEST (> $y2 $y1){
			WHILE: TEST (!= $y2 $y1){
				PERFORM move_forward $y1;
    		EXECUTE println "current position:"$x1","$y1;
			};
		};

		WHEN: TEST (< $y2 $y1){
			WHILE: TEST (!= $y2 $y1){
				PERFORM move_backward $y1;
    		EXECUTE println "current position:"$x1","$y1;	
			};
		};
}

PLAN: {
  NAME:	"move forward"	//move to rover up
	GOAL:
		ACHIEVE move_forward $y;
	BODY:
		RETRIEVE position $a $b;
		ASSIGN $y (+ $y 1);
		ASSERT position $a $y;
}

PLAN: {
  NAME:	"move backward"	//move the rover down
	GOAL:
		ACHIEVE move_backward $y;
	BODY:
		RETRIEVE position $a $b;
		ASSIGN $y (- $y 1);
		ASSERT position $a $y;
}

PLAN: {
  NAME:	"move right"	//move the rover to right
	GOAL:
		ACHIEVE move_right $x;
	BODY:
		RETRIEVE position $a $b;
		ASSIGN $x (+ $x 1);
		ASSERT position $x $b;
}

PLAN: {
  NAME:	"move left"	//move the rover to left
	GOAL:
		ACHIEVE move_left $x;
	BODY:
		RETRIEVE position $a $b;
		ASSIGN $x (- $x 1);
		ASSERT position $x $b;
}