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LISP SCRIPT --DrEvil.lisp------------------------------------------------------------------
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(let (
       (trace-tags "-info,warning,msg,iRobot,-boundSymbols,-policies9,-commitments,-eventqueue,conversations")
       (trace-code 10) ; bit 1=off, 2=on, 4=to-monitor-window, 8=trace-to-file
	   (sleep-time 2) ; time to sleep between starting dependent agents, adjust for slower machines
     )

  ;; Set the options for the agent running the commandline
  (agent.options :options.tracing T)
  (agent.options :options.tracetags trace-tags)

  (agent.new-agent "casa.LAC" "ResearchLAC" 9000 :process "CURRENT" :markup "KQML" :trace :traceFile :traceTags "warning,msg,commitments,policies5")
  (sleep 2)

  (agent.new-agent "iRobotCreate.iRobotCreate" "MiniMe"  6903 :LAC 9000 :persistent :trace trace-code :traceTags trace-tags :markup "KQML" :outstream "/dev/tty.iRobot02" :instream "/dev/tty.iRobot02")
  (agent.new-agent "DrEvil"                    "Dr.Evil" 6909 :LAC 9000 :persistent :trace trace-code :traceTags trace-tags :markup "KQML")

  ) ;let

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JAVA CODE --DrEvil.java--------------------------------------------------------------------
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import org.armedbear.lisp.Environment;
import org.armedbear.lisp.LispObject;
import org.armedbear.lisp.SimpleString;

import casa.Agent;
import casa.LispAccessible;
import casa.ML;
import casa.Status;
import casa.StatusObject;
import casa.TransientAgent;
import casa.URLDescriptor;
import casa.abcl.CasaLispOperator;
import casa.abcl.ParamsMap;
import casa.exceptions.URLDescriptorException;
import casa.ui.AgentUI;

public class DrEvil extends Agent {

	static {
		createCasaLispOperators( DrEvil.class );
	}
	
	public DrEvil(ParamsMap params, AgentUI ui) throws Exception {
		super(params, ui);
	}

	// 1. use LISP command line (in casa chat) to do sample moves with the robot
	// 2. create a LISP accessible java method to (a) be called from (1), and then (b) execute more than 1 LISP command
	//    have extra parameters, e.g. speed, duration, angle
	// 3. ("sleep" bad) drive robot and then create time event (for queuing) to stop robot (call event.start)
	// 4. new casa lisp operator (has optional & keyed parameters)
	// 5. having a request instead of LISP commands
	@LispAccessible(name="DrEvil.poke", 
					help="Makes an iRobot turn around @ fixed speed and angle. All data hard-coded.")
	public Status poke() {
		try {
			abclEval("(agent.tell \"6903\" \"(irobot.drive 400 2)\")",null);
			Thread.sleep( 5000 );
			abclEval("(agent.tell \"6903\" \"(irobot.drive  0  0)\")",null);
		} catch (InterruptedException e) {
			e.printStackTrace();
		}
		return new Status( 0 );
	}
	@LispAccessible(name="DrEvil.push", 
			        help="Makes an iRobot turn around @ parameter speed & fixed angle. Agent address hard-coded.",
					arguments={@LispAccessible.Argument(name="speed", help="The speed at which the robot will move [-500,500].")})
	public Status push(Integer speed) {
		try {
			int aSpeed = speed < -500 ? -500 : speed > 500 ? 500 : speed;
			abclEval("(agent.tell \"6903\" \"(irobot.drive "+aSpeed+" 2)\")",null);
			Thread.sleep( 5000 );
			abclEval("(agent.tell \"6903\" \"(irobot.drive  0  0)\")",null);
		} catch (InterruptedException e) {
			e.printStackTrace();
		}
		return new Status( 0 );
	}
	@LispAccessible(name="DrEvil.again", 
			        help="Makes an iRobot turn around @ parameter speed & angle. Agent address hard-coded.",
					arguments={@LispAccessible.Argument(name="speed",  help="The speed at which the robot will move [-500,500]."),
                               @LispAccessible.Argument(name="radius", help="The angle at which the robot will rotate.")})
	public Status again(Integer speed, Integer radius) {
		final int aSpeed = speed < -500 ? -500 : speed > 500 ? 500 : speed;
		final int aAngle = radius;
		defer(new Runnable() {
			@Override
			public void run() {
				abclEval("(agent.tell \"6903\" \"(irobot.drive "+aSpeed+" "+aAngle+")\")",null);
			}
		});
		defer(new Runnable() {
			@Override
			public void run() {
				abclEval("(agent.tell \"6903\" \"(irobot.drive  0  0)\")",null);
			}
		}, 5000 );
		return new Status( 0 );
	}
	/**
	 * Lisp operator: (DREVIL__MORE)
	 */
	@SuppressWarnings("unused")
	private static final CasaLispOperator DREVIL__MORE =
	new CasaLispOperator("DREVIL.MORE", "\"!Makes an iRobot turn around @ parameter speed & angle. Agent address hard-coded\" "
					   + "&KEY "
					   + "SPEED  \"@java.lang.Integer\" \"!The speed (in mm/sec) at which the robot will move [-500, 500]. (optional -- default: 400)\" "
					   + "RADIUS \"@java.lang.Integer\" \"!The radius (in mm) at which the robot will turn. (optional -- default: 2)\" ", TransientAgent.class)
	{
		@Override
		public Status execute(TransientAgent agent, ParamsMap params, AgentUI ui, Environment env) {
			int speed = 400;
			int angle =   2;
			if (params.containsKey("SPEED") && params.getJavaObject("SPEED") instanceof Integer) {
				speed = (Integer) params.getJavaObject("SPEED");
			}
			if (params.containsKey("RADIUS") && params.getJavaObject("RADIUS") instanceof Integer) {
				angle = (Integer) params.getJavaObject("RADIUS");
			}
			return ((DrEvil)agent).again( speed, angle );
		}
	};
	/**
	 * Lisp operator: (DREVIL__SPEAK)
	 */
	@SuppressWarnings("unused")
	private static final CasaLispOperator DREVIL__SPEAK =
	new CasaLispOperator("DREVIL.SPEAK", "\"!Makes an iRobot turn around @ parameter speed & angle. Agent address hard-coded\" "
					   + "&KEY "
					   + "SPEED \"@java.lang.Integer\" \"!The speed at which the robot will move [-500, 500]. (optional -- default: 400)\" "
					   + "ANGLE \"@java.lang.Integer\" \"!The angle at which the robot will turn. (optional -- default: 2)\" ", TransientAgent.class)
	{
		@Override
		public Status execute(TransientAgent agent, ParamsMap params, AgentUI ui, Environment env) {
			int speed = 400;
			int angle =  2;
			if (params.containsKey("SPEED") && params.getJavaObject("SPEED") instanceof Integer) {
				speed = (Integer) params.getJavaObject("SPEED");
			}
			if (params.containsKey("ANGLE") && params.getJavaObject("ANGLE") instanceof Integer) {
				angle = (Integer) params.getJavaObject("ANGLE");
			}

			Status status;
			try {
				URLDescriptor url     = new URLDescriptor(":6903");
				String        content = "(agent.async '(progn (irobot.drive "+speed+" "+angle+")(sleep 5)(irobot.drive 0 0)))";
				
				status = agent.sendMessage(ML.REQUEST, ML.EXECUTE, url, ML.CONTENT, content );
			} 
			catch (URLDescriptorException e) {
				status = new Status(-6,"Bad URL: "+e.toString());
			}
    		return status;
		}
	};
}