/* this is the code I mentioned in my previous e-mail */
macro diffStop diffEqn  DiffStop { d(myPos.x)=0.0; d(myPos.y)=0.0;}
macro updatePere 10.0
macro commPer 50.0
macro spd1 10.0
macro spd2 20.0
macro spd3 30.0

agent Robot (position initPos, real speed, estimate[] initEst)
{
        input channel of estimate[] inLink1, inLink2;
        output channel of estimate[] outLink1, outLink2;
        extern estimate[] sense(position, obstacle[]);
        extern estimate[] comm(estimate[], estimate[]);
        extern real plan(position, position, estimate[]);

        mode main() 
        {
                estimate[] myEst;
                position goal; 
                real direction; 
                diff analog position myPos;
                diff analog real timer;

                diffEqn diffTimer{d(timer) = 1;}                
                
                /* initialization of controlled variables */
                trans initTrans from main to communicate when true do
                {
                        outLink1 = empty;  outLink2 = empty;
                        myEst[] = initEst[];
                        goal = /* initial value ? */
                        direction = /* initial value ? */
                        myPos = initPos;
                        timer = 0.0;
                }

                mode stop()
                {
                        diffStop
                        inv invAtGoal {myPos == goal}
                }

                init mode communicate()
                {
                        diffStop

                        inv invMoreMessages{ !isEmpty(inLink1) || 
					     !isEmpty(inLink2) }

                        init mode sending ()
                        {
                        inv invMoreMessages
                        }
                       
                        mode receiving ()
                        {
                        inv invMoreMessages
                        }

                        trans sendToReceive from sending to receiveing 
                              when ( timer % commPer == 0 ) do{
                                       send( outLink1, myEst[] );
                                       send( outLink2, myEst[] );
                              }
                              when ( timer % commPer != 0 ) do{}
                        trans receiveToSend from sending to receiving 
                              when true do{
                                   myEst[] = comm( myEst[], inLink1);
                                   myEst[] = comm( myEst[], inLink2);
                              }
			trans receiveAgain from receiving to receiving 
                              when true do{
                                   myEst[] = comm( myEst[], inLink1);
                                   myEst[] = comm( myEst[], inLink2);
                              }
                }

                mode  move()
                {
                        diffEqn diffMove{ 
                                          d(myPos.x) = speed*cos(direction);
                                          d(myPos.y) = speed*sin(direction);
                        }
                        inv invMoving{ timer % updatePer != 0 }
                }

                trans sensing from move to communicate when
                  ( timer % updatePer == 0 && !(myPos == goal) ) do {
                        myEst[] = sense(myPos, obstacles[]);
                }

                trans planning from communicate to move when
                  ( isEmpty(inLink1) && isEmpty(inLink2) ) do {
                        direction = plan(myPos, goal, myEst[]);
                }

                trans reached from move to stop when
                  ( (timer % updatePer == 0) && (myPos == goal)) do{}

		trans stopToComm from stop to communicate when
                  ( myPos != goal ) do{}
        }
}


Robot1 = Robot (iPos1, spd1, initEst1) [ inLink1, inLink2, outLink1, 
					ouLink2 = r21Link1, r31Link2, 
					r12Link1, r13Link2 ];

Robot2 = Robot (iPos2, spd2, initEst2) [ inLink1, inLink2, outLink1, 
					ouLink2 = r12Link1, r32Link2,
					 r21Link1, r23Link2 ];

Robot3 = Robot (iPos3, spd3, initEst3) [ inLink1, inLink2, outLink1, 
					ouLink2 = r13Link1, r23Link2, 
					r31Link1, r32Link2 ];
  
sys = Robot1 || Robot2 || Robot3