litter-recycler.scm

(define recycler-sm (state-machine

    (start find-litter)
    (args recycler phase)
    (vars
        pick-ticks 0
        work-ticks 0)

    (state find-litter
        (vars
            center (ecs-preferred-center recycler)
            found-litter (and center (ecs-query (recycler #@world)
                must: (list litter-component)
                exclude: (list ChildComponent_Kind BusyComponent_Kind)
                single: #t
                by-distance: center
                path-from: center))
            found-worker (and found-litter (ecs-query (recycler #@world)
                must: (list WorkerComponent_Kind recycler-worker-component)
                exclude: (list BusyComponent_Kind)
                single: #t
                by-distance: center
                path-from: center)))

        (to walk-to-litter (and found-litter found-worker)
            ([ center (ecs-pos-center found-litter) ]
                (ecs-make-add-component recycler BusyComponent_Kind
                    'litter-ref (ecs-ref found-litter)
                    'worker-ref (ecs-ref found-worker))
                (ecs-make-add-component found-litter BusyComponent_Kind
                    #@removeCompOnInvalid #t
                    #@subject.id (recycler #@ref.id)
                    #@subject.slot (recycler #@ref.slot))
                (ecs-make-add-component found-worker BusyComponent_Kind
                    #@removeCompOnInvalid #t
                    #@subject.id (recycler #@ref.id)
                    #@subject.slot (recycler #@ref.slot))
                (ecs-make-add-component found-worker PathComponent_Kind
                    #@destination.x (center 0)
                    #@destination.y (center 1)))))

    (state cleanup
        (vars
            busyc (ecs-get-component recycler BusyComponent_Kind)
            litter (and busyc (ecs-deref (recycler #@world) (busyc 'litter-ref)))
            own-litter (and litter (ecs-busy-with? litter recycler))
            worker (and busyc (ecs-deref (recycler #@world) (busyc 'worker-ref)))
            own-worker (and worker (ecs-busy-with? worker recycler)))
        
        (to find-litter #t
            (set! pick-ticks 0)
            (set! work-ticks 0)
            (ecs-remove-component recycler BusyComponent_Kind)
            (when own-litter (ecs-remove-component litter BusyComponent_Kind))
            (when own-worker (ecs-remove-component worker BusyComponent_Kind))))

    (state job-integrity
        (vars
            busyc (ecs-get-component recycler BusyComponent_Kind)
            litter (and busyc (ecs-deref (recycler #@world) (busyc 'litter-ref)))
            own-litter (and litter (ecs-busy-with? litter recycler))
            worker (and busyc (ecs-deref (recycler #@world) (busyc 'worker-ref)))
            own-worker (and worker (ecs-busy-with? worker recycler)))
            ;walking-worker (and worker (ecs-has-component? worker PathComponent_Kind)))
        
        (to cleanup (or (not own-litter) (not own-worker))
            (format #t "job-integrity INTEGRITY FAILURE worker ~A own-worker ~A litter ~A own-litter ~A\n" worker own-worker litter own-litter)))

    (state walk-to-litter
        (extend job-integrity)

        (vars
            over-litter (ecs-intersect-boundary? worker litter)
            walking (ecs-has-component? worker PathComponent_Kind))

        (to pick-litter over-litter
            (ecs-remove-component worker PathComponent_Kind)
            (ecs-phys-stop worker)
            (ecs-pose worker "action"))

        (to cleanup (and (not over-litter) (not walking))))

    (state pick-litter
        (extend job-integrity)

        (vars
            done (>= pick-ticks 20))

        (to pick-litter (not done)
            (set! pick-ticks (+ pick-ticks phase))
            (break))

        (to walk-to-recycler done
            ([ center (ecs-preferred-center recycler) ]
                (ecs-pose worker "action" #f)
                (ecs-make-add-component litter ChildComponent_Kind
                    #@parent.id (worker #@ref.id)
                    #@parent.slot (worker #@ref.slot))
                (ecs-make-add-component worker PathComponent_Kind
                    #@destination.x (center 0)
                    #@destination.y (center 1)))))

    (state walk-to-recycler
        (extend job-integrity)
        
        (vars
            walking (ecs-has-component? worker PathComponent_Kind)
            center (ecs-preferred-center recycler)
            obj-center (ecs-pos-center recycler)
            over-center (ecs-intersect-point? worker center))

        (to work-recycler over-center
            (ecs-remove-component worker PathComponent_Kind)
            (ecs-phys-stop worker)
            (ecs-phys-heading-current worker obj-center 0.0)
            (ecs-pose worker "action"))

        (to cleanup (and (not over-center) (not walking))))

    (state work-recycler
        (extend job-integrity)

        (vars
            done (>= work-ticks 50))

        (to work-recycler (not done)
            (set! work-ticks (+ work-ticks phase))
            (break))

        (to find-litter done
            ([  center (ecs-preferred-center recycler) ]
                (ecs-pose worker "action" #f)
                (make-scrolling-text (recycler #@world) (center 0) (center 1) by: 40.0
                    text: (format #f "Recycled"))
                (ecs-remove-component recycler BusyComponent_Kind)
                (set! pick-ticks 0)
                (set! work-ticks 0)
                (when own-litter (ecs-destroy-entity litter))
                (when own-worker (ecs-remove-component worker BusyComponent_Kind)))))
))