package IndoorNavigationWaypointTracing.MultiAgentSystem;

import IndoorNavigationWaypointTracing.Launch;
import agentBehaviourPrototype.ExecutionBehaviour;
import agentBehaviourPrototype.ReceiveDataFromAgentBehaviour;
import agentBehaviourPrototype.SendDataToAgentBehaviour;
import agentBehaviourPrototype.ReceiveDataFromROSBehaviour;
import agentEntityPrototype.RobotAgent;
import edu.wpi.rail.jrosbridge.services.std.Empty.Request;
import jade.core.AID;

public class MoveAgent extends RobotAgent 
{
	
	private AID PlanDispatchAgent = new AID("PlanDispatchAgent", false);
	
	protected void setup() {
		//automatically generated
		this.controller.addTopic(Launch.actionDispatchFeedbackTopicName, Launch.actionDispatchFeedbackTopicType);
		
		//agent communication
		this.behList.addElement(new SendDataToAgentBehaviour(this, controller, PlanDispatchAgent, Launch.actionFeedbackDataKey));
		this.behList.addElement(new ReceiveDataFromROSBehaviour(this, controller, Launch.actionDispatchFeedbackTopicName, Launch.actionDispatchDataKey));

		addBehaviour(tbf.wrap(new ExecutionBehaviour(this, ds, this.behList)));	
	
	}
}