/////////////////////////////////////////////
// Antler configuration  block

ProcessConfig = ANTLER
{
	MSBetweenLaunches 	= 200
	ExecutablePath		=

	//crucial processes
	Run = pWorldModel @ NewConsole =false
	Run = pVoiceVerbio @   NewConsole =true
	

	Run = pAgenda @ NewConsole =true
	Run = pPlanner @   NewConsole =false
	Run = pExecutor @   NewConsole =true
	
	Run = pStateChart @   NewConsole =true
	
}


ProcessConfig = pStateChart
{
	CommsTick = 15
	AppTick = 15

	objective_file = Objetivo.scxml

}
ProcessConfig = pWorldModel
{
	CommsTick = 15
	AppTick = 15

	world_model_file = test2.xml

}
ProcessConfig = pAgenda
{
	CommsTick = 2
	AppTick = 2

}
ProcessConfig = pExecutor
{
	CommsTick = 25
	AppTick = 25
	
	num_jokes = 7
	joke1=Soy como robocop. Tengo los nervios de acero.
	joke2=De mi cerebro cibernético salen pepitas de oro.
	joke3=Es la primera vez que estoy en el parque de las Ciencias. Me lo estoy pasando tan bien que tengo que volver.
	joke4=Cuando termine de aquí me voy a visitar la Alambra. Eso si no estoy muy cansado.
	joke5=A ver si alguien me invita para irnos de tapas.
	joke6=Fijaos, me muevo más que Robodespian.
	joke7=Cuando queráis podeis venir a visitarme en la Universidad de Málaga.
	joke8=
	joke9=
	joke10=

}
ProcessConfig = pCommon
{
	num_actions = 11;;18
	actions_names = SAY@MOVE@SAY_TIME@PAUSE_MOVE@RESUME_MOVE@TRACK_OBJECT@STOP_TRACK_OBJECT@PLAY_ITEM@HELLO@START@FIN@WAIT_TO_START@WAIT_TO_PRESENT@PRESENT@SAY_JOKES@END_SAY_JOKES@WAIT_TO_GO@LOOK_AT

	num_elements = 1      //here by now, it should be published by the world model module

}
ProcessConfig = pVoiceVerbio
{
	CommsTick = 25
	AppTick = 25

	say_welcome = Hola Javier, es un placer estar aquí
	say_welcome1 = Sí, estoy preparado y con muchas ganas de que me conozcáis

;;	action0=SAY#NT#decir#LOCATION
;;	action1=MOVE#T#navegar#LOCATION

	action0=SAY_TIME#NT#sancho  dime la hora,sancho que hora es#
	action1=PAUSE_MOVE#NT#sancho para,sancho parate#
	action2=RESUME_MOVE#NT#sancho sigue,sancho puedes seguir#
;;	action3=TRACK_OBJECT#NT#mira aqui,busca,busca busca,mira lo que tengo#
;;	action3=STOP_TRACK_OBJECT#NT#deja de mirar,no mires,deja de buscar#

	action3=PRESENT#NT#sancho comienza la presentación#
	action4=HELLO#NT#hola sancho#
	action5=HELLO1#NT#sancho estás preparado#
	action6=END#NT#sancho puedes irte#
	action7=WAIT_TO_START#NT#estado inicial#
	action8=START#NT#sancho ven aquí#
	action9=WAIT_TO_PRESENT#NT#estado esperando presentacion#
;;	action10=SAY_JOKES#NT#Sancho, cuentame un chiste#
;;	action11=END_SAY_JOKES#NT#Sancho callate#
	action10=WAIT_TO_GO#NT#estado esperando irse#
;;	action17=LOOK_AT#NT#mira al destino#



	element0=n3#LOCATION#laboratorio de malga,M,S#dos tres seis siete ocho,M,S






}
ProcessConfig = pPlanner
{
	CommsTick = 25
	AppTick = 25

	world_model = demo.gph
	planning_domain = domain.pddl


		
	
	
	num_actions = 18
	//Action Compatibility
	actions_names = SAY@MOVE@SAY_TIME@PAUSE_MOVE@RESUME_MOVE@TRACK_OBJECT@STOP_TRACK_OBJECT@PLAY_ITEM@HELLO@START@FIN@WAIT_TO_START@WAIT_TO_PRESENT@PRESENT@SAY_JOKES@END_SAY_JOKES@WAIT_TO_GO@LOOK_AT

	action0 = MOVE PAUSE_MOVE WAIT_TO_START WAIT_TO_GO
	action1 = SAY SAY_TIME PAUSE_MOVE RESUME_MOVE WAIT_TO_START WAIT_TO_GO WAIT_TO_PRESENT PLAY_ITEM
	action2 = MOVE PAUSE_MOVE WAIT_TO_START
	action3 = MOVE SAY SAY_TIME
	action4 = SAY SAY_TIME PAUSE_MOVE
	action5 = SAY SAY_TIME
	action6 = TRACK_OBJECT SAY SAY_TIME
	action7 = PAUSE_MOVE STOP_TRACK_OBJECT WAIT_TO_START END LOOK_AT MOVE
	action8 = MOVE WAIT_TO_START
	action9 = MOVE WAIT_TO_START
	action10 = MOVE PLAY_ITEM WAIT_TO_GO
	action11 = SAY SAY_TIME PLAY_ITEM START MOVE PRESENT
	action12 = SAY SAY_TIME PLAY_ITEM PRESENT MOVE WAIT_TO_PRESENT WAIT_TO_START LOOK_AT
	action13 = WAIT_TO_PRESENT
	action14 = MOVE PAUSE_MOVE SAY SAY_TIME RESUME_MOVE
	action15 = SAY_JOKES
	action16 = MOVE
	action17 = PLAY_ITEM WAIT_TO_PRESENT 
	


	//This means that the action 0 (SAY) is compatible with action 1 (MOVE) and vice versa

}