#VRML V2.0 utf8
#
# World with PROTO interfaces and Behaviors
#

EXTERNPROTO FSM [
   eventIn     SFFloat   set_clock
   field       SFVec3f   position
   exposedField SFBool   input
   eventIn     SFString  set_state
   field       SFString  start_state
   field       MFNode    states
   field       MFNode    transitions
] "protos3.wrl#FSM"

EXTERNPROTO FSM_STATE [
   eventIn      SFFloat  set_clock
   exposedField SFBool   enabled
   field        SFNode   node
   field        SFNode   nodeG
   field        MFNode   audio
   exposedField MFNode   geometry
   field        MFString behavior
] "protos3.wrl#FSM_STATE"

EXTERNPROTO FSM_TRANSITION [
   eventIn      SFFloat  set_clock
   exposedField SFBool   enabled
   eventOut     SFString state_changed
   field        SFNode   from
   field        SFNode   to
   field        SFNode   fsm
   field        SFNode   object
   exposedField MFNode   geometry
   field        MFString behavior
] "protos3.wrl#FSM_TRANSITION"

EXTERNPROTO INPUT [
   eventIn      SFTime   touched
   eventOut     SFBool   enabled
   eventOut     SFBool   isActive
   eventOut     SFBool   state_changed
   field        SFBool   state
 ] "protos3.wrl#INPUT"

EXTERNPROTO TANK [  
   exposedField SFFloat  transparency 
   field        SFVec3f  text_position 
   field        MFString name 
   field        SFVec3f  position
] "protos3.wrl#TANK"

EXTERNPROTO PIPE [
   field        SFVec3f  local_frame 
   field        SFVec3f  translation 
   field        SFRotation  rotation 
   field        SFVec3f  cylinder_translation 
   field        SFVec3f  cone_translation 
   field        SFRotation  cone_rotation   
] "protos3.wrl#PIPE"

#
# World
#

NavigationInfo { headlight TRUE type [ "EXAMINE", "ANY" ]}
DEF Clock TimeSensor {loop TRUE}
DEF Input INPUT {}
DEF Touch TouchSensor {enabled TRUE}

DEF Plant FSM {

   position -6 -2 -6

   states [

	DEF Tank1 FSM_STATE {
	   enabled TRUE
	   geometry DEF Tank1G TANK {
	      text_position -1 1 0
	      name "s1"
	      position 6 5 0 }
         node USE Tank1
         nodeG USE Tank1G
         behavior "javascript: function set_clock(value,ts) {
            if(node.enabled) 
               nodeG.set_transparency = 0.0;
            else
               nodeG.set_transparency = 0.6;}"
      } #DEF Tank1

 	DEF Tank2 FSM_STATE {
	   geometry DEF Tank2G TANK {
	      text_position -1.5 1 0
	      name "s2"
	      position 9 0 0 }
         node USE Tank2
         nodeG USE Tank2G
         behavior "javascript: function set_clock(value,ts) {
            if(node.enabled) 
               nodeG.set_transparency = 0.0;
            else
               nodeG.set_transparency = 0.6;}"
      } #DEF Tank2

      DEF Tank3 FSM_STATE {
         geometry DEF Tank3G TANK {
            text_position -1.5 1 0
            name "s3"
            position 3.0  0 0 }
         node USE Tank3
         nodeG USE Tank3G
         behavior "javascript: function set_clock(value,ts) {
            if(node.enabled) 
               nodeG.set_transparency = 0.0;
            else
               nodeG.set_transparency = 0.6;}"
      } #DEF Tank3

   ] #states

   start_state "s1"

   transitions [

      DEF Pipe1 FSM_TRANSITION {
          fsm          USE Plant
          from         USE Tank1
          to           USE Tank2
          geometry Transform {
             children [
                DEF Pipe1G PIPE {
                   local_frame  8  2.5  0 
                   rotation     0  0    1 0.785
                   cylinder_translation 0 1 0
                   cone_rotation        0 0 1 3.14 }
             ] #children
          } #Transform
          behavior     "javascript: function set_clock(value,ts) {          
             if (from.enabled) {
                if (fsm.input==TRUE) state_changed = 's2';}
             } "
      } #DEF Pipe1

      DEF Pipe2 FSM_TRANSITION {
          fsm          USE Plant
          from         USE Tank2
          to           USE Tank3
          geometry DEF Pipe2G PIPE {
             local_frame  6 -0.75 0 
             translation  0.5 0 0
             rotation     0 0 1 1.571
             cone_translation     0 1 0 }
          behavior     "javascript: function set_clock(value,ts) {
             if (from.enabled) {
                if (fsm.input==FALSE) state_changed = 's3';}
             } "
      } #DEF Pipe2

      DEF Pipe3 FSM_TRANSITION {
          fsm          USE Plant
          from         USE Tank3
          to           USE Tank2
          geometry     DEF Pipe3G PIPE {
             local_frame  6  0.75 0 
             translation  -0.5 0 0
             rotation     0 0 1 -1.571
             cone_translation     0 1 0 }
              behavior     "javascript: function set_clock(value,ts) {
          if (from.enabled)
             if (fsm.input==TRUE) state_changed = 's2';
          } "
      } #DEF Pipe3

   ] #transitions

}#DEF Plant

#
# Routes
#
ROUTE Clock.fraction_changed TO Plant.set_clock
ROUTE Touch.touchTime        TO Input.touched
ROUTE Input.state_changed    TO Plant.set_input
ROUTE Tank1.enabled_changed  TO Pipe1.set_enabled
ROUTE Tank2.enabled_changed  TO Pipe2.set_enabled
ROUTE Tank3.enabled_changed  TO Pipe3.set_enabled
ROUTE Pipe1.state_changed    TO Plant.set_state  
ROUTE Pipe2.state_changed    TO Plant.set_state
ROUTE Pipe3.state_changed    TO Plant.set_state