HAPEE-Hunting Algorithm Performance Evaluation Environment

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;@@@@ MAS HUNTING ALGORITHM PERFORMANCE EVALUATION ENVIRONMENT @@@@;
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;@@@@  Copyright 2017 Marc Prince.                             @@@@;
;@@@@  See Info tab for full copyright and license.            @@@@;
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; CODE FOR TROUBLESHOOTING
; show [(word "("pxcor ", " pycor")")] of self


extensions [rnd]

globals [ ; These are detailed in the World Agent (WA) Beliefs, Desires, and Intentions.
  WA_Belief_Food-Density             WA_Belief_Vegetation-Density        WA_Belief_Rock-Density              WA_Belief_Water-Density      WA_Belief_Open-Terrain
  WA_Belief_Marsh-Density            WA_Belief_Wind-Direction            WA_Belief_Wind-Strength             WA_Belief_Rain-Frequency
  WA_Belief_Rain-Intensity           WA_Belief_Prey-Adult_Number
  WA_Belief_HA-Alpha_Quantity        WA_Belief_HA-Beta_Quantity          WA_Belief_HA-Omega_Quantity         WA_Belief_HA-Type            WA_Belief_HA-Algorithm_Test
  WA_State_Sounds-Current_Cycle      WA_State_Sounds-Previous_Cycle
  WA_State_Agents-List
  WA_State_Patches-List
]

patches-own [ ; These are detailed in the World Agent under Patch Agent
  WA_Patch_State_Type                WA_Patch_State_Grow-Time
  WA_Patch_State_Colour              WA_Patch_State_Colour-Temp
  WA_Patch_State_Agent-Number        WA_Patch_State_Agent-Heading        WA_Patch_State_Agent-Speed
  WA_Patch_State_Scent-Type          WA_Patch_State_Scent-Level
  WA_Patch_State_Sounds
]

turtles-own [ ; These are detailed in the Generic Agent (GA) Beliefs, Desire, and Intentions.
  GA_State_Agent-Type     GA_State_Agent-Class      GA_State_Exhaustion          GA_State_Scan-Distance
  GA_State_Scent-Type     GA_State_Scent-Level      GA_State_Energy-Current      GA_State_Speed-Current      GA_State_Water-Current      GA_State_Voice-Level
  GA_Design_Speed-Max     GA_Design_Energy-Max      GA_Design_Hearing-Level-Min  GA_Design_Vocal-Level-Max   GA_Design_Scent-Level-Min   GA_Design_Vision-Max
  GA_Belief_Hunger-Level  GA_Belief_Water-Level     GA_Belief_Water-Bearing      GA_Belief_Patch-Colour      GA_Belief_Patch-Type
  GA_Belief_Water         GA_Belief_Water-Heading   GA_Belief_Water-Distance     GA_Belief_Water-Sources     GA_Belief_Water-atSource
  GA_Desire_Food          GA_Desire_Water           GA_Desire_Evade
  GA_Perceive_Visual-Scan
]

breed [ hunted prey ]
hunted-own [ ; These are detailed in the Prey Agent (PA) Beliefs, Desire, and Intentions.
  PA_Belief_Food          PA_Belief_Food-Heading    PA_Belief_Food-Distance    PA_Belief_Food-Sources    PA_Belief_Food-atSource
  PA_Belief_Hunter        PA_Belief_Hunter-Heading  PA_Belief_Hunter-Distance  PA_Belief_Hunter-Sees-Me  PA_Belief_Hunter-atSource
  PA_Desire_Heading-Next  PA_Desire_Hunger-Thirst
]

breed [ hunters hunter ]
hunters-own [ ; These are detailed in the Hunter Agent (HA) Beliefs, Desire, and Intentions.
  HA_State_Hunter-Type            HA_State_Hunter-Class           HA_State_Hunter-Level             HA_Belief_Hunter-Leader
  HA_Belief_Hunt-Mode
  HA_Belief_Prey-Seen             HA_Belief_Prey-Known            HA_Belief_Hunter-Prey_Heading     HA_Belief_Hunter-Prey_Distance
  HA_Belief_Prey-X                HA_Belief_Prey-Y                HA_Belief_Prey-Heading            HA_Belief_Prey-Speed
  HA_Belief_Prey-atSource         HA_Belief_Prey-Sources
  HA_Belief_Alpha                 HA_Belief_Alpha-Seen            HA_Belief_Alpha-Known             HA_Belief_Hunter-Alpha_Heading    HA_Belief_Hunter-Alpha_Distance
  HA_Belief_Alpha-X               HA_Belief_Alpha-Y               HA_Belief_Alpha-Heading           HA_Belief_Alpha-Speed
  HA_Belief_Alpha-Prey_Distance   HA_Belief_Alpha-Prey_Heading    HA_Belief_Alpha-Prey_Attack
  HA_Belief_Beta1                HA_Belief_Beta1-Seen             HA_Belief_Beta1-Known             HA_Belief_Hunter-Beta1_Heading    HA_Belief_Hunter-Beta1_Distance
  HA_Belief_Beta1-X               HA_Belief_Beta1-Y               HA_Belief_Beta1-Heading
  HA_Belief_Beta1-Prey_Distance   HA_Belief_Beta1-Prey_Heading    HA_Belief_Beta1-Encircle-X        HA_Belief_Beta1-Encircle-Y
  HA_Belief_Beta2                 HA_Belief_Beta2-Seen            HA_Belief_Beta2-Known             HA_Belief_Hunter-Beta2_Heading    HA_Belief_Hunter-Beta2_Distance
  HA_Belief_Beta2-X               HA_Belief_Beta2-Y               HA_Belief_Beta2-Heading
  HA_Belief_Beta2-Prey_Distance   HA_Belief_Beta2-Prey_Heading    HA_Belief_Beta2-Encircle-X        HA_Belief_Beta2-Encircle-Y
  HA_Belief_Omega1                HA_Belief_Omega1-Seen           HA_Belief_Omega1-Known
  HA_Belief_Omega2                HA_Belief_Omega2-Seen           HA_Belief_Omega2-Known
  HA_Belief_Heard-Call            HA_Belief_Heard-Alpha
  HA_Belief_Encircle-X            HA_Belief_Encircle-Y
  HA_Perceive-Sounds              HA_Perceive-Scents
]

links-own [_range]

;;;;;;;;;;;;;;;;;;;;;;;;;;
;;----------------------;;
;;;;; World Agent ;;;;;;;;
;;----------------------;;
;;;;;;;;;;;;;;;;;;;;;;;;;;

;;;;;;;;; Actions ;;;;;;;;;;;;;;
; Nomenclature: Primary - WA_action_subject_verb or Alternate - WA_action_verb_subject

to WA_action_clear-all ; clear the hunting environment
  clear-all
  reset-ticks
end 

to WA_action_clear-ticks ; reset the tick count
  reset-ticks
end 

to WA_action_hunters-die ; clear the hunters from the hunting environment
  ask hunters [die]
end 

to WA_action_hunters-setup ; setup the HAs according to the parameters at the interface

  if WA_Belief_HA-Type = "Lionesses" [
    HA_belief_instantiate-lioness_alpha
    HA_belief_instantiate-lioness_beta
  ]

  if WA_Belief_HA-Type = "Wolves" [
    let i WA_Belief_HA-Alpha_Quantity
    while [ WA_Belief_HA-Alpha_Quantity != 0 ] [
      HA_belief_instantiate-wolf_alpha
      set WA_Belief_HA-Alpha_Quantity (WA_Belief_HA-Alpha_Quantity - 1)
    ]
    set WA_Belief_HA-Alpha_Quantity i

    set i WA_Belief_HA-Beta_Quantity
    while [ WA_Belief_HA-Beta_Quantity != 0 ] [
      HA_belief_instantiate-wolf_beta
      set WA_Belief_HA-Beta_Quantity (WA_Belief_HA-Beta_Quantity - 1)
    ]
    set WA_Belief_HA-Beta_Quantity i

    set i WA_Belief_HA-Omega_Quantity
    while [ WA_Belief_HA-Omega_Quantity != 0 ] [
      HA_belief_instantiate-wolf_omega
      set WA_Belief_HA-Omega_Quantity (WA_Belief_HA-Omega_Quantity - 1)
    ]
    set WA_Belief_HA-Omega_Quantity i
  ]
end 

to WA_action_prey-die ; clear the prey from the hunting environment
  ask hunted [die]
end 

to WA_action_prey-setup ; set up the prey based on the interface parameters
  let i 0
  while [ (i < WA_Belief_Prey-Adult_Number) ] [
    PA_belief_instantiate-hunted_prey_adult
    set i i + 1
  ]
end 

to WA_action_setup-axes ; establish the axis on the window to the WA
  ;; draw x-axis & y-axis as light gray
  ask patches with [pxcor = 0 or pycor = 0]
    [ set pcolor gray - 3 ]
end 

to WA_action_setup-food ; sets up the probability distribution on the food sources within the WA
  let random-value random 100
  let x-value min-pxcor
  let y-value min-pycor

  while [ (x-value <= max-pxcor) ] [
    set y-value min-pycor
    while [ (y-value <= max-pycor)] [
      set random-value random 100
      if random-value <= WA_Belief_Food-Density [
        ask patches with [ pxcor = x-value and pycor = y-value] [set pcolor orange]
      ]
      set y-value (y-value + 5)
    ]
    set x-value  (x-value + 5)
  ]
end 

to WA_action_setup-marsh ; sets up the probability distribution on the marsh sources within the WA
  let random-value random 100
  let x-value 0
  let y-value 0
  ask patches with [ pcolor = blue ] [
    set random-value random 100
    if random-value <= WA_Belief_Marsh-Density [
      set x-value pxcor
      set y-value pycor
      if random-value < 51
        [ask patches with [ pxcor = x-value and pycor = (y-value + 1)] [set pcolor 42]]
      if (33 < random-value) and (random-value < 67)
        [ask patches with [ pxcor = x-value and pycor = (y-value - 1)] [set pcolor 42]]
      if random-value > 66 [
        ask patches with [ pxcor = x-value and pycor = (y-value - 1)] [set pcolor 42]
        ask patches with [ pxcor = x-value and pycor = (y-value + 1)] [set pcolor 42]
        ]
    ]
  ]
  ask patches with [ pcolor = sky ] [
    set random-value random 100
    if random-value <= WA_Belief_Marsh-Density [
      set x-value pxcor
      set y-value pycor
      if random-value < 34 [
        ask patches with [ pxcor = x-value and pycor = (y-value + 1)] [set pcolor 42]
      ]
      if (33 < random-value) and (random-value < 67) [
        ask patches with [ pxcor = x-value and pycor = (y-value + 1)] [set pcolor 42]
        ask patches with [ pxcor = x-value and pycor = (y-value - 1)] [set pcolor 42]
      ]
      if random-value > 66 [
        ask patches with [ pxcor = x-value and pycor = (y-value - 1)] [set pcolor 42]
        ask patches with [ pxcor = x-value and pycor = (y-value + 1)] [set pcolor 42]
        ask patches with [ pxcor = (x-value - 1) and pycor = y-value] [set pcolor 42]
        ask patches with [ pxcor = (x-value + 1) and pycor = y-value] [set pcolor 42]
      ]
    ]
  ]
end 

to WA_action_setup-river ; establishes the river within the WA
;  let random-value random 100
;  let x-value min-pxcor
;  let y-value 0
  ask patches [
    if pycor = 0 [set pcolor blue     set WA_Patch_State_Type "Stream"     set WA_Patch_State_Colour blue ]
  ]

;  while [ x-value <= max-pxcor] [
;    ask patch x-value y-value [set pcolor blue]
;    ask patch x-value (y-value - 1) [set pcolor blue]
;
;    set x-value  (x-value + 1)
;    set random-value random 100
;    ifelse random-value < 51
;      [ set y-value (y-value - 1) ]
;      [ set y-value (y-value + 1) ]
;  ]
end 

to WA_action_setup-statistical_features ; sets up the probability distribution of several terrain features within the WA
  let m []
  let feature_probability (list m)
  set feature_probability but-first feature_probability

  set m lput orange m
  set m lput WA_Belief_Food-Density m
  set feature_probability lput m feature_probability
  set m []

  set m lput green m
  set m lput WA_Belief_Vegetation-Density m
  set feature_probability lput m feature_probability
  set m []

  set m lput grey m
  set m lput WA_Belief_Rock-Density m
  set feature_probability lput m feature_probability
  set m []

  set m lput sky m
  set m lput WA_Belief_Water-Density m
  set feature_probability lput m feature_probability
  set m []

  set WA_Belief_Open-Terrain (100 - WA_Belief_Food-Density - WA_Belief_Vegetation-Density - WA_Belief_Rock-Density - WA_Belief_Water-Density)
  set m lput black m
  set m lput WA_Belief_Open-Terrain m
  set feature_probability lput m feature_probability
  set m []

  ask patches [
    set pcolor first rnd:weighted-one-of-list feature_probability [ [p] -> last p]
    WA_Patch_brf_instantiate
  ]
end 

to WA_action_setup-rock_features ; sets up the probability distribution on the rock features within the WA
  let random-value random 100
  let x-value min-pxcor
  let y-value min-pycor

  while [ (x-value <= max-pxcor) ] [
    set y-value min-pycor
    while [ (y-value <= max-pycor)] [
      set random-value random 100
      if random-value <= WA_Belief_Rock-Density [
        set random-value random 100
        ask patches with [ pxcor = x-value and pycor = y-value] [set pcolor grey]
        if (0 < random-value) and (random-value < 26) [
          ask patches with [ pxcor = x-value and pycor = (y-value + 1)] [set pcolor grey]
          ask patches with [ pxcor = x-value and pycor = (y-value - 1)] [set pcolor grey]
        ]
        if (25 < random-value) and (random-value < 51) [
          ask patches with [ pxcor = (x-value - 1) and pycor = y-value] [set pcolor grey]
          ask patches with [ pxcor = (x-value + 1) and pycor = y-value] [set pcolor grey]
        ]
        if (50 < random-value) and (random-value < 76) [
          ask patches with [ pxcor = x-value and pycor = (y-value + 1)] [set pcolor grey]
          ask patches with [ pxcor = x-value and pycor = (y-value - 1)] [set pcolor grey]
          ask patches with [ pxcor = (x-value - 1) and pycor = y-value] [set pcolor grey]
          ask patches with [ pxcor = (x-value + 1) and pycor = y-value] [set pcolor grey]
        ]
        if (75 < random-value) and (random-value < 101) [
          ask patches with [ pxcor = x-value and pycor = (y-value - 1)] [set pcolor grey]
          ask patches with [ pxcor = x-value and pycor = (y-value + 1)] [set pcolor grey]
          ask patches with [ pxcor = (x-value - 1) and pycor = y-value] [set pcolor grey]
          ask patches with [ pxcor = (x-value + 1) and pycor = y-value] [set pcolor grey]
          ask patches with [ pxcor = (x-value - 1) and pycor = y-value - 1] [set pcolor grey]
          ask patches with [ pxcor = (x-value + 1) and pycor = y-value - 1] [set pcolor grey]
          ask patches with [ pxcor = (x-value - 1) and pycor = y-value + 1] [set pcolor grey]
          ask patches with [ pxcor = (x-value + 1) and pycor = y-value + 1] [set pcolor grey]
        ]
      ]
      set y-value (y-value + 4)
    ]
    set x-value  (x-value + 4)
  ]
end 

to WA_action_setup-vegetation ; sets up the probability distribution on the vegetation features within the WA
  let random-value random 100
  let x-value min-pxcor
  let y-value min-pycor

  while [ (x-value <= max-pxcor) ] [
    set y-value min-pycor
    while [ (y-value <= max-pycor)] [
      set random-value random 100
      if random-value <= WA_Belief_Vegetation-Density [
        ask patches with [ pxcor = x-value and pycor = y-value] [set pcolor green]
        set random-value random 100
        if (19 < random-value) and (random-value < 36) [
          ask patches with [ pxcor = x-value and pycor = (y-value + 1)] [set pcolor green]
          ask patches with [ pxcor = x-value and pycor = (y-value - 1)] [set pcolor green]
        ]
        if (35 < random-value) and (random-value < 51) [
          ask patches with [ pxcor = (x-value - 1) and pycor = y-value] [set pcolor green]
          ask patches with [ pxcor = (x-value + 1) and pycor = y-value] [set pcolor green]
        ]
        if (50 < random-value) and (random-value < 76) [
          ask patches with [ pxcor = x-value and pycor = (y-value + 1)] [set pcolor green]
          ask patches with [ pxcor = x-value and pycor = (y-value - 1)] [set pcolor green]
          ask patches with [ pxcor = (x-value - 1) and pycor = y-value] [set pcolor green]
          ask patches with [ pxcor = (x-value + 1) and pycor = y-value] [set pcolor green]
        ]
        if (75 < random-value) and (random-value < 101) [
          ask patches with [ pxcor = x-value and pycor = (y-value - 1)] [set pcolor green]
          ask patches with [ pxcor = x-value and pycor = (y-value + 1)] [set pcolor green]
          ask patches with [ pxcor = (x-value - 1) and pycor = y-value] [set pcolor green]
          ask patches with [ pxcor = (x-value + 1) and pycor = y-value] [set pcolor green]
          ask patches with [ pxcor = (x-value - 1) and pycor = y-value - 1] [set pcolor green]
          ask patches with [ pxcor = (x-value + 1) and pycor = y-value - 1] [set pcolor green]
          ask patches with [ pxcor = (x-value - 1) and pycor = y-value + 1] [set pcolor green]
          ask patches with [ pxcor = (x-value + 1) and pycor = y-value + 1] [set pcolor green]
        ]
      ]
      set y-value (y-value + 5)
    ]
    set x-value  (x-value + 5)
  ]
end 

to WA_action_setup-water ; sets up the probability distribution on the water sources within the WA
  let random-value random 100
  let x-value min-pxcor
  let y-value min-pycor

  while [ (x-value <= max-pxcor) ] [
    set y-value min-pycor
    while [ (y-value <= max-pycor)] [
      set random-value random 100
      if random-value <= WA_Belief_Water-Density [
        ask patches with [ pxcor = x-value and pycor = y-value] [set pcolor sky]
      ]
      set y-value (y-value + 3)
    ]
    set x-value  (x-value + 3)
  ]
end 

to-report WA_action_tickCount ; counts the ticks of each deliberation cycle within the WA.
  report ticks
end 

;;;;;;;;;;;;; Belief Review Function (BRF) ;;;;;;;;;;;;;;;;

;--Beliefs--;

;  WA_Belief_Setup-State                Belief: True/False - If true then the World Agent has been reset. Not Used Because No Tick to Associate Cycle...Look to Delete.
;  WA_Belief_Food-Density               Belief: The World Agent's density of food sources (apple trees, etc).
;  WA_Belief_Vegetation-Density         Belief: The World Agent's density of vegetation.
;  WA_Belief_Rock-Density               Belief: The World Agent's density of rock features.
;  WA_Belief_Water-Density              Belief: The World Agent's density of water (ponds, lakes, etc).
;  WA_Belief_Marsh-Density              Belief: The World Agent's density of marshland.
;  WA_Belief_Open-Terrain               Belief: The World Agent's density of open terrain. This value is calculated and is approximate.
;  WA_Belief_Wind-Direction             Belief: The direction of the wind.
;  WA_Belief_Wind-Strength              Belief: The strength of the wind.
;  WA_Belief_Rain-Frequency             Belief: The frequency of rain.
;  WA_Belief_Rain-Intensity             Belief: The intensity of rain.
;  WA_Belief_Prey-Adult_Number          Belief: Number of Prey.
;  WA_Belief_Hunters-Alpha_Number       Belief: Number of Alpha Hunters.
;  WA_Belief_Hunters-Beta_Number        Belief: Number of Beta Hunters.
;  WA_Belief_Hunters-Omega_Number       Belief: Number of Omega Hunters.
;  WA_State_Sounds                      State: List that holds the sounds that are in the environment during that cycle.
;  WA_Belief_HA-Type                    Belief: The type of hunters.

;--BRF--;
; Nomenclature: WA_perceive_subject_verb

to WA_brf_hunters-instantiate; This is designed as a driving function and is utilized for testing
  set WA_Belief_HA-Alpha_Quantity #Level1Hunters
  WA_action_hunters-setup
end 

to WA_brf_hunters-die; This is designed as a driving function and is utilized for testing
  WA_action_hunters-die
end 

to WA_brf_prey-instantiate; This is designed as a driving function and is utilized for testing
  set WA_Belief_Prey-Adult_Number Prey-Adult
  WA_action_prey-setup
end 

to WA_brf_prey-die; This is designed as a driving function and is utilized for testing
  WA_action_prey-die
end 

to WA_brf_setup ; Used to instantiate the WA
  set WA_Belief_Food-Density Food-Density
  set WA_Belief_Vegetation-Density Vegetation-Density
  set WA_Belief_Rock-Density Rock-Density
  set WA_Belief_Water-Density Water-Density
  set WA_Belief_Marsh-Density Marsh-Density

  set WA_Belief_Wind-Direction Wind-Direction
  set WA_Belief_Wind-Strength Wind-Strength

  set WA_Belief_Prey-Adult_Number Prey-Adult
  set WA_Belief_HA-Type Hunter-Type
  set WA_Belief_HA-Alpha_Quantity #Level1Hunters
  set WA_Belief_HA-Beta_Quantity #Level2Hunters
  set WA_Belief_HA-Omega_Quantity #Level3Hunters
  set WA_Belief_HA-Algorithm_Test Algorithm-Test

  WA_brf_sounds-initialize
end 

to WA_brf_setup-food; This is designed as a driving function and is utilized for testing
  set WA_Belief_Food-Density Food-Density
  WA_action_setup-food
end 

to WA_brf_setup-vegetation; This is designed as a driving function and is utilized for testing
  set WA_Belief_Vegetation-Density Vegetation-Density
  WA_action_setup-vegetation
end 

to WA_brf_setup-rock_features; This is designed as a driving function and is utilized for testing
  set WA_Belief_Rock-Density Rock-Density
  WA_action_setup-rock_features
end 

to WA_brf_setup-water; This is designed as a driving function and is utilized for testing
  set WA_Belief_Water-Density Water-Density
  WA_action_setup-water
end 

to WA_brf_setup-river; This is designed as a driving function and is utilized for testing
  WA_action_setup-river
end 

to WA_brf_setup-marsh; This is designed as a driving function and is utilized for testing
  set WA_Belief_Marsh-Density Marsh-Density
  WA_action_setup-marsh
end 

to WA_brf_sounds-initialize ; Instantiates the tracking of sounds within the WA
  WA_brf_sounds-current-initialize
  WA_brf_sounds-previous-initialize
end 

to WA_brf_sounds-current-initialize ; Tracks the sounds generated during this deliberation cycle (ie. current tick)
   set WA_State_Sounds-Current_Cycle []

  let m []
  set m lput 0 m                     ; sender's agent number
  set m lput "name-curr-init" m      ; sender's label
  set m lput 0 m                     ; xcor of sender
  set m lput 0 m                     ; ycor of sender
  set m lput 0 m                     ; sound-level of sender  ********this does not seem to be updating
  set m lput "Curr-Initialize" m          ; sender's message

  set WA_State_Sounds-Current_Cycle lput m WA_State_Sounds-Current_Cycle
;  show "sounds-current-initialize"
end 

to WA_brf_sounds-previous-initialize ; Tracks the sounds generated during the previous deliberation cycle (ie. last tick)

  set WA_State_Sounds-Previous_Cycle []

  let m []
  set m lput 0 m                    ; sender's agent number
  set m lput "name-prev-init" m     ; sender's label
  set m lput 0 m                    ; xcor of sender
  set m lput 0 m                    ; ycor of sender
  set m lput 0 m                    ; sound-level of sender
  set m lput "Prev-Initialize" m         ; sender's message

  set WA_State_Sounds-Previous_Cycle lput m WA_State_Sounds-Previous_Cycle
;  show "sounds-previous-initialize"
end 

to WA_brf_sounds-prey_found ; Establishes a unique call from an HA that a PA has been identified...represents a unique sound.

  let m []
  set m lput [who] of self m
  set m lput [label] of self m
  set m lput [xcor] of self m
  set m lput [ycor] of self m
  set m lput [GA_State_Voice-Level] of self m
  set m lput "WA_brf_sounds-prey_found-1" m

  set WA_State_Sounds-Current_Cycle lput m WA_State_Sounds-Current_Cycle
;  show "WA_brf_sounds-prey_found"

;  foreach WA_State_Sounds-Current_Cycle [ [n] ->
;    let sound-level (item 3 n)
;    let message (item 4 n)
;    show [(word "("message", "sound-level ")")] of self
;  ]
end 

to WA_brf_sounds-update_Current-to-Previous ; transfers the sounds from this deliberation cycle to the next deliberation cycle
  set WA_State_Sounds-Previous_Cycle []
    let n []
;    let sender 0
;    let name "name"
;    let sound-x 0
;    let sound-y 0
 ;   let sound-level 0
;    let message "W"

  foreach WA_State_Sounds-Current_Cycle [ [m] ->
    set n[]
    set n lput (item 0 m) n       ; sender's agent number
    set n lput (item 1 m) n       ; sender's label
    set n lput (item 2 m) n       ; sender's xcor
    set n lput (item 3 m) n       ; sender's ycor
    set n lput (item 4 m) n       ; sender's sound level
    set n lput (item 5 m) n       ; sender's message

    set WA_State_Sounds-Previous_Cycle lput n WA_State_Sounds-Previous_Cycle
  ]

;  foreach WA_State_Sounds-Previous_Cycle [ [o] ->
;    let sound-level1 (item 3 o)
;    let message1 (item 4 o)
;    show ( word message1 "test" sound-level1)
;  ]

  set WA_State_Sounds-Current_Cycle [] ; clears the list
;  show "WA_brf_sounds-update_Current-to-Previous" ; [(word "brf_sounds - ("message")")] of self
;  set WA_State_Sounds-Current_Cycle but-first WA_State_Sounds-Current_Cycle
end 

;;;;;;;;;;;;;;; Deliberation ;;;;;;;;;;;;;;;;
; Because the World Agent cannot automatically react to new perceptions, the BRF must be forced in the Deliberation process
; to ensure that the Beliefs are updated prior to the Desires, Plans, and Intentions being re-examined.
; Nomenclature: WA_deliberate_verb_subject

to WA_deliberate_clear ; clears the WA
  WA_irf_clear
end 

to WA_deliberate_clear-ticks ; clears the WA's ticks
  WA_irf_clear-ticks
end 

to WA_deliberate_cycle ; WA deliberation cycle (executed by clicking the "Go Once")
  ;; stop if the lead turtle is about to go out of the world
  ;if [patch-at 1 0] of hunters = nobody [ stop ]
 ; if ((remainder ticks 5) = 0) [(set ROx posx) (set ROy posy)]
  tick

  WA_Patch_deliberate_cycle-start

  ask hunted [
    PA_deliberate_cycle
  ]

  WA_Patch_deliberate_cycle-middle

  ask hunters [
    if WA_Belief_HA-Type = "Lionesses" [
      if HA_State_Hunter-Class = "Alpha" [
        HA_deliberate_lioness-alpha
      ]
      if HA_State_Hunter-Class = "Beta" [
        HA_deliberate_lioness-beta
      ]
    ]

    if WA_Belief_HA-Type = "Wolves" [
      if HA_State_Hunter-Class = "Alpha" [
        HA_deliberate_wolf-alpha
      ]
      if HA_State_Hunter-Class = "Beta" [
        HA_deliberate_wolf-beta
      ]
      if HA_State_Hunter-Class = "Omega" [
        HA_deliberate_wolf-omega
      ]
    ]
  ]

  WA_Patch_deliberate_cycle-end

  WA_brf_sounds-update_Current-to-Previous
  ask turtle 0 [show[(word "("pxcor ", " pycor")")] of self]
  ask turtle 1 [show[(word "("pxcor ", " pycor")")] of self]
  ask turtle 2 [show[(word "("pxcor ", " pycor")")] of self]
;  ask turtle 3 [show[(word "("pxcor ", " pycor")")] of self]
;  ask turtle 4 [show[(word "("pxcor ", " pycor")")] of self]
  show "***End of Turn"
end 

to WA_deliberate_setup ; executed by clicking the Setup/Reset button
  WA_irf_clear
  WA_brf_setup
  WA_irf_setup
end 

;;;;;;;;;;;;; Desire Review Funtion (DRF) ;;;;;;;;;;;;;;;;
; The World Agent has no desires of its own.

;--Desires--;
; The World Agent has no state level desires of its own.

;;;;;;;;;;;;;; Intention Review Function (IRF) ;;;;;;;;;;;;
; Nomenclature: WA_irf_verb_subject (refactoring still needs to be completed)

;--Intentions--;
; The World Agent has no state level intentions of its own.

;--IRF--;

to WA_irf_clear ; intention to clear the WA
  WA_plan_clear
end 

to WA_irf_clear-ticks ; intention to clear the WA's ticks
  WA_action_clear-ticks
end 

to WA_irf_setup ; intention to setup the WA
  WA_plan_setup
  WA_plan_setup-hunting_grounds
  WA_plan_hunters-setup
  WA_plan_prey-setup
end 

;;;;;;;;;;;;;; Perceptions ;;;;;;;;;;
; This function consists of the selection boxes on the Interface GUI.
; With NetLogo, these objects broker variables which are handled by the BRF Function through a deliberation cycle.
; They are documented here for the purpose of completeness.
; Also, several procedures are coded here as they represent a forcing function which is activated through perception.
; Their primary function is for testing purposes.
; Nomenclature: WA_perceive_subject_verb

; Vegetation-Density     Slider from 1-100 used to set the density of vegetation.
; Rock-Density           Slider from 1-25 used to set the density of rock features.
; Water-Density          Slider from 1-25 used to set the density of water sources.
; Marsh-Density          Slider from 1-100 used to set the density of marsh lands.
; Wind-Direction         Chooser (Random, North, North-East, East, South-East, South, South-West, West, North-West) used to select the wind direction.
; Wind-Strength          Slider from 1-10 used to set the strength of the wind.
; Rain-Frequency
; Rain-Intensity

to WA_perception_hunters-clear ; clear the HAs from the WA
  WA_brf_hunters-die
end 

to WA_perception_hunters-setup ; Instantiate the HAs within the WA
  WA_brf_hunters-instantiate
end 

to WA_perception_prey-clear ; clear the PAs from the WA
  WA_brf_prey-die
end 

to WA_perception_prey-setup ; Instantiate the PAs within the WA
  WA_brf_prey-instantiate
end 

to WA_perception_setup-food ; Instantiate the food resources
  WA_brf_setup-food
end 

to WA_perception_setup-vegetation ; Instantiate the vegetation resources
  WA_brf_setup-vegetation
end 

to WA_perception_setup-rock_features ; Instantiate the rock features
  WA_brf_setup-rock_features
end 

to WA_perception_setup-water ; Instantiate the water resources
  WA_brf_setup-water
end 

to WA_perception_setup-river ; Instantiate the river
  WA_brf_setup-river
end 

to WA_perception_setup-marsh; Instantiate the marsh features
  WA_brf_setup-marsh
end 

to WA_perception_sounds-prey_found ; Used to broker a message from an HA to the WA about having found a PA
  WA_brf_sounds-prey_found
end 

;;;;;;;;;;;;; Plans ;;;;;;;;;;;;
; Nomenclature: WA_perceive_subject_verb (refactoring still needs to be completed)

to WA_plan_clear ; clear the WA
  WA_action_clear-all
end 

to WA_plan_setup ; instantiate the WA
  WA_action_setup-axes
end 

to WA_plan_setup-hunting_grounds ; The hunting ground is set up according to the inputs of the various slider buttons
  WA_action_setup-statistical_features
  WA_action_setup-river
  WA_action_setup-marsh
end 

to WA_plan_prey-setup ; instantiate the PAs
  WA_action_prey-setup
end 

to WA_plan_hunters-setup ; instantiate the HAs
  WA_action_hunters-setup
end 

;;-----------------------;;
;;;;;;; Patch Agent ;;;;;;;
;;-----------------------;;

;;;;;;;;;;; Belief Review Function (BRF) ;;;;;;;;;;;;;

; WA_Patch_State-Scent_Type        State: This variable holds the scent type that is on the patch. The types are neutral, hunter, and prey.
; WA_Patch_State-Scent_Level       State: This variable holds the scent level on the patch.
; WA_Patch_State-Grow_Time         State: This variable holds the growth rate of the vegetation patches.
; WA_Patch_State-Colour            State: This variable holds the patch's color when it was first instantiated.
; WA_Patch_State_Colour-Temp       State: This variable holds the patch's temporary color while it regrows.
; WA_Patch_State-Type              State: This variable holds the patch's type which is rock, vegetation, food, water, etc.
; WA_Patch_State-Sounds            State: This list holds the sounds (sound waves) that can be detected on the patch.
;                                           -  Sound Level 0     No sound
;                                           -  Sound Level 1     Whisper, only heard on the patch from which it originates and the adjoining patches.
;                                           -  Sound Level 2     Low Voice, only heard within 10 patch radius.
;                                           -  Sound Level 3     Normal Voice, heard within 50 patch radius.
;                                           -  Sound Level 4     Loud Voice, heard within 100 patch radius.
;                                           -  Sound Level 5     Yelling / barking, heard within 150 patch radius.
;                                           -  Sound Level 6     Howling, heard within 200 patch radius.
; WA_Patch_State_Agent-Number      State: This variable holds the unique turtle number of the PA or HA currently on the patch agent.
; WA_Patch_State_Agent-Heading     State: This variable holds the heading of the PA or HA currently on the patch agent.
; WA_Patch_State_Agent-Speed       State: This variable holds the speed of the PA or HA currently on the patch agent.

;;;;;;;;;;; Instantiation ;;;;;;;;;;;

to WA_Patch_brf_instantiate ; sets the parameters of the patches after instantiation
  if pcolor = orange [ set WA_Patch_State_Type "Food"         set WA_Patch_State_Colour orange    set WA_Patch_State_Colour-Temp  "None"]
  if pcolor = green  [ set WA_Patch_State_Type "Vegetation"   set WA_Patch_State_Colour green     set WA_Patch_State_Colour-Temp  "None"]
  if pcolor = grey   [ set WA_Patch_State_Type "Rock"         set WA_Patch_State_Colour grey      set WA_Patch_State_Colour-Temp  "None"]
  if pcolor = sky    [ set WA_Patch_State_Type "Water"        set WA_Patch_State_Colour sky       set WA_Patch_State_Colour-Temp  "None"]
  if pcolor = black  [ set WA_Patch_State_Type "Field"        set WA_Patch_State_Colour black     set WA_Patch_State_Colour-Temp  "None"]
end 

;;;;;;;;;;; BRFs ;;;;;;;;;;;

to WA_Patch_brf_scent_fade ; Tracks and sets the scent levels at individual patches

  ask patches [
    if (WA_Patch_State_Scent-Type = "prey") [
      ;show [(word "("pxcor ", " pycor" , "WA_Patch_State-Scent_Level")")] of self

      ifelse (WA_Patch_State_Scent-Level = 0) [
        set WA_Patch_State_Scent-Type 0
;        if pcolor = yellow [ set pcolor black]
      ]
      [set WA_Patch_State_Scent-Level (WA_Patch_State_Scent-Level - 1)]
    ]
  ]
end 

to WA_Patch_brf_scent_initialize ; initializes the scent on a patch when occupied by a PA or an HA
  ask patch-here [
;    if (pcolor = black) [ set pcolor yellow ]
    set WA_Patch_State_Scent-Type [GA_State_Scent-Type] of myself
    set WA_Patch_State_Scent-Level [GA_State_Scent-Level] of myself
  ]
end 

to WA_Patch_brf_food-eat ; a result of the action that a PA has eaten the fruit on food source, sets the food source to the colour lime (indicating no food) and establishes a regrow time
  ask patch-here [
    set pcolor lime
    set WA_Patch_State_Colour-Temp lime
    set WA_Patch_State_Grow-Time 350
  ]
end 

to WA_Patch_brf_food-grow ; decreases the regrow time by one unit. If the time period is zero then the food source has regrown and ready to be eaten again
  ask patches [
    if (WA_Patch_State_Colour-Temp = lime) [
      ifelse (WA_Patch_State_Grow-Time = 0) [
        set pcolor orange
        set WA_Patch_State_Colour-Temp "None"
      ][
        set WA_Patch_State_Grow-Time (WA_Patch_State_Grow-Time - 1)
      ]
    ]
  ]
end 

;to WA_Patch_brf_HA-end
;  foreach WA_State_Patches-List [ [m] ->
 ;   ask patch (item 0 m) (item 1 m) [
;      if (pcolor = red) or (pcolor = 13) or (pcolor = 13) [ set pcolor WA_Patch_State_Colour ]
;    ]
;  ]
;end

to WA_Patch_brf_HA-start ; brokers the colour of the patches occupied by the HAs.
  set WA_State_Patches-List []
  ask hunters [
    let n []
    ask patch-here [
      if pcolor != 19 [
        ;set WA_Patch_State_Colour-Temp pcolor
        set pcolor [color] of myself
;      show pcolor
        set WA_Patch_State_Agent-Number [who] of myself
        set WA_Patch_State_Agent-Heading [heading] of myself
        set WA_Patch_State_Agent-Speed [ GA_State_Speed-Current ] of myself

        set n lput pxcor n
        set n lput pycor n
        set n lput WA_Patch_State_Agent-Number n
        set n lput WA_Patch_State_Agent-Heading n
        set n lput WA_Patch_State_Agent-Speed n
        ask myself [set WA_State_Patches-List lput n WA_State_Patches-List]
      ]
    ]
  ]
end 

to WA_Patch_brf_kill_prey ; brokers the colour of a patch where a prey has been killed.
  ask patch-here [
;    set WA_Patch_State_Colour 19
    set pcolor 19
    show "HA and PA on same Patch"
  ]
end 

;to WA_Patch_brf_PA-end
;  foreach WA_State_Patches-List [ [m] ->
;    ask patch (item 0 m) (item 1 m) [
;      if (pcolor = brown) [ set pcolor WA_Patch_State_Colour ]
;    ]
;  ]
;end

to WA_Patch_brf_PA/HA-end ; brokers the colours of the patches occupied by PAs and HAs and returns them to their original colours at the start of the deliberation cycle.
  foreach WA_State_Patches-List [ [m] ->
    ask patch (item 0 m) (item 1 m) [
      if (pcolor = red) [
        set pcolor WA_Patch_State_Colour
        if (WA_Patch_State_Colour-Temp = lime) [set pcolor WA_Patch_State_Colour-Temp]
      ]

      if (pcolor = 13) [
        set pcolor WA_Patch_State_Colour
        if (WA_Patch_State_Colour-Temp = lime) [set pcolor WA_Patch_State_Colour-Temp]
      ]

      if (pcolor = 14) [
        set pcolor WA_Patch_State_Colour
        if (WA_Patch_State_Colour-Temp = lime) [set pcolor WA_Patch_State_Colour-Temp]
      ]

      if (pcolor = 16) [
        set pcolor WA_Patch_State_Colour
        if (WA_Patch_State_Colour-Temp = lime) [set pcolor WA_Patch_State_Colour-Temp]
      ]

      if (pcolor = 19) [
        set pcolor WA_Patch_State_Colour
        if (WA_Patch_State_Colour-Temp = lime) [set pcolor WA_Patch_State_Colour-Temp]
      ]

      if (pcolor = brown) [
        set pcolor WA_Patch_State_Colour
        if (WA_Patch_State_Colour-Temp = lime) [set pcolor WA_Patch_State_Colour-Temp]
      ]

;       if (pcolor = red) or (pcolor = 13) or (pcolor = 14) or (pcolor = 16) or (pcolor = 19) or (pcolor = brown) [
;        ifelse (WA_Patch_State_Colour = lime) [
;          set pcolor WA_Patch_State_Colour-Temp
 ;       ][
 ;         set pcolor WA_Patch_State_Colour
 ;       ]
      ;]
    ]
  ]
end 

to WA_Patch_brf_PA-start ; brokers the colour of a patch occupied by a PA.
;  set WA_State_Patches-List []
  ask hunted [
    let n []
    ask patch-here [
      if pcolor != 19 [
        ;set WA_Patch_State_Colour pcolor
        set pcolor [color] of myself
        show pcolor
        set WA_Patch_State_Agent-Number [who] of myself
        set WA_Patch_State_Agent-Heading [heading] of myself
        set WA_Patch_State_Agent-Speed [ GA_State_Speed-Current ] of myself

        set n lput pxcor n
        set n lput pycor n
        set n lput WA_Patch_State_Agent-Number n
        set n lput WA_Patch_State_Agent-Heading n
        set n lput WA_Patch_State_Agent-Speed n
        ask myself [set WA_State_Patches-List lput n WA_State_Patches-List]
      ]
    ]
  ]
end 

to WA_Patch_brf_sounds ; brokers sounds on the patches occupied by PAs and HAs.
  let sender 0
  let name "name"
  let sound-x 0
  let sound-y 0
  let sound-level 0
  let message "none"
  let sound-distance 0

  let n []

  ask turtles [
    ask patch-here [
      set WA_Patch_State_Sounds []
      set n []
      foreach WA_State_Sounds-Previous_Cycle [ [m] ->
        set sender (item 0 m)
        set name (item 1 m)
        set sound-x (item 2 m)
        set sound-y (item 3 m)
        set sound-level (item 4 m)
        set message (item 5 m)

;             show [(word "brf_sounds - ("sound-level")")] of self

        set sound-distance (sqrt( ((pxcor - sound-x) ^ 2) + ((pycor - sound-y) ^ 2) ))
;        show [(word "sender - ("sender") and sound-distance - ("sound-distance") and initial sound-level - ("sound-level")")] of self

        if ((sound-distance >= 0) and (sound-distance <= 2)) and sound-level >= 1 [
          set n lput sender n
          set n lput name n
          set n lput sound-x n
          set n lput sound-y n
          set n lput sound-level n
          set n lput message n

          set WA_Patch_State_Sounds lput n WA_Patch_State_Sounds
;           show [(word "patch sound-level - ("sound-level")")] of self
          ]

        if ((sound-distance > 2) and ( sound-distance <= 5)) and sound-level >= 2 [ ;((sound-level > 1) and (sound-level <= 2)) [
          set sound-level (sound-level - 1)

          set n lput sender n
          set n lput name n
          set n lput sound-x n
          set n lput sound-y n
          set n lput sound-level n
          set n lput message n

          set WA_Patch_State_Sounds lput n WA_Patch_State_Sounds
;           show [(word "patch sound-level - ("sound-level")")] of self
          ]

        if ((sound-distance > 5) and ( sound-distance <= 10)) and sound-level >= 3 [ ;((sound-level > 2) and (sound-level <= 3)) [
          set sound-level (sound-level - 2)

          set n lput sender n
          set n lput name n
          set n lput sound-x n
          set n lput sound-y n
          set n lput sound-level n
          set n lput message n

          set WA_Patch_State_Sounds lput n WA_Patch_State_Sounds
           show [(word "patch sound-level - ("sound-level")")] of self
        ]

        if ((sound-distance > 10) and ( sound-distance <= 50)) and sound-level >= 4 [ ;((sound-level > 3) and (sound-level <= 4)) [
          set sound-level (sound-level - 3)

          set n lput sender n
          set n lput name n
          set n lput sound-x n
          set n lput sound-y n
          set n lput sound-level n
          set n lput message n

          set WA_Patch_State_Sounds lput n WA_Patch_State_Sounds
;           show [(word "patch sound-level - ("sound-level")")] of self
        ]

        if ((sound-distance > 50) and ( sound-distance <= 100)) and sound-level >= 5 [ ;((sound-level > 4) and (sound-level <= 5)) [
          set sound-level (sound-level - 4)

          set n lput sender n
          set n lput name n
          set n lput sound-x n
          set n lput sound-y n
          set n lput sound-level n
          set n lput message n

          set WA_Patch_State_Sounds lput n WA_Patch_State_Sounds
;           show [(word "patch sound-level - ("sound-level")")] of self
        ]

        if ((sound-distance > 100) and ( sound-distance <= 150)) and sound-level >= 6 [ ;((sound-level > 5) and (sound-level <= 6)) [
          set sound-level (sound-level - 5)

          set n lput sender n
          set n lput name n
          set n lput sound-x n
          set n lput sound-y n
          set n lput sound-level n
          set n lput message n

          set WA_Patch_State_Sounds lput n WA_Patch_State_Sounds
;           show [(word "patch sound-level - ("sound-level")")] of self
        ]

        if ((sound-distance > 150) and ( sound-distance <= 200)) and sound-level >= 7 [ ;((sound-level > 6) and (sound-level <= 7)) [
          set sound-level (sound-level - 6)

          set n lput sender n
          set n lput name n
          set n lput sound-x n
          set n lput sound-y n
          set n lput sound-level n
          set n lput message n

          set WA_Patch_State_Sounds lput n WA_Patch_State_Sounds
           show [(word "patch sound-level - ("sound-level")")] of self
        ]

        if ((sound-distance > 200) and ( sound-distance <= 250)) and sound-level >= 8 [ ;((sound-level > 7) and (sound-level <= 8)) [
          set sound-level (sound-level - 7)

          set n lput sender n
          set n lput name n
          set n lput sound-x n
          set n lput sound-y n
          set n lput sound-level n
          set n lput message n

          set WA_Patch_State_Sounds lput n WA_Patch_State_Sounds
;          show [(word "patch sound-level - ("sound-level")")] of self
        ]
      ]
;          foreach WA_Patch_State_Sounds [ [o] ->
;            set message (item 4 o )
;            show [(word "Patch_State_Sounds - ("message")")] of self
;          ]

    ]
  ]
end 

;;;;;;;;;;; Deliberate ;;;;;;;;;;;

to WA_Patch_deliberate_cycle-end ; handles the beliefs that need to be updated on the patches occupied by PAs and HAs at the end of the deliberation cycle.
  WA_Patch_brf_PA/HA-end
  ;WA_Patch_brf_HA-end
  ;WA_Patch_brf_PA-end
end 

to WA_Patch_deliberate_cycle-middle ; handles the beliefs that need to be updated on the patches occupied by PAs in the middle of the deliberation cycle.

  WA_Patch_brf_PA-start
end 

to WA_Patch_deliberate_cycle-start ; handles the beliefs that need to be updated on the patches occupied by HAs at the start of the deliberation cycle...this includes updating sounds, scent, and food growth.
  WA_Patch_brf_sounds
  WA_Patch_brf_HA-start
  WA_Patch_brf_scent_fade
  WA_Patch_brf_food-grow
end 

;;;;;;;;;;;;;; Perceptions ;;;;;;;;;;
; Perceptions by a Patch Agent represent a forcing function of an action taken against the patch.

to WA_Patch_perception_food-eaten ; this is a forcing function initiated by a PA eating the food on the patch.
  WA_Patch_brf_food-eat
end 

to WA_Patch_perception-kill_prey ; the patch perceives that a PA has died on it.
  WA_Patch_brf_kill_prey
end 

to WA_Patch_perception_scent-initialize ; the patch perceives that a PA or HA has occupied it and left a scent.
  WA_Patch_brf_scent_initialize
end 

;to WA_Patch_perception_sounds
;  WA_Patch_brf_sounds
;end

;;;;;;;;;;;;;;;;;;;;;;;;;;;
;;-----------------------;;
;;;;;; Generic Agent ;;;;;;
;;-----------------------;;
;;;;;;;;;;;;;;;;;;;;;;;;;;;

;The Generic Agent defines states and procedures that are common to both Hunter and Prey Agents.
;As NetLogo does not yet have Super Classes (and thus Inheritance), the Generic Agent fills this role.
;It is used as a means to re-use code, increasing both coding efficiency and simplicity (in both reading the code and evolving it).

;;;;;;;;; Actions ;;;;;;;;;;;;;;
; Nomenclature: GA_action_subject_verb     if the subject is the Agent, then it is omitted.

to GA_action_move-none ; The GA remains stationary on the patch which simulates resting
  show "Do Nothing"
  set GA_State_Energy-Current (GA_State_Energy-Current - 1)
  set GA_State_Water-Current (GA_State_Water-Current - 1)
  WA_Patch_perception_scent-initialize
end 

to GA_action_move-normal ; This is the normal movement speed of the agents in the WA
  fd 1
  set GA_State_Energy-Current (GA_State_Energy-Current - 2)
  set GA_State_Water-Current (GA_State_Water-Current - 2)
  WA_Patch_perception_scent-initialize
end 

to GA_action_move-quick ; This represents a fast walk for the agents
  fd 2
  ; fd 1
  ; fd 1
  set GA_State_Energy-Current (GA_State_Energy-Current - 3)
  set GA_State_Water-Current (GA_State_Water-Current - 3)
  WA_Patch_perception_scent-initialize
end 

to GA_action_move-fast ; This represents a speed walk for the agents
  fd 3
  set GA_State_Energy-Current (GA_State_Energy-Current - 4)
  set GA_State_Water-Current (GA_State_Water-Current - 4)
  WA_Patch_perception_scent-initialize
end 

to GA_action_move-run ; This represents a slow run (jog) for the agents
  fd 5
  set GA_State_Energy-Current (GA_State_Energy-Current - 5)
  set GA_State_Water-Current (GA_State_Water-Current - 5)
  WA_Patch_perception_scent-initialize
end 

to GA_action_move-sprint ; This represents an all out run (ie. sprint) for the agents
  fd 7
  set GA_State_Energy-Current (GA_State_Energy-Current - 6)
  set GA_State_Water-Current (GA_State_Water-Current - 6)
  set GA_State_Exhaustion 20
  WA_Patch_perception_scent-initialize
end 

to GA_action_move-pounce_prey ; This represents a pouncing action of an HA onto a PA. It is the physical displacement of the HA from one patch to another
  move-to patch HA_Belief_Prey-X HA_Belief_Prey-Y
end 

to GA_action_turn-around ; The agent turns course by 180 degrees
  let heading-temp heading
  set heading (remainder int ((heading-temp) + 180) 360)
end 

;;;;;;;;;;; Belief Review Function (BRF) ;;;;;;;;;;;;;
; The Beliefs of the Generic Agent are detailed under the Beliefs / Turtles-Own section of the World Agent.
; This occurs because NetLogo requires these variables to be declared at the beginning of the code (for reasons unknown).
; Though the class of generic agent variables are not formally declared at this location in the code, they are described below:

;--Beliefs--;
;  GA_Design_Speed-Max                   Design: the Agent's maximum possible speed.
;  GA_State_Speed-Current                State: the Agent's current speed.
;  GA_Design_Energy-Max                  Design: the maximum Energy that the Agent can store.
;  GA_State_Energy-Current               State: the Agent's current energy reserve.
;  GA_Belief_Hunger-Level                Belief: the Agent's hunger level. The level is dependent on the amount of energy in reserve. The lower the energy reserve, the higher the hunger level.
;  GA_Design_Hearing-Level-Min           Design: this is the minimum sound level that the Agent is able to perceive (measured at the Agent's location (ie: the Agent's ears)).
;  GA_Design_Vocal-Level-Max             Design: this is the sound level of the Agent's voice (measured at the Agent's location (ie: the Agent's mouth)).
;  GA_Design_Scent-Level-Min             Design: this is the minimum scent level that the Agent is able to perceive.
;  GA_State_Scent-Type                   State: This is the type of scent that the Agent possesses. The types are either prey or hunter.
;  GA_State_Scent-Level                  Belief: this is the Agent's scent level. The scent level increases with the Agent's age.
;  GA_Design_Vision-Max                  Belief: the maximum distance that the Agent can perceive objects.
;  GA_State_Water-Current                State: the Agent's current water reserve.
;  GA_Belief_Water-Level                 Belief: the Agent's thirst level.
;  GA_Belief_Water-Bearing               Belief: the bearing to the nearest water source.
;  GA_Belief_Patch-Colour                Belief: the colour of the patch (WA_Patch_State-Colour) that the Agent is occupying. This variable holds the patch colour at the start of the cycle and restores it at the end.
;  GA_Belief_Patch-Type                  Belief: the type of patch (WA_Patch_State-Type) that the Agent is occupying.
;  GA_State_Voice-Level                  State: This is the voice level of the Agent.
;                                           -  Sound Level 0     No sound
;                                           -  Sound Level 1     Whisper, only heard on the patch from which it originates and the adjoining patches.
;                                           -  Sound Level 2     Low Voice, only heard within 10 patch radius.
;                                           -  Sound Level 3     Normal Voice, heard within 50 patch radius.
;                                           -  Sound Level 4     Loud Voice, heard within 100 patch radius.
;                                           -  Sound Level 5     Yelling / barking, heard within 150 patch radius.
;                                           -  Sound Level 6     Howling, heard within 200 patch radius.
;  GA_State_Exhaustion                   State: The Agent is exhausted - True/False.
;  GA_State_Agent-Type                   State: The type of Agent: PA / HA.
;  GA_State_Agent-Class                  State: The class of Agent: For PA (Adult or Adolescent). For HA (Alpha, Beta, Omega).
;  GA_State_Scan-Distance                State: this variable is the distance upon which the eyes focus...representing the control of the nerves upon the retina.
;                                                It is a state because it represents a physical state of the optical reception capability.
;  GA_Perceive_Visual-Scan               Perception: This variable holds the perceived data from the eyes.

;--BRF--;

to GA_brf_cycle ; The agent begins its cycle
  set GA_Belief_Water false
  set GA_Belief_Water-atSource false
  set GA_Belief_Water-Distance 100
  set GA_State_Exhaustion (GA_State_Exhaustion - 1 )
end 

to GA_brf_disposition ; Returns the agent to its original properties
  ask patch-here [ ; determines the patch that the Agent is standing on
    ask myself [ set GA_Belief_Patch-Colour WA_Patch_State_Colour     set GA_Belief_Patch-Type WA_Patch_State_Type ]
  ]
end 

to GA_brf_hunger-level ; sets the hunger level of the agent
  if (0 < GA_State_Energy-Current) and (GA_State_Energy-Current < 25) [set GA_Belief_Hunger-Level 4]
  if (24 < GA_State_Energy-Current) and (GA_State_Energy-Current < 50) [set GA_Belief_Hunger-Level 3]
  if (49 < GA_State_Energy-Current) and (GA_State_Energy-Current < 75) [set GA_Belief_Hunger-Level 2]
  if (74 < GA_State_Energy-Current) and (GA_State_Energy-Current < 100) [set GA_Belief_Hunger-Level 1]
  if (99 < GA_State_Energy-Current) and (GA_State_Energy-Current < 150) [set GA_Belief_Hunger-Level 0]
end 

to GA_brf_thirst-level ; sets the thirst level of the agent
  if (0 < GA_State_Water-Current) and (GA_State_Water-Current < 25) [set GA_Belief_Water-Level 4]
  if (24 < GA_State_Water-Current) and (GA_State_Water-Current < 50) [set GA_Belief_Water-Level 3]
  if (49 < GA_State_Water-Current) and (GA_State_Water-Current < 75) [set GA_Belief_Water-Level 2]
  if (74 < GA_State_Water-Current) and (GA_State_Water-Current < 100) [set GA_Belief_Water-Level 1]
  if (99 < GA_State_Water-Current) and (GA_State_Water-Current < 151) [set GA_Belief_Water-Level 0]
end 

to GA_brf_water ; reviews the agent's belief as to the location of the nearest water feature
  let temp-heading 0
  let temp-distance 100
  let patch-colour 0

  let n first GA_Perceive_Visual-Scan
  set GA_Belief_Patch-Colour (item 0 n)

  ifelse (GA_Belief_Patch-Colour = blue) or (GA_Belief_Patch-Colour = sky) or (GA_Belief_Patch-Colour = 42)[
;    show "at water"
    set GA_Belief_Water-atSource true ][
    foreach GA_Perceive_Visual-Scan [ [m] ->
        set patch-colour (item 0 m)
        if (patch-colour = blue) or (patch-colour = sky) or (patch-colour = 42) [
 ;         show "found water"
          (set GA_Belief_Water true)
          (set temp-heading (item 1 m))
          (set temp-distance (item 2 m))

          if (temp-distance < GA_Belief_Water-Distance) [
            set GA_Belief_Water-Distance temp-distance
            set GA_Belief_Water-Heading temp-heading
          ]
        ]
      ]
    ]

 ; show [(word "( "GA_Belief_Water-Heading" , "GA_Belief_Water-Distance" )")] of self

  if (GA_Belief_Water = false)[
    ifelse (ycor >= 0)[set GA_Belief_Water-Heading 180 set GA_Belief_Water true show "water at 180"][set GA_Belief_Water-Heading 0 set GA_Belief_Water true show "water at 0"]
  ]
end 

;;;;;;;;;;;;;;; Deliberation ;;;;;;;;;;;;;;;;

to GA_deliberate_cycle ; runs one cycle of the agent's deliberation cycle
  GA_brf_hunger-level
  GA_brf_thirst-level
  GA_drf_food
  GA_drf_water
end 

;;;;;;;;;;;;; Desire Review Function (DRF) ;;;;;;;;;;;;;;;;

;--Desires--;
;  GA_Desire_Food                        Desire: does the Agent desire food?
;  GA_Desire_Water true                  Desire: does the Agent desire water?
;  GA_Desire_Evade                       Desire: Does the Agent desire to evade the situation. States are True or False.

;--DRF--;

to GA_drf_food ; sets the agents desire for food
  if GA_Belief_Hunger-Level = 4 [set GA_Desire_Food true]
  if GA_Belief_Hunger-Level = 3 [set GA_Desire_Food true]
  if GA_Belief_Hunger-Level = 2 [set GA_Desire_Food true]
  if GA_Belief_Hunger-Level = 1 [set GA_Desire_Food true]
  if GA_Belief_Hunger-Level = 0 [set GA_Desire_Food false]
end 

to GA_drf_water ; sets the agents desire for water
  if GA_Belief_Water-Level = 4 [set GA_Desire_Water true]
  if GA_Belief_Water-Level = 3 [set GA_Desire_Water true]
  if GA_Belief_Water-Level = 2 [set GA_Desire_Water true]
  if GA_Belief_Water-Level = 1 [set GA_Desire_Water true]
  if GA_Belief_Water-Level = 0 [set GA_Desire_Water false]
end 

;;;;;;;;;;;;;; Intention Review Function (IRF) ;;;;;;;;;;;;
; Nomenclature: GA_irf_verb_subject

to GA_irf_turn-and-run ; the agent turns heading 180 degrees and sprints away from that patch
  show "run-away!"
  GA_action_turn-around
  GA_action_move-sprint
;  GA_action_turn-around
end 

;;;;;;;;;;;;;; Perceptions ;;;;;;;;;;
; Because perceptions are very individualistic to a PA or HA, these were coded in those areas.

to GA_perceive ; To be developed
end 

;;;;;;;;;;;;;; Plans ;;;;;;;;;;;;
; Plans where also unique to a type of PA or HA...representing their unique abilities.

;to GA_plan_turn-and-run
;  show "run-away!"
;  GA_action_turn-around
;  GA_action_move-sprint
;  GA_action_turn-around
;end

;;-----------------------;;
;;;;;; Prey Agent ;;;;;;
;;-----------------------;;

; The Prey Agent represents an adult or adolescent prey depending on how it is instantiated.
; The command "breed [ hunted prey]" is defined in the World Agent / Beliefs section as required by NetLogo.

;;;;;;;;; Actions ;;;;;;;;;;;;;;
; Nomenclature: PA_action_subject_verb     if the subject is the Agent, then it is omitted.

to PA_action_eat-food  ; PA eats food thus increasing its energy level by consuming a patch
;  show "eating food"
  set GA_State_Energy-Current 150
  WA_Patch_perception_food-eaten
end 

to PA_action_drink-water ; PA drinks water thus increasing its water level...no patch is consumed.
;  show "drinking water"
  set GA_State_Water-Current 150
end 

to PA_action_kill-prey  ; PA is dying as a result of being killed by an HA. The PA and HA occupy the same patch.
  WA_Patch_perception-kill_prey
end 

;;;;;;;;;;;;; Belief Review Function (BRF) ;;;;;;;;;;;;;;;;

; The Beliefs of the Prey Agent are instantiated under the Beliefs / Hunted-Own section of the World Agent.
; This occurs because NetLogo requires these variables to be declared at the beginning of the code (for reasons unknown).
; Though the class of hunted variables are not formally declared at this location in the code, they are described below:

;--Beliefs--;
;  PA_Belief_Food                     Belief: the Agent believes (true/false) that it has perceived food.
;  PA_Belief_Food-Heading             Belief: this is the heading of perceived food.
;  PA_Belief_Food-Distance            Belief: this is the distance of the food from the Agent.
;  PA_Belief_Food-Sources             Belief: this is the Agent's list of known food sources.
;  PA_Belief_Food-atSource            Belief: true/false, the Agent is geolocated with a food source.

;  PA_Belief_Water                    Belief: the Agent believes (true/false) that it has perceived water.
;  PA_Belief_Water-Heading            Belief: this is the heading of perceived water.
;  PA_Belief_Water-Distance           Belief: this is the distance of the water from the Agent.
;  PA_Belief_Water-Sources            Belief: this is the Agent's list of known water sources.
;  PA_Belief_Water-atSource           Belief: true/false, the Agent is geolocated with a water source.

;  PA_Belief_Hunter                   Belief: the Agent believes (true/false) that it has perceived a hunter.
;  PA_Belief_Hunter-Heading           Belief: this is the heading of the perceived hunter.
;  PA_Belief_Hunter-Distance          Belief: this is the distance of the hunter from the Agent.
;  PA_Belief_Hunter-Sees-Me           Belief: the Agent believes (true/false) that it is being observed by the hunter. (Not Used)
;  PA_Belief_Hunter-atSource          Belief: true/false, the Prey Agent is geolocated with a Hunter Agent.

;  PA_Belief_Move-Next_Heading        Belief: this is the heading that the prey prefers to follow on its next movement. (Not Used)
;  PA_Belief_Move-Next_Distance       Belief: this is the number of squares that the Prey can move before it needs to reassess its next steps. (Not Used)

;--Instantiation--;

to PA_belief_instantiate-hunted_prey_adult ; instantiate an adult Prey Agent

  create-hunted 1
    [ set color brown
      set size 7
      set shape "default"
      set pen-size 1

      setxy 0 10 ;random-xcor random-ycor
;      set heading 180
      ;pen-down
;      facexy 0 1

      set label who
      set label-color white
      set heading 180
      set GA_State_Energy-Current 75
      set GA_State_Water-Current 150
      set GA_Design_Speed-Max 5
      set GA_State_Speed-Current 0
      set GA_State_Scent-Type "prey"
      set GA_State_Scent-Level 100
      set GA_State_Exhaustion 0
      set PA_Belief_Hunter-atSource false

      set PA_Belief_Food-Sources []
      set GA_Belief_Water-Sources []
    ]
end 

to PA_belief_instantiate-hunted_prey_adolescent ; instantiate an adolescent Prey Agent
  create-hunted 1
    [ set color orange
      set size 3
      set shape "default"
      set pen-size 1

      setxy 25 25
      facexy 0 1

      set label who
      set label-color black

      set GA_Design_Speed-Max 5
      set GA_State_Speed-Current 0
    ]
end 

;--BRF--;

to PA_brf_cycle ; resets the PA's beliefs at the start of the deliberation cycle
  set PA_Belief_Food false
  set PA_Belief_Food-atSource false
  set PA_Belief_Food-Distance 100
  set PA_Belief_Hunter false
  set PA_Belief_Hunter-Distance 100
  GA_brf_cycle

  PA_perception_visual-scan
end 

to PA_brf_food ; identify food within the visual scan
  let temp-heading 0
  let temp-distance 100
  let patch-colour 0

  let n first GA_Perceive_Visual-Scan
  set GA_Belief_Patch-Colour (item 0 n)

  ifelse (GA_Belief_Patch-Colour = orange)[
;    show "at food"
    set PA_Belief_Food-atSource true
  ][
    foreach GA_Perceive_Visual-Scan [ [m] ->
      set patch-colour (item 0 m)
      if (patch-colour = orange) [
;        show "found food"
        (set PA_Belief_Food true)
        (set temp-heading (item 1 m))
        (set temp-distance (item 2 m))

        if (temp-distance < PA_Belief_Food-Distance) [
          set PA_Belief_Food-Distance temp-distance
          set PA_Belief_Food-Heading temp-heading
        ]
      ]
    ]
  ]
end 

to PA_brf_hunter ; identify HA's within the visual scan
  let temp-heading 0
  let temp-distance 100
  let patch-colour 0

  let n first GA_Perceive_Visual-Scan
  set GA_Belief_Patch-Colour (item 0 n)
;  show [(word "("GA_Belief_Patch-Colour")")] of self

  ifelse (GA_Belief_Patch-Colour = red)[
    show "I'm being attacked!"
    set PA_Belief_Hunter-atSource true
  ][
    foreach GA_Perceive_Visual-Scan [ [m] ->
      set patch-colour (item 0 m)
      if (patch-colour = red) [
        show "found hunter"
        (set PA_Belief_Hunter true)
        (set temp-heading (item 1 m))
        (set temp-distance (item 2 m))

        if (temp-distance < PA_Belief_Hunter-Distance) [
          set PA_Belief_Hunter-Distance temp-distance
          set PA_Belief_Hunter-Heading temp-heading
;          show [(word "(" PA_Belief_Hunter-Heading ", " PA_Belief_Hunter-Distance")")] of self
        ]
      ]
    ]
  ]
end 

;;;;;;;;;;;;;;; Deliberation ;;;;;;;;;;;;;;;;

to PA_deliberate_cycle ; main PA deliberation cycle

  PA_brf_cycle

  PA_brf_hunter

  PA_drf_hunter

  if PA_Belief_Hunter-atSource = true [
    PA_irf_kill-prey
  ]

  if PA_Belief_Hunter-atSource = false [
    if GA_State_Exhaustion <= 0 [
      ifelse (GA_Desire_Evade = true) [
        PA_irf_evade-turn-and-run
      ][
        GA_deliberate_cycle
        PA_drf_food-or-water
;    show [(word "("GA_Desire_Food " , "GA_Desire_Water " , "PA_Desire_Hunger-Thirst " , "GA_State_Energy-Current " , "GA_State_Water-Current ")")] of self
        let heading-set false

        if (GA_Desire_Water = true) [
;      show "Water"
          GA_brf_water
;      show [(word "( "GA_Belief_Water" )")] of self
          if GA_Belief_Water-atSource = true [PA_irf_drink-water]
            if (GA_Belief_Water = true) and (GA_Belief_Water-atSource = false) [
              PA_irf_move-water
              set heading-set true
            ]
          ]

        if (GA_Desire_Food = true) and (PA_Desire_Hunger-Thirst = "Food")[
;      show "Food"
          PA_brf_food
;      show [(word "( "PA_Belief_Food" )")] of self
          if PA_Belief_Food-atSource = true [PA_irf_eat-food]
          if PA_Belief_Food = true and (PA_Belief_Food-atSource = false)[
            PA_irf_move-food
            set heading-set true
          ]
        ]

        if ((GA_Desire_Water = true) or (GA_Desire_Food = true) and (PA_Belief_Food = false) and (GA_Belief_Water = false) and (heading-set = false)) [PA_irf_move-search_circle]

        if ((GA_Desire_Food = false) and (GA_Desire_Water = false)) [PA_irf_relax]
      ]
    ]
  ]
end 

;;;;;;;;;;;;; Desire Review Function (DRF) ;;;;;;;;;;;;;;;;

;--Desires--;
; PA_Desire_Hunger-Thirst             Desire: Does the Agent desire food or water above the other. States are "Food" or "Water".

to PA_drf_food-or-water ; PA assesses whether it desires food and/or water
  ifelse (GA_Desire_Food = true) and (GA_Desire_Water = true) [set PA_Desire_Hunger-Thirst "Water"] [ set PA_Desire_Hunger-Thirst "Food" ]
end 

to PA_drf_hunter ; In the presence of an HA, PA assesses that it has a desire to evade the HA
  ifelse (PA_Belief_Hunter = true) [set GA_Desire_Evade true][set GA_Desire_Evade false]
end 

;;;;;;;;;;;;;; Intention Review Function (IRF) ;;;;;;;;;;;;
; Nomenclature: PA_irf_verb_subject

;--Intentions--;


;--IRF--;

to PA_irf_drink-water ; PA intends to drink water
  PA_action_drink-water
end 

to PA_irf_eat-food ; PA intends to eat food
  PA_action_eat-food
end 

to PA_irf_kill-prey ; PA intends to die (is dying)
  PA_action_kill-prey
end 

to PA_irf_move-food ; PA intends to move towards a food source
  set heading PA_Belief_Food-Heading
  GA_action_move-normal
end 

to PA_irf_move-search_circle ; PA intends to search for food
  set heading (heading + 10)
  GA_action_move-normal
end 

to PA_irf_relax ; PA intends to do nothing
  GA_action_move-none
end 

to PA_irf_move-water ; PA intends to move to a water source
  set heading GA_Belief_Water-Heading
  GA_action_move-normal
end 

to PA_irf_evade-turn-and-run ; PA intneds to evade an HA
  GA_irf_turn-and-run
end 

;;;;;;;;;;;;;; Perceptions ;;;;;;;;;;

;  PA_Perceive_Visual-Scan            Perception: this is a list of perceived objects during a visual scan.

to PA_perception_visual-scan ; PA's visual perception skill to see objects within the World Agent

  set GA_Perceive_Visual-Scan []

;;;;; Scan Agent's Patch;;;;;

  ask patch-here [ ; determines the patch that the Agent is standing on
    let m []
    set m lput pcolor m
    set m lput 0 m
    set m lput 0 m
    ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
  ]

;;;;; Center Scan;;;;;
  let i 1

  while [i <= 12] [
    ask patch-ahead i [ ; determines the patches in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 13) ]
    ]
    set i (i + 1)
  ]

;;;;; Left Scan;;;;;

  set i 1

  while [i <= 11] [
    ask patch-left-and-ahead 5 i [ ; determines the patches left by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 12) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-left-and-ahead 15 i [ ; determines the patches left by 15 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-left-and-ahead 25 i [ ; determines the patches left by 25 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-left-and-ahead 35 i [ ; determines the patches left by 35 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-left-and-ahead 45 i [ ; determines the patches left by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-left-and-ahead 55 i [ ; determines the patches left by 55 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-left-and-ahead 65 i [ ; determines the patches left by 65 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-left-and-ahead 75 i [ ; determines the patches left by 75 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-left-and-ahead 85 i [ ; determines the patches left by 85 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-left-and-ahead 95 i [ ; determines the patches left by 95 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

;;;;; Right Scan;;;;;

  set i 1

  while [i <= 11] [
    ask patch-right-and-ahead 5 i [ ; determines the patches right by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 12) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-right-and-ahead 15 i [ ; determines the patches right by 15 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-right-and-ahead 25 i [ ; determines the patches right by 25 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-right-and-ahead 35 i [ ; determines the patches right by 35 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-right-and-ahead 45 i [ ; determines the patches right by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-right-and-ahead 55 i [ ; determines the patches right by 55 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-right-and-ahead 65 i [ ; determines the patches right by 65 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-right-and-ahead 75 i [ ; determines the patches right by 75 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-right-and-ahead 85 i [ ; determines the patches right by 85 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 10] [
    ask patch-right-and-ahead 95 i [ ; determines the patches right by 95 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 11) ]
    ]
    set i (i + 1)
  ]
end 

;;;;;;;;;;;;;; Plans ;;;;;;;;;;;;

;to PA_plan_food-moveto
;  set heading PA_Belief_Food-Heading
;  GA_action_move-normal
;end

;to PA_plan_food-water-search
;  set heading (heading + 10)
;  GA_action_move-normal
;end

;to PA_plan_water-moveto
;  set heading GA_Belief_Water-Heading
;  GA_action_move-normal
;end

;;-----------------------;;;
;;;;;;  Hunter Agent  ;;;;;;
;;-----------------------;;;

; The Hunter Agent consists of three classes of hunters:
;     1. Level-1 Hunter-Alpha
;     2. Level-2 Hunter-Beta
;     3. Level-3 Hunter-Omega
;
; The command "breed [ hunters hunter]" is defined in the World Agent / Beliefs section as required by NetLogo.
;

;;;;;;;;; Actions ;;;;;;;;;;;;;;

to HA_action_talk-prey_found ; HA communicates that it has found a PA thus simulating barking or howling
  show "HA-action_talk-prey_found"
  WA_perception_sounds-prey_found
end 

to HA_action_eat-prey ; HA consumes a PA thus increasing its energy
  ;show "Eating Prey"
  set GA_State_Energy-Current 300
  ;figure out where an Agent dies!!!
;  WA_Patch_perception_food-eaten
end 

to HA_action_face-alpha_heading ; HA turns and faces the Alpha HA
  set heading HA_Belief_Alpha-Heading
end 

to HA_action_face-prey ; HA faces PA
    facexy HA_Belief_Prey-X HA_Belief_Prey-Y
end 

to HA_action_kill-prey ; HA kills PA
  WA_Patch_perception-kill_prey
end 

to HA_action_move-alpha ; HA moves towards Alpha HA
  facexy HA_Belief_Alpha-X HA_Belief_Alpha-Y
  GA_action_move-fast
end 

to HA_action_move-encircle ; HA moves to encircle PA
  facexy HA_Belief_Encircle-X HA_Belief_Encircle-Y
  let x-dif (HA_Belief_Encircle-X - xcor)
  let y-dif (HA_Belief_Encircle-Y - ycor)

  let d sqrt( ((x-dif) ^ 2) + ((y-dif) ^ 2) )

  ifelse d >= 5 [
    GA_action_move-run
  ][
    HA_action_move-pounce_encircle
  ]
end 

to HA_action_move-pounce_encircle ; moves the HA exactly onto the encircle point.

  if label = "Beta1" [
    move-to patch HA_Belief_Beta1-Encircle-X HA_Belief_Beta1-Encircle-Y
  ]

  if label = "Beta2" [
    move-to patch HA_Belief_Beta2-Encircle-X HA_Belief_Beta2-Encircle-Y
  ]

  if label = "Omega1" [
    move-to patch HA_Belief_Encircle-X HA_Belief_Encircle-Y
  ]
end 

to HA_action_move-prey_fast ; HA moves fast towards the PA.
 set heading HA_Belief_Hunter-Prey_Heading
 GA_action_move-fast
end 

to HA_action_move-prey_normal ; HA moves normal towards the PA.
  facexy HA_Belief_Prey-X HA_Belief_Prey-Y
  GA_action_move-normal
end 

to HA_action_move-prey_pounce ; HA pounces on the PA.
  set heading HA_Belief_Hunter-Prey_Heading
  GA_action_move-pounce_prey
end 

to HA_action-search-alpha ; HA moves its head/body to search for the Alpha HA.
  set heading (heading + 90)
end 

to HA_action_search-prey ; HA moves to search for PA.
  set heading (heading + 10)
  GA_action_move-fast
end 

;;;;;;;;;;;;; Belief Revision Function (BRF) ;;;;;;;;;;;;;;;;

; The Beliefs of the Hunter Agent are instantiated under the Beliefs / Hunters-Own section of the World Agent.
; This occurs because NetLogo requires these variables to be declared at the beginning of the code (for reasons unknown).
; Though the class of hunter variables are not formally declared at this location in the code, they are described below. Note that
; each belief exists within a cycle, where the cycles existing for this specific implementation are the Deliberate Cycle (DC), the
; Hunting Cycle (HC), and the Pack Cycle (PC) (where the Pack Cycle is used only to distinguish between the Alpha, Beta, and Omega Hunters).

;--Beliefs--;

;  HA_Belief_Prey-Seen                     Belief (DC): Prey has been visually observed - True/False.
;  HA_Belief_Prey-Known                    Belief (HC): HA has knowledge of the Prey's last known location. - True/False.
;  HA_Belief_Hunter-Prey_Heading           Belief (DC): Heading of HA to the prey.
;  HA_Belief_Hunter-Prey_Distance          Belief (DC): Distance from HA to prey.
;  HA_Belief_Prey-X                        Belief (HC): Prey's x-coord.
;  HA_Belief_Prey-Y                        Belief (HC): Prey's y-coord.
;  HA_Belief_Prey-Heading                  Belief (HC): Prey's heading.
;  HA_Belief_Prey-Speed                    Belief (HC): Prey's speed.
;  HA_Belief_Prey-atSource                 Belief (DC): The HA and the prey occupy the same patch.
;  HA_Belief_Prey-Sources                  Belief (HC): List of all the sources of prey (and their X,y coordinates).
;  HA_Belief_Leader                        Belief (PC): The turtle number of the HA's superior.
;  HA_Belief_Alpha                         Belief (PC): The turtle number of the Alpha.
;  HA_Belief_Alpha-Seen                    Belief (DC): Alpha has been visually observed - True/False.
;  HA_Belief_Alpha-Known                   Belief (HC): HA has knowledge of the Alpha's last location. - True/False.
;  HA_Belief_Hunter-Alpha_Heading          Belief (DC): The heading from the HA to the Alpha.
;  HA_Belief_Hunter-Alpha_Distance         Belief (DC): The distance from the HA to the Alpha.
;  HA_Belief_Alpha-X                       Belief (HC): The Alpha's x-coord.
;  HA_Belief_Alpha-Y                       Belief (HC): The Alpha's y-coord.
;  HA_Belief_Alpha-Heading                 Belief (HC): Alpha's heading.
;  HA_Belief_Alpha-Speed                   Belief (HC): Alpha's speed.
;  HA_Belief_Alpha-Prey_Distance           Belief (DC): The distance between the Alpha and the Prey.
;  HA_Belief_Alpha-Prey_Heading            Belief (DC): The heading from the Alpha and the Prey.
;  HA_Belief_Beta1                         Belief (PC): The turtle number of the Beta1.
;  HA_Belief_Beta1-Seen                    Belief (DC): Beta1 has been visually observed - True/False.
;  HA_Belief_Beta1-Known                   Belief (HC): HA has knowledge of the Beta1's last location. - True/False.
;  HA_Belief_Hunter-Beta1_Heading          Belief (DC): The heading from the HA to the Beta1.
;  HA_Belief_Hunter-Beta1_Distance         Belief (DC): The distance from the HA to the Beta1.
;  HA_Belief_Beta1-X                       Belief (HC): The Beta1's x-coord.
;  HA_Belief_Beta1-Y                       Belief (HC): The Beta1's y-coord.
;  HA_Belief_Beta1-Prey_Distance           Belief (DC): The distance between the Beta1 and the Prey.
;  HA_Belief_Beta1-Prey_Heading            Belief (DC): The heading from the Beta1 and the Prey.
;  HA_Belief_Beta1-Encircle-X              Belief (DC): X-coord of the Beta1 encircle point.
;  HA_Belief_Beta1-Encircle-Y              Belief (DC): Y-coord of the Beta1 encircle point.
;  HA_Belief_Beta2                         Belief (PC): The turtle number of the Beta2.
;  HA_Belief_Beta2-Seen                    Belief (DC): Beta2 has been visually observed - True/False.
;  HA_Belief_Beta2-Known                   Belief (HC): HA has knowledge of the Beta2's last location. - True/False.
;  HA_Belief_Hunter-Beta2_Heading          Belief (DC): The heading from the HA to the Beta2.
;  HA_Belief_Hunter-Beta2_Distance         Belief (DC): The distance from the HA to the Beta2.
;  HA_Belief_Beta2-X                       Belief (HC): The Beta2's x-coord.
;  HA_Belief_Beta2-Y                       Belief (HC): The Beta2's y-coord.
;  HA_Belief_Beta2-Prey_Distance           Belief (DC): The distance between the Beta2 and the Prey.
;  HA_Belief_Beta2-Prey_Heading            Belief (DC): The heading from the Beta2 and the Prey.
;  HA_Belief_Beta2-Encircle-X              Belief (DC): X-coord of the Beta2 encircle point.
;  HA_Belief_Beta2-Encircle-Y              Belief (DC): Y-coord of the Beta2 encircle point.
;  HA_Belief_Omega1                        Belief (PC): The turtle number of Omega1.
;  HA_Belief_Omega1-Seen                   Belief (DC): Omega1 has been visually observed - True/False.
;  HA_Belief_Omega1-Known                  Belief: HA has knowledge of the Omega1's last location. - True/False.
;  HA_Belief_Omega2                        Belief (PC): The turtle number of Omega2.
;  HA_Belief_Omega2-Seen                   Belief: Omega2 has been visually observed - True/False.
;  HA_Belief_Omega2-Known                  Belief: HA has knowledge of the Omega2's last location. - True/False.
;  HA_Belief_Heard-Call                    Belief (DC): HA heard a call from one of the other HAs.
;  HA_Belief_Heard-Alpha                   Belief (HC): HA heard a call from the Alpha.
;  HA_Belief_Encircle-X                    Belief (DC): X-coord of the encircle point.
;  HA_Belief_Encircle-Y                    Belief (DC): Y-coord of the encircle point.
;  HA_Belief_Hunt-Mode                     Belief (HC): The hunt mode that the HA is in: Rest, Search, Encircle, Strike, Eat.
;  HA_State_Hunter-Type                    State (PC): The type of Hunting Agent: lioness, wolf, etc.
;  HA_State_Hunter-Class                   State (PC): The class of hunter: alpha, beta, omega, etc.
;  HA_State_Hunter-Level                   State (PC): The level of the HA is used to distinguish two HAs of the same Class (ie. Beta1 from Beta2).

;--Instantiation--;

to HA_belief_instantiate-lioness_alpha ; instantiate the Alpha Lioness
  create-hunters 1
    [ set color red
      set size 5
      set shape "default"
      set pen-size 1

      setxy  0 0
      facexy 0 1

      set HA_State_Hunter-Type "Lioness"
      set HA_State_Hunter-Class "Alpha"
      set HA_Belief_Hunter-Leader [who] of self
      set HA_Belief_Beta1 1

      set label (word "Alpha" 1 )
      set label-color white

      set HA_Belief_Hunt-Mode "Rest"
      set GA_State_Energy-Current 75
      set GA_State_Water-Current 150
      set GA_Design_Speed-Max 5
      set GA_State_Speed-Current 0
      set GA_State_Voice-Level 7
    ]
end 

to HA_belief_instantiate-lioness_beta ; Instantiate the Beta Lioness
  create-hunters 1 [
    set size 5
    set shape "default"
    set pen-size 1

    setxy 10 -10 ;
    facexy 0 1

    set HA_State_Hunter-Type "Lioness"
    set HA_State_Hunter-Class "Beta"

    set HA_Belief_Hunter-Leader 0

    set label (word "Beta" 1)
    set label-color white
    set color 13

    set HA_Belief_Hunt-Mode "Rest"
    set GA_State_Energy-Current 75
    set GA_State_Water-Current 150
    set GA_Design_Speed-Max 5
    set GA_State_Speed-Current 0
    set GA_State_Voice-Level 7
    ]
end 

to HA_belief_instantiate-wolf_alpha ; Instantiate the Alpha Wolf
  create-hunters 1
    [ set color red
      set size 5
      set shape "default"
      set pen-size 1

      setxy 0 0 ;random-xcor random-ycor
      facexy 0 1

      set HA_Belief_Beta1 -1
      set HA_Belief_Beta2 -1
      set HA_Belief_Omega1 -1
      set HA_Belief_Omega2 -1

      set HA_State_Hunter-Type "Wolf"
      set HA_State_Hunter-Class "Alpha"
      set HA_Belief_Hunter-Leader [who] of self

      let i 0
      ask hunters [
        if (HA_State_Hunter-Class = "Alpha") [ set i (i + 1) ]
        set HA_State_Hunter-Level i
      ]

      set label (word "Alpha" WA_Belief_HA-Alpha_Quantity )
      set label-color white

;      show [(word "("HA_State_Hunter-Type ", " HA_State_Hunter-Level ", " HA_Belief_Hunter-Leader ")"  )] of self

      set HA_Belief_Hunt-Mode "Rest"
      set GA_State_Energy-Current 75
      set GA_State_Water-Current 150
      set GA_Design_Speed-Max 5
      set GA_State_Speed-Current 0
      set GA_State_Voice-Level 7
    ]
end 

to HA_belief_instantiate-wolf_beta ; Instantiate the Beta Wolf
  create-hunters 1 [
;    set color 14
    set size 5
    set shape "default"
    set pen-size 1

  ;  setxy random-xcor random-ycor ; 0 0
    facexy 0 1

    set HA_Belief_Omega1 -1
    set HA_Belief_Omega2 -1

    set HA_State_Hunter-Type "Wolf"
    set HA_State_Hunter-Class "Beta"

    let i 0
    let j who
    ask hunters [
;   show [(word "Hunter - ("HA_State_Hunter-Type ", " HA_State_Hunter-Level ", " HA_Belief_Hunter-Leader ")"  )] of self
      if (HA_State_Hunter-Type = "Beta") [ set i (i + 1) ]
        let assigned false
        if (HA_State_Hunter-Type = "Alpha") [
          if HA_Belief_Beta1 = -1 [
            set HA_Belief_Beta1 j
            set assigned true
          ]
          if (assigned = false) and (HA_Belief_Beta2 = -1) [set HA_Belief_Beta2 j]
          set j who
;         show [(word "Alpha - ("HA_State_Hunter-Type ", " HA_State_Hunter-Level ", " HA_Belief_Hunter-Leader ", " HA_Belief_Hunter-Beta1 ", " HA_Belief_Hunter-Beta2 ")"  )] of self
        ]
      ]
      set HA_State_Hunter-Level i
      set HA_Belief_Hunter-Leader j

;      show [(word "Beta - ("HA_State_Hunter-Type ", " HA_State_Hunter-Level ", " HA_Belief_Hunter-Leader ", " who ")"  )] of self

      if WA_Belief_HA-Beta_Quantity = 2 [
        set label (word "Beta" 1 )
        set color 13
        setxy 10 -10
        show "my colour is 13"
      ]

      if WA_Belief_HA-Beta_Quantity = 1 [
        set label (word "Beta" 2 )
        set color 14
        setxy -10 -10
        show "my colour is 14"
      ]

      set HA_Belief_Hunt-Mode "Rest"
      set label-color white

      set GA_State_Energy-Current 75
      set GA_State_Water-Current 150
      set GA_Design_Speed-Max 5
      set GA_State_Speed-Current 0
      set GA_State_Voice-Level 7
    ]
end 

to HA_belief_instantiate-wolf_omega ; Instantiate the Omega Wolf
  create-hunters 1
    [ set color 16
      set size 5
      set shape "default"
      set pen-size 1

      setxy random-xcor random-ycor ; 0 0
      facexy 0 1

      set HA_State_Hunter-Type "Wolf"
      set HA_State_Hunter-Class "Omega"

      let i 0
      let j who
      let k who
      let assigned false
      ask hunters [
;        set j k
;       show [(word "Hunter - ("HA_State_Hunter-Type ", " HA_State_Hunter-Level ", " HA_Belief_Hunter-Leader ")"  )] of self
        if (HA_State_Hunter-Type = "Omega") [ set i (i + 1) ]
;        set assigned false
        if (HA_State_Hunter-Type = "Alpha") and (assigned = false) [
          if HA_Belief_Omega1 = -1 [
            set HA_Belief_Omega1 j
            set k who
            set assigned true
          ]
          if (assigned = false) and (HA_Belief_Omega2 = -1)[
            set HA_Belief_Omega2 j
            set assigned true
            set k who
          ]
;          show [(word "Alpha/Beta - ("HA_State_Hunter-Type ", " HA_State_Hunter-Level ", " HA_Belief_Hunter-Leader ", " HA_Belief_Hunter-Omega1 ", " HA_Belief_Hunter-Omega2 ")"  )] of self
        ]

        if (HA_State_Hunter-Type = "Beta") and (assigned = false) [
          if HA_Belief_Omega1 = -1 [
            set HA_Belief_Omega1 j
            set k who
            set assigned true
          ]
          if (assigned = false) and (HA_Belief_Omega2 = -1)[
            set HA_Belief_Omega2 j
            set assigned true
            set k who
          ]

        ]
 ;       show [(word "Alpha/Beta - ("HA_State_Hunter-Type ", " HA_State_Hunter-Level ", " HA_Belief_Hunter-Leader ", " HA_Belief_Hunter-Omega1 ", " HA_Belief_Hunter-Omega2 ")"  )] of self
  ;      if assigned = true [set k who]
      ]
      set HA_State_Hunter-Level i
      set HA_Belief_Hunter-Leader k

 ;     show [(word "Me - ("HA_State_Hunter-Type ", " HA_State_Hunter-Level ", " HA_Belief_Hunter-Leader ", " who ")"  )] of self

      if WA_Belief_HA-Omega_Quantity = 1 [
        setxy 0 -25
      ]

      set label (word "Omega" WA_Belief_HA-Omega_Quantity )
      set HA_Belief_Hunt-Mode "Rest"
      set label-color white

      set GA_State_Energy-Current 75
      set GA_State_Water-Current 150
      set GA_Design_Speed-Max 5
      set GA_State_Speed-Current 0
      set GA_State_Voice-Level 7
    ]
end 

;--BRF--;

to HA_brf_audio-update ; re-assess the audio perception
  let sender 0
  let name "name"
  let sound-x 0
  let sound-y 0
  let sound-level 0
  let message "none"
  let sound-bearing 0
  let hunter-distance 500

  HA_perception_sound

  foreach HA_Perceive-Sounds [ [m] ->
    set sender (item 0 m)
    set name (item 1 m)
    set sound-x (item 2 m)
    set sound-y (item 3 m)
    set sound-level (item 4 m)
    set message (item 5 m)

    if (sender != [who] of self) and (ticks >= 2)[    ;(turtle sender != [who] of self) ... (xcor != sound-x) and (ycor != sound-y)

      set HA_Belief_Heard-Call true

;      show "heard call"
;      show [(word "HA_brf_hunters-audio - (" sender ", " sound-x ", " sound-y ", " sound-level ")"  )] of self
      if (name = "Alpha1") [
;        show "heard Alpha"
        set HA_Belief_Heard-Alpha true
        set hunter-distance (distance turtle sender)
        if hunter-distance > 1 [
          set HA_Belief_Prey-Heading towardsxy sound-x sound-y
        ]
      ]
      if (HA_Belief_Heard-Alpha = false) and (distance turtle sender < hunter-distance) [
        set hunter-distance (distance turtle sender)
        if hunter-distance > 1 [
          set HA_Belief_Prey-Heading towardsxy sound-x sound-y
        ]
      ]
    ]
  ]
end 

to HA_brf_cycle ; Resets the HA's beliefs at the start of the deliberation cycle
;  set HA_Belief_Prey false
;  set HA_Belief_Prey-atSource false
;  set HA_Belief_Hunter-Prey_Distance 100
;  set HA_Belief_Heard-Call false
;  set HA_Belief_Heard-Alpha false
;  set HA_Belief_Hunter-Leader false
;  set HA_Belief_Alpha false
;  set HA_Belief_Beta1 false
;  set HA_Belief_Beta2 false
;  set HA_Belief_Omega1 false

  GA_brf_cycle
  HA_perception_visual-scan
  HA_brf_visual-update
  HA_brf_audio-update
end 

to HA_brf_lioness-spatial_update ; re-assesses the lioness's disposition wrt a PA and the other lioness
  let dx_alpha-prey (HA_Belief_Prey-X - HA_Belief_Alpha-X)
  let dy_alpha-prey (HA_Belief_Prey-Y - HA_Belief_Alpha-Y)

  set HA_Belief_Alpha-Prey_Distance (sqrt( ((dx_alpha-prey) ^ 2) + ((dy_alpha-prey) ^ 2) ))

  set HA_Belief_Encircle-X (HA_Belief_Prey-X + dx_alpha-prey)
  set HA_Belief_Encircle-Y (HA_Belief_Prey-Y + dy_alpha-prey)

  set HA_Belief_Beta1-Encircle-X HA_Belief_Encircle-X
  set HA_Belief_Beta1-Encircle-Y HA_Belief_Encircle-Y

  set HA_Belief_Beta1-Prey_Distance (sqrt( ((HA_Belief_Beta1-X - HA_Belief_Prey-X) ^ 2) + ((HA_Belief_Beta1-Y - HA_Belief_Prey-Y) ^ 2) ))
end 

to HA_brf_wolf-spatial_update ; re-assesses the wolf's disposition wrt to the PA, Alpha and Beta wolves
  ;let dx_beta1-prey (HA_Belief_Prey-X - HA_Belief_Beta1-X)
  ;let dy_beta1-prey (HA_Belief_Prey-Y - HA_Belief_Beta1-Y)

  ;let dx_beta2-prey (HA_Belief_Prey-X - HA_Belief_Beta2-X)
  ;let dy_beta2-prey (HA_Belief_Prey-Y - HA_Belief_Beta2-Y)

  let dx_alpha-prey (HA_Belief_Prey-X - HA_Belief_Alpha-X)
  let dy_alpha-prey (HA_Belief_Prey-Y - HA_Belief_Alpha-Y)

  show [(word "Prey-X - ("HA_Belief_Prey-X") Prey-Y - ("HA_Belief_Prey-Y")"  )] of self
  show [(word "Alpha-X - ("HA_Belief_Alpha-X") Alpha-Y - ("HA_Belief_Alpha-Y")"  )] of self

  set HA_Belief_Alpha-Prey_Distance (sqrt( ((dx_alpha-prey) ^ 2) + ((dy_alpha-prey) ^ 2) ))

  if (label = "Beta1") or (label = "Alpha1") [
    set HA_Belief_Beta1-Encircle-X (HA_Belief_Prey-X + (HA_Belief_Alpha-Prey_Distance * 0.5))
    set HA_Belief_Beta1-Encircle-Y (HA_Belief_Prey-Y + (HA_Belief_Alpha-Prey_Distance * 1.2))

    set HA_Belief_Beta1-Prey_Distance (sqrt( ((HA_Belief_Beta1-X - HA_Belief_Prey-X) ^ 2) + ((HA_Belief_Beta1-Y - HA_Belief_Prey-Y) ^ 2) ))
    set HA_Belief_Encircle-X HA_Belief_Beta1-Encircle-X
    set HA_Belief_Encircle-Y HA_Belief_Beta1-Encircle-Y
  ]

  if label = "Beta2" or (label = "Alpha1") [
    set HA_Belief_Beta2-Encircle-X (HA_Belief_Prey-X + (HA_Belief_Alpha-Prey_Distance * -0.5))
    set HA_Belief_Beta2-Encircle-Y (HA_Belief_Prey-Y + (HA_Belief_Alpha-Prey_Distance * 1.2))

    set HA_Belief_Beta2-Prey_Distance (sqrt( ((HA_Belief_Beta2-X - HA_Belief_Prey-X) ^ 2) + ((HA_Belief_Beta2-Y - HA_Belief_Prey-Y) ^ 2) ))
    set HA_Belief_Encircle-X HA_Belief_Beta2-Encircle-X
    set HA_Belief_Encircle-Y HA_Belief_Beta2-Encircle-Y
  ]

  if label = "Omega1" [
   ; set HA_Belief_Encircle-X (HA_Belief_Prey-X + ((HA_Belief_Alpha-X + HA_Belief_Beta1-X + HA_Belief_Beta2-X) / 3))
   ; set HA_Belief_Encircle-Y (HA_Belief_Prey-Y + ((HA_Belief_Alpha-Y + HA_Belief_Beta1-Y + HA_Belief_Beta2-Y) / 3))

    set HA_Belief_Encircle-X ((HA_Belief_Alpha-X + HA_Belief_Beta1-X + HA_Belief_Beta2-X) / 3)
    set HA_Belief_Encircle-Y ((HA_Belief_Alpha-Y + HA_Belief_Beta1-Y + HA_Belief_Beta2-Y) / 3)

    show [(word "Omega-Encircle-X - ("HA_Belief_Encircle-X") Omega-Encircle-Y - ("HA_Belief_Encircle-Y")"  )] of self
    show [(word "Alpha-X - ("HA_Belief_Alpha-X") Alpha-Y - ("HA_Belief_Alpha-Y")"  )] of self
    show [(word "Beta1-X - ("HA_Belief_Beta1-X") Beta1-Y - ("HA_Belief_Beta1-Y")"  )] of self
    show [(word "Beta2-X - ("HA_Belief_Beta2-X") Beta2-Y - ("HA_Belief_Beta2-Y")"  )] of self

;    set HA_Belief_Omega-Prey_Distance (sqrt( ((HA_Belief_Beta1-X - HA_Belief_Prey-X) ^ 2) + ((HA_Belief_Beta1-Y - HA_Belief_Prey-Y) ^ 2) ))
  ]
end 

to HA_brf_reset-beliefs ; resets beliefs to false
  set HA_Belief_Prey-Known false
  set HA_Belief_Alpha-Known false
  set HA_Belief_Beta1-Known false
  set HA_Belief_Beta2-Known false
  set HA_Belief_Omega1-Known false
  set HA_Belief_Omega2-Known false
end 

to HA_brf_visual-update ; re-assesses the visual perception
  let patch-colour 0
  let temp-heading 0
  let temp-distance 100
  let temp-x 0
  let temp-y 0
  let agent-number 1000
  let agent-heading 1000
  let agent-speed 1000
  let i 0
  set HA_Belief_Hunter-Prey_Distance 110

  set HA_Belief_Prey-Seen false
  set HA_Belief_Prey-atSource false
;-  set HA_Belief_Hunter-Prey_Distance 100
;-  set HA_Belief_Heard-Call false
;-  set HA_Belief_Heard-Alpha false
;  set HA_Belief_Hunter-Leader false
  set HA_Belief_Alpha-Seen false
  set HA_Belief_Beta1-Seen false
  set HA_Belief_Beta2-Seen false
  set HA_Belief_Omega1-Seen false
  set HA_Belief_Alpha-Prey_Attack false

;  let n first GA_Perceive_Visual-Scan
;  set GA_Belief_Patch-Colour (item 0 n)
;  show [(word "(HA - "GA_Belief_Patch-Colour")")] of self

 ; ifelse (GA_Belief_Patch-Colour = brown) or (GA_Belief_Patch-Colour = 19) [
;    show "Captured Prey!"
;    set HA_Belief_Prey-atSource true
;  ][
  foreach GA_Perceive_Visual-Scan [ [m] ->
    set patch-colour (item 0 m)
    set temp-heading (item 1 m)
    set temp-distance (item 2 m)
    set temp-x (item 3 m)
    set temp-y (item 4 m)
    set agent-number (item 5 m)
    set agent-heading (item 6 m)
    set agent-speed (item 7 m)

    ifelse (i <= 0) [
      set GA_Belief_Patch-Colour patch-colour
      if (GA_Belief_Patch-Colour = brown) or (GA_Belief_Patch-Colour = 19) [
        show "Captured Prey!"
        set HA_Belief_Prey-atSource true
        set HA_Belief_Prey-Seen true
      ]
    ][
      if (patch-colour = brown) [
        set HA_Belief_Prey-Seen true
        show "found prey"

        if (temp-distance < HA_Belief_Hunter-Prey_Distance) [
          set HA_Belief_Hunter-Prey_Distance temp-distance
          set HA_Belief_Hunter-Prey_Heading temp-heading
          set HA_Belief_Prey-X temp-x
          set HA_Belief_Prey-Y temp-y
          show [(word "Visual-HA_Belief_Prey-X - ("HA_Belief_Prey-X") Visual-HA_Belief_Prey-Y - ("HA_Belief_Prey-Y")"  )] of self
        ]
      ]
      if (patch-colour = red) [
        set HA_Belief_Alpha-Seen true
        show "Visual Scan - I see Alpha"
        set HA_Belief_Alpha-Heading agent-heading
        set HA_Belief_Alpha-Speed agent-speed

        set HA_Belief_Hunter-Alpha_Heading temp-heading
        set HA_Belief_Hunter-Alpha_Distance temp-distance
        set HA_Belief_Alpha-X temp-x
        set HA_Belief_Alpha-Y temp-y
      ]
      if (patch-colour = 13) [
        set HA_Belief_Beta1-Seen true
        show "Visual Scan - I see Beta1"
        set HA_Belief_Hunter-Beta1_Heading temp-heading
        set HA_Belief_Hunter-Beta1_Distance temp-distance
        set HA_Belief_Beta1-X temp-x
        set HA_Belief_Beta1-Y temp-y
        show [(word "Visual-HA_Belief_Beta1-X - ("HA_Belief_Beta1-X") Visual-HA_Belief_Beta1-Y - ("HA_Belief_Beta1-Y")"  )] of self
      ]
      if (patch-colour = 14) [
        set HA_Belief_Beta2-Seen true
        show "Visual Scan - I see Beta2"
        set HA_Belief_Hunter-Beta2_Heading temp-heading
        set HA_Belief_Hunter-Beta2_Distance temp-distance
        set HA_Belief_Beta2-X temp-x
        set HA_Belief_Beta2-Y temp-y
        show [(word "Visual-HA_Belief_Beta2-X - ("HA_Belief_Beta1-X") Visual-HA_Belief_Beta2-Y - ("HA_Belief_Beta1-Y")"  )] of self
      ]
      if (patch-colour = 19) [                                    ; this represents an HA and PA on the same patch agent.
        set HA_Belief_Alpha-Seen true
        set HA_Belief_Prey-Seen true
        set HA_Belief_Alpha-Prey_Attack true
        set HA_Belief_Alpha-Prey_Distance 0
        show "Visual Scan - Alpha on Prey"
        set HA_Belief_Alpha-Heading agent-heading
        set HA_Belief_Alpha-Speed agent-speed

        set HA_Belief_Hunter-Alpha_Heading temp-heading
        set HA_Belief_Hunter-Alpha_Distance temp-distance
        set HA_Belief_Alpha-X temp-x
        set HA_Belief_Alpha-Y temp-y

        set HA_Belief_Hunter-Prey_Distance temp-distance
        set HA_Belief_Hunter-Prey_Heading temp-heading
        set HA_Belief_Prey-X temp-x
        set HA_Belief_Prey-Y temp-y
      ]
    ]
    set i i + 1
  ]
end 
;;;;;;;;;;;;;;; Deliberation ;;;;;;;;;;;;;;;;

to HA_deliberate_lioness-alpha ; Alpha lioness main deliberation cycle
  HA_brf_cycle
  GA_deliberate_cycle

  if HA_Belief_Beta1-Seen = true [
    show "Deliberate - I See Beta1"
    set HA_Belief_Beta1-Known true
  ]

  if GA_Desire_Food = true [     ; this is the entry condition into the "Hunting Cycle"
    if (HA_Belief_Hunt-Mode = "Rest") [
      set HA_Belief_Hunt-Mode "I Search for Prey"
      show "I'm Searching For Prey"
    ]
  ]

 if HA_Belief_Hunt-Mode = "I Search for Prey" [
    if HA_Belief_Heard-Call = true [
      set HA_Belief_Hunt-Mode "Pack Found Prey"
      show "Pack Found Prey"
    ]

    if (HA_Belief_Prey-Seen = true) [
      set HA_Belief_Hunt-Mode "I See Prey"
      set HA_Belief_Prey-Known true
      show "I See Prey"
      if (HA_Belief_Heard-Call = false) [
        HA_irf_communicate-prey_found
      ]
    ]

    if (HA_Belief_Prey-Seen = false) and (HA_Belief_Prey-Known = true)[
      set HA_Belief_Hunt-Mode "I Search for Prey at Last Known Location"
    ]

    if (HA_Belief_Heard-Call = false) and (HA_Belief_Prey-Seen = false) [
;      show "I move to search for prey"
      HA_irf_search-prey
    ]
  ]

  if HA_Belief_Hunt-Mode = "Pack Found Prey" [
    HA_irf_move-alpha
    set HA_Belief_Hunt-Mode "I Search for Prey"
    show "Back to I Search For Prey"
  ]

  if HA_Belief_Hunt-Mode = "I Search for Prey at Last Known Location" [
    ifelse (HA_Belief_Prey-Seen = false) and (xcor = HA_Belief_Prey-X) and (ycor = HA_Belief_Prey-Y) [
      set HA_Belief_Prey-Known False
      show "At Last Known Prey Location"
    ][
      HA_irf_move-prey_fast
      show "Moving to Last Known Prey Location"
    ]
    set HA_Belief_Hunt-Mode "I Search for Prey"
  ]

  if HA_Belief_Hunt-Mode = "I See Prey" [
    HA_irf_communicate-prey_found
    if (HA_Belief_Hunter-Prey_Distance >= 16) [ HA_irf_move-prey_fast ]
    if (HA_Belief_Hunter-Prey_Distance < 16) [
      set HA_Belief_Hunt-Mode "Encircle"
      show "Move to Encircle"
    ]
  ]

  if HA_Belief_Hunt-Mode = "Encircle" [
    HA_brf_lioness-spatial_update
    show [(word "Encircle-X - ("HA_Belief_Encircle-X") Encircle-Y - ("HA_Belief_Encircle-Y")"  )] of self
    if (HA_Belief_Encircle-X - HA_Belief_Beta1-X < 5) and (HA_Belief_Encircle-Y - HA_Belief_Beta1-Y < 5) [
      set HA_Belief_Hunt-Mode "Approach"
      show "I see Beta...Move to Approach"
    ]
  ]

  if HA_Belief_Hunt-Mode = "Approach" [
    if (HA_Belief_Beta1-Seen = true) [
      if ((HA_Belief_Hunter-Prey_Distance < 16) and (HA_Belief_Hunter-Prey_Distance > 7)) [
        HA_irf_move-prey_normal-linear
      ]
      if (HA_Belief_Hunter-Prey_Distance < 9) [
        set HA_Belief_Hunt-Mode "Strike"
        show "Move to Strike"
      ]
    ]
  ]

  if HA_Belief_Hunt-Mode = "Strike" [
    HA_irf_move-prey_pounce
    set HA_Belief_Hunt-Mode "Move to Kill"
  ]

  if HA_Belief_Hunt-Mode = "Kill" [
    if HA_Belief_Prey-atSource = true [
      HA_irf_kill-prey
      set HA_Belief_Hunt-Mode "Move to Eat"
    ]
  ]

  if HA_Belief_Hunt-Mode = "Eat" [
     HA_irf_eat-prey
    set HA_Belief_Hunt-Mode "Rest"
  ]

  if HA_Belief_Hunt-Mode = "Rest" [
    HA_brf_reset-beliefs
  ]

 show [(word "Alpha Hunt State - ("HA_Belief_Hunt-Mode")")] of self
 show [(word "Alpha Patch Colour - ("pcolor")")] of patch-here
end 

to HA_deliberate_lioness-beta ; Beta lioness main deliberation cycle
  HA_brf_cycle
  GA_deliberate_cycle

  if HA_Belief_Alpha-Seen = true [
      show "Deliberate - I See Alpha"
      set HA_Belief_Alpha-Known true
  ]

  if GA_Desire_Food = true [     ; this is the entry condition into the "Hunting Cycle"
    if (HA_Belief_Hunt-Mode = "Rest") [
      set HA_Belief_Hunt-Mode "I Search for Prey"
      show "I'm Searching For Prey"
    ]
  ]

  if HA_Belief_Hunt-Mode = "I Search for Prey" [
    if HA_Belief_Heard-Call = true [
      set HA_Belief_Hunt-Mode "Pack Found Prey"
      show "Pack Found Prey"
    ]

    if (HA_Belief_Prey-Seen = true) [
      set HA_Belief_Hunt-Mode "I See Prey"
      set HA_Belief_Prey-Known true
      show "I See Prey"
      if (HA_Belief_Heard-Call = false) and (HA_Belief_Alpha-Seen = false) [
        HA_irf_communicate-prey_found
      ]
    ]

    if (HA_Belief_Prey-Seen = false) and (HA_Belief_Prey-Known = true)[
      set HA_Belief_Hunt-Mode "I Search for Prey at Last Known Location"
    ]

    if (HA_Belief_Heard-Call = false) and (HA_Belief_Prey-Seen = false) [
      HA_irf_search-prey
    ]
  ]

  if HA_Belief_Hunt-Mode = "Pack Found Prey" [
    HA_irf_move-alpha
    set HA_Belief_Hunt-Mode "I Search for Prey"
    show "Back to I Search For Prey"
  ]

  if HA_Belief_Hunt-Mode = "I Search for Prey at Last Known Location" [
    ifelse (HA_Belief_Prey-Seen = false) and (xcor = HA_Belief_Prey-X) and (ycor = HA_Belief_Prey-Y) [
      set HA_Belief_Prey-Known False
      show "At Last Known Prey Location"
    ][
      HA_irf_move-prey_fast
      show "Moving to Last Known Prey Location"
    ]
    set HA_Belief_Hunt-Mode "I Search for Prey"
  ]

  if HA_Belief_Hunt-Mode = "I See Prey" [
    if (HA_Belief_Hunter-Prey_Distance >= 16) [ HA_irf_move-prey_fast ]
    if (HA_Belief_Hunter-Prey_Distance < 16) and (HA_Belief_Alpha-Known = true) [
      set HA_Belief_Hunt-Mode "Encircle"
      show "Move to Encircle"
    ]
   if (HA_Belief_Hunter-Prey_Distance < 16) and (HA_Belief_Alpha-Known = false) [
     HA_irf_search-alpha
    ]
  ]

  if HA_Belief_Hunt-Mode = "Encircle" [
    HA_brf_lioness-spatial_update
    show [(word "Encircle-X - ("HA_Belief_Encircle-X") Encircle-Y - ("HA_Belief_Encircle-Y")"  )] of self
    HA_irf_move-encircle
    if (xcor = precision HA_Belief_Encircle-X 0) and (ycor =  precision HA_Belief_Encircle-Y 0) [
      HA_irf_face-prey
      set HA_Belief_Hunt-Mode "Approach"
      show "Move to Approach"
    ]
  ]

  if HA_Belief_Hunt-Mode = "Approach" [
    if (HA_Belief_Prey-Seen = true) and (HA_Belief_Alpha-Known = true) [
      show "Approach - I see Prey and Alpha"
      HA_brf_lioness-spatial_update

 ;     if (abs(HA_Belief_Hunter-Prey_Heading - HA_Belief_Hunter-Alpha_Heading) <= 20 ) [ HA_irf_move-prey_normal-linear ]
      if HA_Belief_Beta1-Prey_Distance > (HA_Belief_Alpha-Prey_Distance - 1) [
          HA_irf_move-prey_normal-linear
      ]

      if HA_Belief_Beta1-Prey_Distance <= (HA_Belief_Alpha-Prey_Distance - 1) [
          ; wait until Alpha moves closer to Prey.
      ]

      if (HA_Belief_Hunter-Prey_Distance < 9) [
        set HA_Belief_Hunt-Mode "Strike"
        show "Move to Strike"
      ]
    ]
  ]

  if HA_Belief_Hunt-Mode = "Strike" [
    HA_irf_move-prey_pounce
    set HA_Belief_Hunt-Mode "Move to Kill"
  ]

 if HA_Belief_Hunt-Mode = "Kill" [
    if HA_Belief_Prey-atSource = true [
      HA_irf_kill-prey
      set HA_Belief_Hunt-Mode "Move to Eat"
    ]
  ]

  if HA_Belief_Hunt-Mode = "Eat" [
     HA_irf_eat-prey
    set HA_Belief_Hunt-Mode "Rest"
  ]

  if HA_Belief_Hunt-Mode = "Rest" [
    HA_brf_reset-beliefs
  ]

  show [(word "Beta Hunt State - ("HA_Belief_Hunt-Mode")")] of self
end 

to HA_deliberate_wolf-alpha  ; Alpha wolf main deliberation cycle
  HA_brf_cycle
  GA_deliberate_cycle

  if HA_Belief_Beta1-Seen = true [
    show "Deliberate - I See Beta1"
    set HA_Belief_Beta1-Known true
  ]

  if HA_Belief_Beta2-Seen = true [
      show "Deliberate - I See Beta2"
      set HA_Belief_Beta2-Known true
  ]

  if GA_Desire_Food = true [     ; this is the entry condition into the "Hunting Cycle"
    if (HA_Belief_Hunt-Mode = "Rest") [
      set HA_Belief_Hunt-Mode "I Search for Prey"
      show "I'm Searching For Prey"
    ]
  ]

  if HA_Belief_Hunt-Mode = "I Search for Prey" [
    if HA_Belief_Heard-Call = true [
      set HA_Belief_Hunt-Mode "Pack Found Prey"
      show "Pack Found Prey"
    ]

    if (HA_Belief_Prey-Seen = true) [
      set HA_Belief_Hunt-Mode "I See Prey"
      set HA_Belief_Prey-Known true
      show "I See Prey"
      if (HA_Belief_Heard-Call = false) [
        HA_irf_communicate-prey_found
      ]
    ]

    if (HA_Belief_Prey-Seen = false) and (HA_Belief_Prey-Known = true)[
      set HA_Belief_Hunt-Mode "I Search for Prey at Last Known Location"
    ]

    if (HA_Belief_Heard-Call = 0) and (HA_Belief_Prey-Seen = false) [
      show "I move to search for prey"
      HA_irf_search-prey
    ]
  ]

  if HA_Belief_Hunt-Mode = "Pack Found Prey" [
    HA_irf_move-alpha
    set HA_Belief_Hunt-Mode "I Search for Prey"
    show "Back to I Search For Prey"
  ]

  if HA_Belief_Hunt-Mode = "I Search for Prey at Last Known Location" [
    ifelse (HA_Belief_Prey-Seen = false) and (xcor = HA_Belief_Prey-X) and (ycor = HA_Belief_Prey-Y) [
      set HA_Belief_Prey-Known False
      show "At Last Known Prey Location"
    ][
      HA_irf_move-prey_fast
      show "Moving to Last Known Prey Location"
    ]
    set HA_Belief_Hunt-Mode "I Search for Prey"
  ]

  if HA_Belief_Hunt-Mode = "I See Prey" [
    HA_irf_communicate-prey_found
    if (HA_Belief_Hunter-Prey_Distance >= 16) [ HA_irf_move-prey_fast ]
    if (HA_Belief_Hunter-Prey_Distance < 16) and (HA_Belief_Beta1-Seen = true) and (HA_Belief_Beta2-Seen = true)[
      set HA_Belief_Hunt-Mode "Encircle"
      show "Move to Encircle"
    ]
  ]

  if HA_Belief_Hunt-Mode = "Encircle" [
    HA_brf_wolf-spatial_update

    let beta1-dx abs(HA_Belief_Beta1-Encircle-X - HA_Belief_Beta1-X)
    let beta1-dy abs(HA_Belief_Beta1-Encircle-Y - HA_Belief_Beta1-Y)
    let beta2-dx abs(HA_Belief_Beta2-Encircle-X - HA_Belief_Beta2-X)
    let beta2-dy abs(HA_Belief_Beta2-Encircle-Y - HA_Belief_Beta2-Y)

show [(word "( Encircle1 - "HA_Belief_Beta1-X ", " HA_Belief_Beta1-Y ", "HA_Belief_Beta2-X ", "HA_Belief_Beta2-Y ")"  )] of self
show [(word "( Encircle2 - "HA_Belief_Beta1-Encircle-X ", "HA_Belief_Beta1-Encircle-Y ", "HA_Belief_Beta2-Encircle-X ", "HA_Belief_Beta2-Encircle-Y ")"  )] of self
show [(word "( Encircle3 - "beta1-dx ", " beta1-dy ", " beta2-dx ", " beta2-dy ")"  )] of self

    if (beta1-dx <= 8 ) and (beta1-dy <= 8 ) and (beta2-dx <= 8 ) and (beta2-dy <= 8 ) [
 ;   if (abs(HA_Belief_Hunter-Prey_Heading - HA_Belief_Hunter-Beta1_Heading) <= 20 ) and (abs(HA_Belief_Hunter-Prey_Heading - HA_Belief_Hunter-Beta2_Heading) <= 20 )[

        set HA_Belief_Hunt-Mode "Approach"
        show "Move to Approach"
      ]

    if HA_Belief_Prey-Seen = false [
        set HA_Belief_Hunt-Mode "I Search for Prey"
      ]
  ]

  if HA_Belief_Hunt-Mode = "Approach" [
    if (HA_Belief_Beta1-Seen = true) and (HA_Belief_Beta2-Seen = true) [
      show "I see Beta1 and Beta2" ]
      if ((HA_Belief_Hunter-Prey_Distance < 16) and (HA_Belief_Hunter-Prey_Distance > 7)) [
        HA_irf_move-prey_normal-linear ]
      if (HA_Belief_Hunter-Prey_Distance < 9) [
        set HA_Belief_Hunt-Mode "Strike"
        show "Move to Strike"
      ]
      if HA_Belief_Prey-Seen = false [
        set HA_Belief_Hunt-Mode "I Search for Prey"
      ]
    ]

  if HA_Belief_Hunt-Mode = "Strike" [
    HA_irf_move-prey_pounce
    set HA_Belief_Hunt-Mode "Move to Kill"
  ]

  if HA_Belief_Hunt-Mode = "Kill" [
    if HA_Belief_Prey-atSource = true [
      HA_irf_kill-prey
      set HA_Belief_Hunt-Mode "Move to Eat"
    ]
  ]

  if HA_Belief_Hunt-Mode = "Eat" [
     HA_irf_eat-prey
     set HA_Belief_Hunt-Mode "Rest"
  ]

  if HA_Belief_Hunt-Mode = "Rest" [
    HA_brf_reset-beliefs
  ]

 show [(word "Alpha Hunt State - ("HA_Belief_Hunt-Mode")")] of self
 show [(word "Alpha Patch Colour - ("pcolor")")] of patch-here
end 

to HA_deliberate_wolf-beta ; Beta wolf main deliberation cycle
  HA_brf_cycle
  GA_deliberate_cycle

  if HA_Belief_Alpha-Seen = true [
      show "Deliberate - I See Alpha"
      set HA_Belief_Alpha-Known true
;      if (abs(xcor - HA_Belief_Alpha-X) < 4) and (abs(ycor - HA_Belief_Alpha-Y) < 4) [
;        show "I'm next to Alpha"
;      ]
  ]

  if GA_Desire_Food = true [     ; this is the entry condition into the "Hunting Cycle"
    if (HA_Belief_Hunt-Mode = "Rest") [
      set HA_Belief_Hunt-Mode "I Search for Prey"
      show "I'm Searching For Prey"
    ]
  ]

  if HA_Belief_Hunt-Mode = "I Search for Prey" [
    if HA_Belief_Heard-Call = true [
      set HA_Belief_Hunt-Mode "Pack Found Prey"
      show "Pack Found Prey"
    ]

    if (HA_Belief_Prey-Seen = true) [
      set HA_Belief_Hunt-Mode "I See Prey"
      set HA_Belief_Prey-Known true
      show "I See Prey"
      if (HA_Belief_Heard-Call = false) and (HA_Belief_Alpha-Seen = false) [
        HA_irf_communicate-prey_found
      ]
    ]

    if (HA_Belief_Prey-Seen = false) and (HA_Belief_Prey-Known = true)[
      set HA_Belief_Hunt-Mode "I Search for Prey at Last Known Location"
    ]

    if (HA_Belief_Heard-Call = 0) and (HA_Belief_Prey-Seen = false) [
      show "I move to search for prey"
      HA_irf_search-prey
    ]
  ]

  if HA_Belief_Hunt-Mode = "Pack Found Prey" [
    HA_irf_move-alpha
    set HA_Belief_Hunt-Mode "I Search for Prey"
    show "Back to I Search For Prey"
  ]

  if HA_Belief_Hunt-Mode = "I Search for Prey at Last Known Location" [
;    if (HA_Belief_Prey-Seen = true) [
;      set HA_Belief_Hunt-Mode "I See Prey"
;      set HA_Belief_Prey-Known true
;      show "Last Known Location - I See Prey"
;    ]
    ifelse (HA_Belief_Prey-Seen = false) and (xcor = HA_Belief_Prey-X) and (ycor = HA_Belief_Prey-Y) [
      set HA_Belief_Prey-Known False
      show "At Last Known Prey Location"
    ][
      HA_irf_move-prey_fast
      show "Moving to Last Known Prey Location"
    ]
    set HA_Belief_Hunt-Mode "I Search for Prey"
  ]

  if HA_Belief_Hunt-Mode = "I See Prey" [
    if (HA_Belief_Hunter-Prey_Distance >= 16) [ HA_irf_move-prey_fast ]
    if (HA_Belief_Hunter-Prey_Distance < 16) and (HA_Belief_Alpha-Known = true) [
      set HA_Belief_Hunt-Mode "Encircle"
      show "Move to Encircle"
    ]
   if (HA_Belief_Hunter-Prey_Distance < 16) and (HA_Belief_Alpha-Known = false) [
     HA_irf_search-alpha
    ]
  ]

  if HA_Belief_Hunt-Mode = "Encircle" [
    HA_brf_wolf-spatial_update
    show [(word "Encircle-X - ("HA_Belief_Encircle-X") Encircle-Y - ("HA_Belief_Encircle-Y")"  )] of self
    HA_irf_move-encircle
    if (xcor = precision HA_Belief_Encircle-X 0) and (ycor =  precision HA_Belief_Encircle-Y 0) [
      HA_irf_face-prey
      set HA_Belief_Hunt-Mode "Approach"
      show "Move to Approach"
    ]
  ]

;  if HA_Belief_Hunt-Mode = "Approach" [
 ;   if (HA_Belief_Prey-Seen = true) and (HA_Belief_Alpha-Known = true) [
 ;     show "Approach - I see Prey and Alpha"
 ;     HA_brf_wolf-spatial_update
 ;     HA_irf_move-prey_normal-linear

;      if label = "Beta1" [
;        if HA_Belief_Beta1-Prey_Distance > (HA_Belief_Alpha-Prey_Distance - 5) [
;          HA_irf_move-prey_normal-linear
;        ]
;
;        if HA_Belief_Beta1-Prey_Distance <= (HA_Belief_Alpha-Prey_Distance - 5) [
;          ; wait until Alpha moves closer to Prey.
;        ]

;      ]

 ;     if label = "Beta2" [
  ;      if HA_Belief_Beta2-Prey_Distance > (HA_Belief_Alpha-Prey_Distance - 5) [
   ;       HA_irf_move-prey_normal-linear
    ;    ]
;
 ;       if HA_Belief_Beta2-Prey_Distance < (HA_Belief_Alpha-Prey_Distance - 5) [
  ;        ; wait until Alpha moves closer to Prey.
   ;     ]
    ;  ]

;      if (abs(HA_Belief_Hunter-Prey_Heading - HA_Belief_Hunter-Alpha_Heading) <= 20 ) [ HA_irf_move-prey_normal-linear ]
;      if (HA_Belief_Hunter-Prey_Distance < 9) [
;        set HA_Belief_Hunt-Mode "Strike"
;        show "Move to strike"
;      ]
;    ]
;  ]

  if HA_Belief_Hunt-Mode = "Approach" [
    if (HA_Belief_Prey-Seen = true) and (HA_Belief_Alpha-Known = true) [
      show "Approach - I see Prey and Alpha"
      HA_brf_wolf-spatial_update
      if (HA_Belief_Hunter-Prey_Distance > (HA_Belief_Alpha-Prey_Distance)) [
        HA_irf_move-prey_normal-linear
      ]
    ]

;      if (abs(HA_Belief_Hunter-Prey_Heading - HA_Belief_Hunter-Alpha_Heading) <= 20 ) [ HA_irf_move-prey_normal-linear ]


    if (HA_Belief_Hunter-Prey_Distance < 9) and (HA_Belief_Alpha-Prey_Attack = true) [
      set HA_Belief_Hunt-Mode "Strike"
      show "Move to strike"
    ]
  ]

  if HA_Belief_Hunt-Mode = "Strike" [
    HA_irf_move-prey_pounce
    set HA_Belief_Hunt-Mode "Move to Kill"
  ]

  if HA_Belief_Hunt-Mode = "Kill" [
    if HA_Belief_Prey-atSource = true [
      HA_irf_kill-prey
      set HA_Belief_Hunt-Mode "Move to Eat"
    ]
  ]

  if HA_Belief_Hunt-Mode = "Eat" [
    HA_irf_eat-prey
    set HA_Belief_Hunt-Mode "Rest"
  ]

  if HA_Belief_Hunt-Mode = "Rest" [
    HA_brf_reset-beliefs
  ]

  show [(word "Beta Hunt State - ("HA_Belief_Hunt-Mode")")] of self
end 

to HA_deliberate_wolf-omega ; Omega wolf main deliberation cycle
  HA_brf_cycle
  GA_deliberate_cycle

  if HA_Belief_Alpha-Seen = true [
      show "Deliberate - I See Alpha"
      set HA_Belief_Alpha-Known true
  ]

  if HA_Belief_Beta1-Seen = true [
    show "Deliberate - I See Beta1"
    set HA_Belief_Beta1-Known true
  ]

  if HA_Belief_Beta2-Seen = true [
      show "Deliberate - I See Beta2"
      set HA_Belief_Beta2-Known true
  ]

  if GA_Desire_Food = true [     ; this is the entry condition into the "Hunting Cycle"
    if (HA_Belief_Hunt-Mode = "Rest") [
      set HA_Belief_Hunt-Mode "I Search for Prey"
      show "I'm Searching For Prey"
    ]
  ]

  if HA_Belief_Hunt-Mode = "I Search for Prey" [

    if HA_Belief_Heard-Call = true [
      set HA_Belief_Hunt-Mode "Pack Found Prey"
      show "Pack Found Prey"
    ]

    if (HA_Belief_Prey-Seen = true) [
      set HA_Belief_Hunt-Mode "I See Prey"
      set HA_Belief_Prey-Known true
      show "I See Prey"
      if (HA_Belief_Heard-Call = false) and (HA_Belief_Alpha-Seen = false) [
        HA_irf_communicate-prey_found
      ]
    ]

    if (HA_Belief_Prey-Seen = false) and (HA_Belief_Prey-Known = true)[
      set HA_Belief_Hunt-Mode "I Search for Prey at Last Known Location"
    ]

;    show [(word "Heard-Call - ("HA_Belief_Heard-Call") Seen-Prey - ("HA_Belief_Prey-Seen")"  )] of self

    if (HA_Belief_Heard-Call = 0) and (HA_Belief_Prey-Seen = false) [
      show "I move to search for prey"
      HA_irf_search-prey
    ]
  ]

  if HA_Belief_Hunt-Mode = "Pack Found Prey" [
    HA_irf_move-alpha
    set HA_Belief_Hunt-Mode "I Search for Prey"
    show "Back to I Search For Prey"
  ]

  if HA_Belief_Hunt-Mode = "I Search for Prey at Last Known Location" [
    ifelse (HA_Belief_Prey-Seen = false) and (xcor = HA_Belief_Prey-X) and (ycor = HA_Belief_Prey-Y) [
      set HA_Belief_Prey-Known False
      show "At Last Known Prey Location"
    ][
      HA_irf_move-prey_fast
      show "Moving to Last Known Prey Location"
    ]
    set HA_Belief_Hunt-Mode "I Search for Prey"
  ]

  if HA_Belief_Hunt-Mode = "I See Prey" [
    if (HA_Belief_Hunter-Prey_Distance >= 16) [ HA_irf_move-prey_fast ]
    if (HA_Belief_Hunter-Prey_Distance < 16) and (HA_Belief_Alpha-Known = true) [
      set HA_Belief_Hunt-Mode "Encircle"
      show "Move to Encircle"
    ]
   if (HA_Belief_Hunter-Prey_Distance < 16) and (HA_Belief_Alpha-Known = false) [
     HA_irf_search-alpha
    ]
  ]

  if HA_Belief_Hunt-Mode = "Encircle" [
    HA_brf_wolf-spatial_update
;    show [(word "Encircle-X - ("HA_Belief_Encircle-X") Encircle-Y - ("HA_Belief_Encircle-Y")"  )] of self
    HA_irf_move-encircle
    if (xcor = precision HA_Belief_Encircle-X 0) and (ycor =  precision HA_Belief_Encircle-Y 0) [
;      HA_irf_face-prey
      set HA_Belief_Hunt-Mode "Approach"
      show "Move to Approach"
    ]
  ]

  if HA_Belief_Hunt-Mode = "Approach" [
;    if (HA_Belief_Hunter-Beta1_Distance < 7) or (HA_Belief_Hunter-Beta2_Distance < 7) [
;       HA_irf_face-prey
;    ]
;    if (HA_Belief_Prey-Seen = true) and (HA_Belief_Alpha-Known = true) [
;      show "Approach - I see Prey and Alpha"
;      HA_brf_wolf-spatial_update
;      HA_irf_move-prey_normal-linear
;    ]

;      if (abs(HA_Belief_Hunter-Prey_Heading - HA_Belief_Hunter-Alpha_Heading) <= 20 ) [ HA_irf_move-prey_normal-linear ]

    HA_irf_face-prey

    if (HA_Belief_Prey-Seen = true) and (HA_Belief_Alpha-Known = true) [
      if (HA_Belief_Hunter-Prey_Distance >= 9) [
        HA_irf_move-prey_normal-linear
      ]

      if (HA_Belief_Hunter-Prey_Distance < 9) and (HA_Belief_Alpha-Prey_Attack = true) [
        set HA_Belief_Hunt-Mode "Strike"
        show "Move to strike"
      ]
    ]
  ]

  if HA_Belief_Hunt-Mode = "Strike" [
    HA_irf_move-prey_pounce
    set HA_Belief_Hunt-Mode "Move to Kill"
  ]

 if HA_Belief_Hunt-Mode = "Kill" [
    if HA_Belief_Prey-atSource = true [
      HA_irf_kill-prey
      set HA_Belief_Hunt-Mode "Move to Eat"
    ]
  ]

  if HA_Belief_Hunt-Mode = "Eat" [
    HA_irf_eat-prey
    set HA_Belief_Hunt-Mode "Rest"
  ]

  if HA_Belief_Hunt-Mode = "Rest" [
    HA_brf_reset-beliefs
  ]

  show [(word "Omega Hunt State - ("HA_Belief_Hunt-Mode")")] of self
end 

;;;;;;;;;;;;; Desire Review Function (DRF) ;;;;;;;;;;;;;;;;

; the HAs for desire was food controlled at instantiation...this desire remains to be developed

to HA_drf_desire
end 

;;;;;;;;;;;;;; Intention Review Function (IRF) ;;;;;;;;;;;;

to HA_irf_communicate-prey_found ; HA intends to make a sound indicating that it has observed a PA
  HA_action_talk-prey_found
end 

to HA_irf_eat-prey ; HA intends to eat PA
  HA_action_eat-prey
end 

to HA_irf_face-prey ; HA intends to face PA
  HA_action_face-prey
end 

to HA_irf_kill-prey ; HA intends to kill PA
  HA_action_kill-prey
end 

to HA_irf_move-alpha ; HA intends to move towards Alpha HA
  HA_action_move-alpha
  HA_action_face-alpha_heading
end 

to HA_irf_move-encircle ; HA intends to move to encircle PA
  HA_action_move-encircle
end 

to HA_irf_move-prey_fast ; HA intends to move fast towards PA
 HA_action_move-prey_fast
end 

to HA_irf_move-prey_normal-linear ; HA intends to move linearly towards PA
  HA_action_move-prey_normal
end 

to HA_irf_move-prey_pounce ; HA intends to pounce on HA
  HA_action_move-prey_pounce
end 

to HA_irf_search-alpha ; HA intends to search for Alpha HA
  HA_action-search-alpha
end 

to HA_irf_search-prey ; HA intends to search for PA
  HA_action_search-prey
end 

;;;;;;;;;;;;;; Perceptions ;;;;;;;;;;

;  HA_Perceive_Visual-Scan            Perception: this is a list of perceived objects during a visual scan.
;  HA_Perceive-Scent-Scan             Perception: this is a list of scents on the patches immediately surrounding the Hunter Agent.

to HA_perception_scent-scan_atSource ; HA scans for scent on the patch that it occupies
  set HA_Perceive-Scents []

  ask patch-here [
    let m []
    set m lput WA_Patch_State_Scent-Type m
    set m lput WA_Patch_State_Scent-Level m
    ask myself [set HA_Perceive-Scents lput m HA_Perceive-Scents]
  ]
end 

to HA_perception_scent-scan_box ; HA scans for scent on the patches adjacent to it...simulates the HA turning in a circle to smell the ground around it.
  set HA_Perceive-Scents []

  ask patch-ahead 1 [
    let m []
    set m lput WA_Patch_State_Scent-Type m
    set m lput WA_Patch_State_Scent-Level m
    ask myself [set HA_Perceive-Scents lput m HA_Perceive-Scents]
  ]

  ask patch-right-and-ahead 45 1 [
    let m []
    set m lput WA_Patch_State_Scent-Type m
    set m lput WA_Patch_State_Scent-Level m
    ask myself [set HA_Perceive-Scents lput m HA_Perceive-Scents]
  ]

  ask patch-right-and-ahead 90 1 [
    let m []
    set m lput WA_Patch_State_Scent-Type m
    set m lput WA_Patch_State_Scent-Level m
    ask myself [set HA_Perceive-Scents lput m HA_Perceive-Scents]
  ]

  ask patch-right-and-ahead 135 1 [
    let m []
    set m lput WA_Patch_State_Scent-Type m
    set m lput WA_Patch_State_Scent-Level m
    ask myself [set HA_Perceive-Scents lput m HA_Perceive-Scents]
  ]

  ask patch-right-and-ahead 180 1 [
    let m []
    set m lput WA_Patch_State_Scent-Type m
    set m lput WA_Patch_State_Scent-Level m
    ask myself [set HA_Perceive-Scents lput m HA_Perceive-Scents]
  ]

  ask patch-right-and-ahead 225 1 [
    let m []
    set m lput WA_Patch_State_Scent-Type m
    set m lput WA_Patch_State_Scent-Level m
    ask myself [set HA_Perceive-Scents lput m HA_Perceive-Scents]
  ]

  ask patch-right-and-ahead 270 1 [
    let m []
    set m lput WA_Patch_State_Scent-Type m
    set m lput WA_Patch_State_Scent-Level m
    ask myself [set HA_Perceive-Scents lput m HA_Perceive-Scents]
  ]

  ask patch-right-and-ahead 315 1 [
    let m []
    set m lput WA_Patch_State_Scent-Type m
    set m lput WA_Patch_State_Scent-Level m
    ask myself [set HA_Perceive-Scents lput m HA_Perceive-Scents]
  ]
end 

to HA_perception_sound ; HA scans for sound on the patch it occupies
  set HA_Perceive-Sounds []
  let sender 0
  let name "name"
  let sound-x 0
  let sound-y 0
  let sound-level 0
  let message "HA_perception_sound-message"
  let n []

  ask patch-here [
    foreach WA_Patch_State_Sounds [ [m] ->
      set sender (item 0 m)
      set name (item 1 m)
      set sound-x (item 2 m)
      set sound-y (item 3 m)
      set sound-level (item 4 m)
      set message (item 5 m)

      set n []
      if sound-level >= 1 [
        set n lput sender n
        set n lput name n
        set n lput sound-x n
        set n lput sound-y n
        set n lput sound-level n
        set n lput message n

        ask myself [set HA_Perceive-Sounds lput n HA_Perceive-Sounds]
      ]
    ]
  ]
;  show "HA_perception_sound" ; [(word "brf_sounds - ("message")")] of self
end 

to HA_perception_visual-scan ; HA visually scans the WA

  set GA_Perceive_Visual-Scan []

;;;;; Scan Agent's Patch;;;;;

  ask patch-here [ ; determines the patch that the Agent is standing on
    let m []
    set m lput pcolor m
    set m lput 0 m
    set m lput 0 m
    set m lput pxcor m
    set m lput pycor m
    set m lput WA_Patch_State_Agent-Number m
    set m lput WA_Patch_State_Agent-Heading m
    set m lput WA_Patch_State_Agent-Speed m
    ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
  ]

;;;;; Center Scan;;;;;

  set GA_State_Scan-Distance 1

  let i GA_State_Scan-Distance

  while [i <= 40] [
    ask patch-ahead i [ ; determines the patches in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

;;;;; Left Scan;;;;;

  set i 1

  while [i <= 40] [
    ask patch-left-and-ahead 2.5 i [ ; determines the patches left by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-left-and-ahead 5 i [ ; determines the patches left by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-left-and-ahead 7.5 i [ ; determines the patches left by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-left-and-ahead 10 i [ ; determines the patches left by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-left-and-ahead 12.5 i [ ; determines the patches left by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
     ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-left-and-ahead 15 i [ ; determines the patches left by 15 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-left-and-ahead 17.5 i [ ; determines the patches left by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-left-and-ahead 20 i [ ; determines the patches left by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-left-and-ahead 22.5 i [ ; determines the patches left by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-left-and-ahead 25 i [ ; determines the patches left by 25 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 35] [
    ask patch-left-and-ahead 30 i [ ; determines the patches left by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 36) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 30] [
    ask patch-left-and-ahead 35 i [ ; determines the patches left by 35 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 31) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 25] [
    ask patch-left-and-ahead 40 i [ ; determines the patches left by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 26) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 25] [
    ask patch-left-and-ahead 45 i [ ; determines the patches left by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 26) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 20] [
    ask patch-left-and-ahead 55 i [ ; determines the patches left by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 21) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 20] [
    ask patch-left-and-ahead 65 i [ ; determines the patches left by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 21) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 20] [
    ask patch-left-and-ahead 75 i [ ; determines the patches left by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 21) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 20] [
    ask patch-left-and-ahead 85 i [ ; determines the patches left by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 21) ]
    ]
    set i (i + 1)
  ]

;;;;; Right Scan;;;;;

  set i 1

  while [i <= 40] [
    ask patch-right-and-ahead 2.5 i [ ; determines the patches right by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-right-and-ahead 5 i [ ; determines the patches right by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-right-and-ahead 7.5 i [ ; determines the patches right by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-right-and-ahead 10 i [ ; determines the patches right by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-right-and-ahead 12.5 i [ ; determines the patches right by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
   ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-right-and-ahead 15 i [ ; determines the patches right by 15 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-right-and-ahead 17.5 i [ ; determines the patches right by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-right-and-ahead 20 i [ ; determines the patches right by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-right-and-ahead 22.5 i [ ; determines the patches right by 5 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 40] [
    ask patch-right-and-ahead 25 i [ ; determines the patches right by 25 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 41) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 35] [
    ask patch-right-and-ahead 30 i [ ; determines the patches right by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 36) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 30] [
    ask patch-right-and-ahead 35 i [ ; determines the patches right by 35 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 31) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 25] [
    ask patch-right-and-ahead 40 i [ ; determines the patches right by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 26) ]
    ]
    set i (i + 1)
  ]

  set i 1

  while [i <= 25] [
    ask patch-right-and-ahead 45 i [ ; determines the patches right by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 26) ]
    ]
    set i (i + 1)
  ]

 set i 1

  while [i <= 20] [
    ask patch-right-and-ahead 55 i [ ; determines the patches right by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 21) ]
    ]
    set i (i + 1)
  ]

 set i 1

  while [i <= 20] [
    ask patch-right-and-ahead 65 i [ ; determines the patches right by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
     if ((pcolor = green) or (pcolor = grey)) [ (set i 21) ]
    ]
    set i (i + 1)
  ]

 set i 1

 while [i <= 20] [
    ask patch-right-and-ahead 75 i [ ; determines the patches right by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 25) ]
    ]
    set i (i + 1)
  ]

 set i 1

  while [i <= 20] [
    ask patch-right-and-ahead 85 i [ ; determines the patches right by 45 degrees in front of the Agent
      let h (remainder int ((towards myself) + 180) 360)
      let m []
      set m lput pcolor m
      set m lput h m
      set m lput i m
      set m lput pxcor m
      set m lput pycor m
      set m lput WA_Patch_State_Agent-Number m
      set m lput WA_Patch_State_Agent-Heading m
      set m lput WA_Patch_State_Agent-Speed m
      ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
      if ((pcolor = green) or (pcolor = grey)) [ (set i 25) ]
    ]
    set i (i + 1)
  ]
end 

;;;;;The following code was an unsuccessful attempt to simplify the visual perception using a sub-procedure;;;;;;;;;;;;;;;;
 ;set GA_State_Scan-Distance 1

 ; while [GA_State_Scan-Distance <= 20] [
 ;   ask patch-right-and-ahead 85 GA_State_Scan-Distance [ ; determines the patches right by 45 degrees in front of the Agent
 ;     HA_perception_visual-scan_subcode
 ;  ]
 ;   set GA_State_Scan-Distance (GA_State_Scan-Distance + 1)
;  ]
;end

;to HA_perception_visual-scan_subcode
;  let h (remainder int ((towards myself) + 180) 360)
;  let m []
;  set m lput pcolor m
;  set m lput h m
; set m lput GA_State_Scan-Distance m
;  set m lput pxcor m
 ; set m lput pycor m
;  set m lput WA_Patch_State_Agent-Number m
;  set m lput WA_Patch_State_Agent-Heading m
;  set m lput WA_Patch_State_Agent-Speed m
;  ask myself [set GA_Perceive_Visual-Scan lput m GA_Perceive_Visual-Scan]
;  if ((pcolor = green) or (pcolor = grey)) [ (set GA_State_Scan-Distance 25) ]
;end

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;END OF HAPEE;;;;;;;;;;;;;;;;;;;;;;;;;;;;;