begin
	(load_module ("srs10Module"))

	(NOP 1 = left)

	(new qbl::QDM QDM)
	(qbl::qdm::new (get QDM))
	(new qbl::qdm::ActionList actions.0)
	(set actions.0
		(qbl::qdm::ActionList
			(qbl::qdm::Action (qbl::qdm::Point -2) left)
			(qbl::qdm::Action (qbl::qdm::Point 0) forward)
			(qbl::qdm::Action (qbl::qdm::Point 2) right)
		)
	)

	(new qbl::qdm::ActionList actions.1)
	(set actions.1
		(qbl::qdm::ActionList
			(qbl::qdm::Action (qbl::qdm::Point -2) chirp1)
			(qbl::qdm::Action (qbl::qdm::Point 0) silent)
			(qbl::qdm::Action (qbl::qdm::Point 2) chirp2)
		)
	)

	(new qbl::qdm::ActionSpace A.0)
	(new qbl::qdm::ActionSpace A.1)

	(qbl::qdm::set_action_space movementMap A.0 -1 1)
	(qbl::qdm::set_action_space points A.0 actions.0)
	(qbl::qdm::set_action_space gridSize A.0 15)
	(qbl::qdm::set_action_space resetDelta A.0 0)

	(qbl::qdm::set_action_space movementMap A.1 -1 1)
	(qbl::qdm::set_action_space points A.1 actions.1)
	(qbl::qdm::set_action_space gridSize A.1 11)
	(qbl::qdm::set_action_space resetDelta A.1 0)

	(qbl::qdm::add_action_space QDM A.0)
	(qbl::qdm::add_action_space QDM A.1)
	(qbl::qdm::finalize QDM)

	(qbl::load QDM ("qbl_robot_test1.dat"))

	(qbl::qdm::shell (get QDM))


	(srs10::connect 0)

	(new double deltaHead)
	(new double headRotation)
	(set deltaHead 20.0)
	(srs10::add_robot robot1 0)
	(srs10::add_sensor robot1 IR left 0.75 40.0)
	(srs10::add_sensor robot1 IR right 0.75 -40.0)

	(srs10::add_sensor robot1 PROXIMITY front_prox 2.5 4)
	(srs10::add_sensor robot1 PROXIMITY left_prox 2.5 5)
	(srs10::add_sensor robot1 PROXIMITY back_prox 2.5 6)
	(srs10::add_sensor robot1 PROXIMITY right_prox 2.5 7)

	(new integer ir_left)
	(new integer ir_right)

	(new integer hearChirp1)
	(new integer hearChirp2)

	(new integer time.1)
	(new integer time.2)
	(set time.1 0)
	(set time.2 0)

	(new string action_str)
	(new integer action)

	(new srs10::Event e)

	(qbl::qdm::prepare QDM)

	(set hearChirp1 0)
	(set hearChirp2 0)

	(while 1
		(srs10::poll_sensors robot1)
		(set ir_left (srs10::get_sensor robot1 left) )
		(set ir_right (srs10::get_sensor robot1 right) )

		(NOP
			Process Events
		)
		(srs10::poll_events robot1)
		(while (srs10::events_exist robot1)
			(set e (srs10::get_next_event robot1))

			(case (srs10::event::get (get e) creator)
				2 (begin
					(set hearChirp1 1)
					(if (and (> (srs10::event::get (get e) direction) 20.0)
						(< (srs10::event::get (get e) direction) 160.0) )
						(set ir_left 1)
						(nop)
					)
					(if (and (> (srs10::event::get (get e) direction) 210.0)
						(< (srs10::event::get (get e) direction) 340.0) )
						(set ir_right 1)
						(nop)
					)
					(nop case (srs10::event::get (get e) direction_str)
						Left (set ir_right 1)
						Right (set ir_left 1)
					)
				)
				3 (begin
					(set hearChirp2 1)
					(if (and (> (srs10::event::get (get e) direction) 20.0)
						(< (srs10::event::get (get e) direction) 160.0) )
						(set ir_right 1)
						(nop)
					)
					(if (and (> (srs10::event::get (get e) direction) 210.0)
						(< (srs10::event::get (get e) direction) 340.0) )
						(set ir_left 1)
						(nop)
					)
					(nop case (srs10::event::get (get e) direction_str)
						Left (set ir_left 1)
						Right (set ir_right 1)
					)
				)
			)
		)
		(NOP
			Motor inputs
		)

		(cond
			(get ir_left) (qbl::qdm::apply_op (get QDM) left_ir)
			(get ir_right) (qbl::qdm::apply_op (get QDM) right_ir)
			(not (or (get hearChirp1) (get hearChirp2)) ) (qbl::qdm::apply_op (get QDM) no_ir)
		)

		(nop if (get hearChirp1)
			(qbl::qdm::apply_op (get QDM) chirp1)
			(nop)
		)
		(nop if (get hearChirp2)
			(qbl::qdm::apply_op (get QDM) chirp2)
			(nop)
		)

		(NOP
			Done with input processing
		)
		(qbl::qdm::think QDM)
		(set time.1 (+ time.1 1) )
		(set time.2 (+ time.2 1) )

		(if (< (get time.1) 5 )
			(nop)
			(begin
				(set time.1 0)
				(case (qbl::qdm::decide_str QDM 0)
					left (srs10::move robot1 0.70 1.75)
					forward (if (not (or ir_left ir_right)) (srs10::move robot1 1.5 0.0) (srs10::move robot1 0.0 0.0) )
					right (srs10::move robot1 0.70 -1.75)
				)
			)
		)

		(if (< (get time.2) 5 )
			(nop)
			(begin
				(set time.2 0)
				(case (qbl::qdm::decide_str QDM 1)
					chirp1 (srs10::create_event robot1 80.0 2 10 0.0 1.0 0.0)
					chirp2 (srs10::create_event robot1 80.0 3 11 1.0 0.0 0.0)
				)
				(set hearChirp1 0)
				(set hearChirp2 0)
			)
		)
	)

	(qbl::qdm::free QDM)
	(srs10::disconnect 0)
	(print done)