from breve import Control, Mobile, Cube, PushInterpreter, PushProgram
from breve import createInstances, vector

class Controller(Control): 
    def __init__(self):
        Control.__init__(self) 
        self.agents = [Agent()] 

class Agent(Mobile): 
    def __init__(self): 
        Mobile.__init__(self) 
        self.inter = PushInterpreter()
        self.inter.clearStacks()
        self.inter.addInstruction(self, 'callback', 'PRNTSTCKS')
        self.inter.addInstruction(self, 'setVel', 'SVEL')
        self.code = PushProgram()

        #self.inter.pushVector(vector(-1,1,1))
        #self.code.parse('''( SVEL )''') 
        self.code.parse('''( -1:-1:-1 SVEL )''') 

        self.setShape(Cube().initWith(vector(1,1,1))) 
        self.max_velocity = 1.0 
        self.max_accel = self.max_velocity/10 

    def callback(self):
        print self.inter.printStacks()

    def getVel(self):
        self.inter.pushVector(self.getVelocity())

    def setVel(self):
        # get acceleration
        a = self.inter.getVectorStackTop()
        #self.inter.popVectorStack()
        self.setVelocity(a)

    def iterate(self):
        self.inter.run(self.code)
        #c.endSimulation()

# instantiate the controller to initialize the simulation
c = Controller()