// Delegation showcase — mission ownership transfer
//
//   spanda delegate examples/showcase/delegation/survey.sd \
//     --failed SurveyBotA --to SurveyBotB --progress 60

hardware SurveyRig {
    sensors [GPS, Camera, Lidar];
    actuators [DifferentialDrive];
    connectivity [WiFi, LTE];
}

mission_plan SiteSurvey {
    step map_perimeter;
    step scan_structures;
    step upload_data;
}

fleet SurveyFleet {
    SurveyBotA;
    SurveyBotB;
}

robot SurveyBotA {
    sensor gps: GPS;
    sensor camera: Camera;
    actuator wheels: DifferentialDrive;
    safety { max_speed = 0.8 m/s; }
    behavior survey() { wheels.drive(0.2 m/s); }
}

robot SurveyBotB {
    sensor gps: GPS;
    sensor camera: Camera;
    actuator wheels: DifferentialDrive;
    safety { max_speed = 0.8 m/s; }
    behavior survey() { wheels.drive(0.2 m/s); }
}
