AGV Behaviors
=============
*(nodes/agv_behaviors.py)*

.. toctree::
   :maxdepth: 1
   :hidden:


``FindNearestFreeAGVSlot:``
---------------------------
    Finds the nearest free slot on the closest AGV.
    
    Output:
        | Feedback: Closest AGV ID with a free slot
        | Success: Always

``LocateFilledInspectionAGVs:``
-------------------------------
    Checks for AGVs with all four slots filled, and sets the ``filledAGV (int)`` to the ID of the AGV with all slots filled.
    
    Output:
        | Feedback: ID of AGV with all slots filled
        | Failure: No AGVs have all slots filled
        | Success: At least one AGV has all slots filled

``MoveAGVsToIntersection:``
---------------------------
    Moves the filled AGV to the intersection of the AGV track, sets the ``filledAGV (int)`` variable back to -1, and sets AGVATIntersection to the ID of the moved AGV.

    Output:
        | Feedback: ID of AGV that was moved to the intersection
        | Failure: There are no filled AGVs, or ``filledAGV = -1``
        | Success: There is a filled AGV, and it successfully makes it to the intersection

``Wait1Sec:``
--------------
    All active AGVs stop movement for one second.
    
    Output:
        | Feedback: Confirmation of completing the wait
        | Success: Always

``MoveAGVToAssembly:``
-----------------------
    Moves the AGV at the intersection to the assembly station, decrements AGVsAtIntersection (type: int) by 1, and sets the position of the AGV to Assembly.
    
    .. code-block:: python    
    
        # Usage
        WORLD.AGVs[x][1] = "Assembly" # x = ID of moved AGV
    
    Output:
        | Feedback: ID of AGV that was moved to the assembly station
        | Failure: No AGVs are at the intersection
        | Success: The AGV reached the assembly station

``MoveAssemblyAGVToInspection:``
--------------------------------
    Moves the AGV at the assembly station back to the inspection state and sets the position of the AGV to Inspection.
    
    Output:
        | Feedback: ID of AGV that reached the inspection station
        | Failure: No AGVs are at Assembly, or AGVs at Assembly do not have all slots cleared
        | Success: An empty AGV is moved from the assembly station to the inspection station
``UnloadAssemblyAGV``
----------------------
    Clears the slots of the AGV (if present) at the assembly station and then sets the filled slots of the AGV to 0.
    
    .. code-block:: python
        
        # Usage
        WORLD.AGVs[x][0] = 0 # x is the ID of the moved AGV
    Output:
        | Feedback: ID of the AGV at the assembly station that had its slots cleared
        | Failure: No AGV is at the assembly station
        | Success: The AGV at the assembly station had its slots successfully cleared