text: __author__ = 'patras'
  from domain_searchAndRescue import *
  from timer import DURATION
  from state import state
  
  def GetCostOfMove(r, l1, l2, dist):
      return dist
  
  DURATION.TIME = {
      'giveSupportToPerson': 15,
      'clearLocation': 5,
      'inspectPerson': 20,
      'moveEuclidean': GetCostOfMove,
      'moveCurved': GetCostOfMove,
      'moveManhattan': GetCostOfMove,
      'fly': 15,
      'inspectLocation': 5,
      'transfer': 2,
      'replenishSupplies': 4,
      'captureImage': 2,
      'changeAltitude': 3,
      'deadEnd': 1,
  }
  
  DURATION.COUNTER = {
      'giveSupportToPerson': 15,
      'clearLocation': 5,
      'inspectPerson': 20,
      'moveEuclidean': GetCostOfMove,
      'moveCurved': GetCostOfMove,
      'moveManhattan': GetCostOfMove,
      'fly': 15,
      'inspectLocation': 5,
      'transfer': 2,
      'replenishSupplies': 4,
      'captureImage': 2,
      'changeAltitude': 3,
      'deadEnd': 1,
  }
  
  rv.WHEELEDROBOTS = ['w1', 'w2']
  rv.DRONES = ['a1']
  rv.OBSTACLES = { (11, 20)}
  
  def ResetState():
      state.loc = {'w1': (11,11), 'w2': (7,28), 'p1': (10,20), 'a1': (13,22)}
      state.hasMedicine = {'a1': 0, 'w1': 0, 'w2': 0}
      state.robotType = {'w1': 'wheeled', 'a1': 'uav', 'w2': 'wheeled'}
      state.status = {'w1': 'free', 'w2': 'free', 'a1': UNK, 'p1': UNK, (10,20): UNK}
      state.altitude = {'a1': 'high'}
      state.currentImage = {'a1': None}
      state.realStatus = {'w1': 'OK', 'p1': 'injured', 'w2': 'OK', 'a1': OK, (10, 20): 'clear'}
      state.realPerson = {(10,20): 'p1'}
      state.newRobot = {1: None}
      state.weather = {(10,20): "foggy"}
  
  tasks = {
      7: [['survey', 'a1', (10,20)]]
  }
  eventsEnv = {
  }