private static ApproachState _instance; //only declared one time. can only be created from within the state class.
private ApproachState()
{
if (_instance != null)
{
return;
}
_instance = this;
}
// Update is called once per frame
void Update()
{
if (moving)
{
switch (approachState)
{
case ApproachState.approaching:
// Check if reached range
if (PlayerDistance() <= approachDistance)
{
approachState = ApproachState.activating;
SetTarget(actChargeUpTime);
}
else
{
MoveTowards();
}
break;
case ApproachState.activating:
if (OnTarget())
{
approachState = ApproachState.cooldown;
SetTarget(actCooldownTime);
}
// Stop moving
myBase.myRigid.velocity = Vector2.zero;
break;
case ApproachState.cooldown:
if (OnTarget())
{
approachState = ApproachState.approaching;
}
// Stop moving
myBase.myRigid.velocity = Vector2.zero;
break;
}
}
}
public void TaskRun()
{
Program.Pilot.OnPilotReceive += PilotReceive;
Program.Vis.OnLostCone += Vis_OnLostCone;
Program.Vis.OnFoundCone += Vis_OnFoundCone;
// if finished, exit task
while (Program.State != RobotState.Shutdown)
{
if (Program.State == RobotState.Approach)
switch (subState)
{
case ApproachState.Start:
Trace.t(cc.Status, "Approach.Start");
if (Program.Vis.coneFlag != Vision.ConeState.Found)
Sweep();
else
{
Program.Pilot.Send(new { Cmd = "Mov", M1 = 0, M2 = 0 });
Trace.t(cc.Status, "Approach Rotating");
Program.Pilot.Send(new { Cmd = "ROT", Hdg = coneHeading });
Program.Pilot.waitForEvent();
approachStartedAt = DateTime.Now;
var a = new { Cmd = "Mov", Hdg = coneHeading, M1 = approachSpeed, M2 = approachSpeed };
Program.Pilot.Send(a);
//Console.WriteLine(a);
subState = ApproachState.Progress;
Trace.t(cc.Status, "Approach Moving");
}
break;
case ApproachState.Progress:
if (DateTime.Now > approachStartedAt + waitForTouch)
{
subState = ApproachState.Fail1;
Program.Pilot.Send(new { Cmd = "Mov", M1 = 0, M2 = 0 });
break;
}
var b = new { Cmd = "Mov", Hdg = coneHeading, Pwr = approachSpeed };
Program.Pilot.Send(b);
//Console.WriteLine(b);
break;
case ApproachState.Fail1:
Trace.t(cc.Bad, "Approach.Fail1");
if (DateTime.Now > approachStartedAt + waitForTouch)
subState = ApproachState.Fail2;
break;
case ApproachState.Fail2:
Trace.t(cc.Bad, "Approach.Fail2");
subState = ApproachState.Complete;
break;
}
if (subState == ApproachState.Complete)
{
Program.Pilot.Send(new { Cmd = "Mov", Pwr = -approachSpeed, Dist = .2F });
Program.Pilot.waitForEvent();
Program.State = RobotState.Idle;
break;
}
// throttle loops
Program.Delay(100).Wait();
}
Trace.t(cc.Warn, "Approach exiting");
}
void OnBumperEvent(dynamic json)
{
if (((string)json.V).Equals("1")) // todo this is why we are here:)
{
Trace.t(cc.Good, "Expected Bumper");
subState = ApproachState.Complete;
}
}
private void Awake()
{
evadeState = new EvadeState(this);
approachState = new ApproachState(this);
wanderState = new WanderState(this);
}
public override void SetState(int newState)
{
this.approachState = (ApproachState)newState;
}
