/// <summary>
/// The robot enters to the arena an goes to the MVN_PLN EntranceLocation
/// </summary>
private int EnterArena(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> State reached EnterArena");
SM_EnterArena.FinalStates enterArena_status;
SM_EnterArena enterArena = new SM_EnterArena(brain, cmdMan, SMConfiguration.EntranceLocation);
enterArena_status = enterArena.Execute();
if (enterArena_status == SM_EnterArena.FinalStates.OK)
{
if (!cmdMan.ARMS_goto(SMConfiguration.ArmsNavigationPosition, 3000))
{
if (!cmdMan.ARMS_goto(SMConfiguration.ArmsNavigationPosition, 3000))
{
cmdMan.ARMS_goto(SMConfiguration.ArmsNavigationPosition, 3000);
}
}
return((int)States.GetCloseToTable);
}
else
{
return((int)States.EnterArena);
}
}
/// <summary>
/// the robot enters to the arena (to an especificated MVN-PLN map location)
/// </summary>
/// <returns>NavigateToOperator state if the robot enters the arena, EnterArena otherwise</returns>
private int EnterArena(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> EnterArena state reached.");
SM_EnterArena sm = new SM_EnterArena(this.brain, this.cmdMan, SMConfiguration.MVNPLN_entranceLocation, false);
SM_EnterArena.FinalStates final = sm.Execute();
if (final == SM_EnterArena.FinalStates.OK)
{
attemptCounter = 0;
return((int)States.NavigateToOperator);
}
else
{
attemptCounter++;
//the robot cannot entered the arena
if (attemptCounter < attemptLimit)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Cannot enter to the arena at attempt " + attemptCounter + ". Try again.");
return((int)States.EnterArena);
}
else
{
//reset the attempt counter
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Cannot enter to the arena. Try to continue with the test.");
attemptCounter = 0;
return((int)States.NavigateToOperator);
}
}
}
private int EnterArena(int currentState, object o)
{
SM_EnterArena enterArenaSM = new SM_EnterArena(brain, cmdMan, entranceLocation, tryToOpenDoor);
if (enterArenaSM.Execute() != SM_EnterArena.FinalStates.OK)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Cannot enter the arena, trying to continue the test.");
}
return((int)States.GoToPartyRoom);
}
