/// <summary>
/// Constructor
/// </summary>
public Core()
{
// initialize turn signals
TurnDecorators.Initialize();
// set initial state
CoreCommon.CorePlanningState = new StartUpState();
// start a new behavioral layer
this.Behavioral = new BehavioralDirector();
// start new lane agent
this.coreLaneAgent = new LaneAgent();
// create execution stopwatch
this.executionStopwatch = new Stopwatch();
}
public static IState FilterStates(CarMode carMode, BehavioralDirector behavioral)
{
// check run mode
if(carMode == CarMode.Run)
{
// check if goals left
if (CoreCommon.Mission.MissionCheckpoints.Count > 0)
{
// good to go
return CoreCommon.CorePlanningState;
}
// otherwise need to stop
else
{
// no goals left
return new NoGoalsLeftState();
}
}
else if(carMode == CarMode.EStop)
{
// move to the estopped state
return new eStoppedState();
}
else if(carMode == CarMode.Human)
{
// clear out standard (non-intersection) queuing values
TacticalDirector.RefreshQueuingMonitors();
// clear other timings
behavioral.ResetTiming();
// clear intersection timings
if (IntersectionTactical.IntersectionMonitor != null)
IntersectionTactical.IntersectionMonitor.ResetTimers();
// human mode
return new HumanState();
}
else if(carMode == CarMode.Pause || carMode == CarMode.TransitioningFromPause || carMode == CarMode.TransitioningToPause)
{
// check if the state is a paused state
if (CoreCommon.CorePlanningState is PausedState)
{
// stay paused
return CoreCommon.CorePlanningState;
}
// otherwise we need to go into pause
else
{
// clear other timings
behavioral.ResetTiming();
// clear out standard (non-intersection) queuing values
TacticalDirector.RefreshQueuingMonitors();
behavioral.tactical.ResetTimers();
if (IntersectionTactical.IntersectionMonitor != null)
IntersectionTactical.IntersectionMonitor.ResetTimers();
// make a new paused state with the previous state intact
return new PausedState(CoreCommon.CorePlanningState);
}
}
else
{
// notify of unknown state
throw new Exception("Unknown car mode type");
}
}
