IEnumerator FSMMain()
{
while (true)
{
isNewState = false;
yield return(StartCoroutine(robotState.ToString()));
}
}
private void SetState(RobotState newState)
{
_robotState = newState;
Debug.Log("State " + newState.ToString());
switch (newState)
{
case RobotState.Idle:
_timeFromIdleStart = 0f;
_targetCrate = null;
IKEnabled = false;
AnimatorEnabled = false;
break;
case RobotState.Grabbing:
AnimatorEnabled = false;
IKEnabled = true;
break;
case RobotState.Attaching:
break;
case RobotState.Throwing:
IKEnabled = false;
AnimatorEnabled = true;
break;
case RobotState.Finished:
AnimatorEnabled = true;
break;
}
}
public override Task <Empty> Robot(RobotState request, ServerCallContext context)
{
Debug.Log("Updating robot state " + request.ToString());
EventManager.PublishRobotStateUpdateEvent(request);
return(Task.FromResult(emptyResponse));
}
