public void EnqueueTimeout(object data = null)
{
lock (_commandEnqueueLock)
{
_commandQueue.Add(StateMachineCommand.Timeout(data));
}
}
public void EnqueueEvent(Enum evt, object data = null)
{
lock (_commandEnqueueLock)
{
_commandQueue.Add(StateMachineCommand.Event(evt, data));
}
}
private void ChangeState(
ChasisState newState, StateMachineCommand newPlayCommand, StateMachineCommand newStopCommand, Action onNewState)
{
lock (shared) {
state = newState;
onNewState?.Invoke();
StateChanged?.Invoke(state);
}
}
public void EnqueueTransition(Enum transition, object data = null)
{
if (Equals(transition, StateMachineBaseTransition.Cancel))
{
throw new NotSupportedException("use \"StateMachine.Cancel()\" instead of enqueueing a cancel transition");
}
lock (_commandEnqueueLock)
{
_commandQueue.Add(StateMachineCommand.Transition(transition, data));
}
}
public void Cancel(string reason = "undefined")
{
Logger.LogError($"cancelling Statemaschine with reason: {reason}");
_transitionCts.Cancel();
lock (new[] { _commandEnqueueLock, _commandDequeueLock })
{
while (_commandQueue.Count > 0)
{
_commandQueue.Take();
}
_commandQueue.Add(StateMachineCommand.Transition(StateMachineBaseTransition.Cancel));
_transitionCts = new CancellationTokenSource();
}
}
// Update is called once per frame
void Update()
{
if (state == 0)
{
}
if (state == 1)
{
if (PC >= commands.Count)
{
state = 0; // end of program / state
}
else
{
currentCommand = commands [PC];
switch (currentCommand.command)
{
case StateMachineCommand.Delay:
timer = 0.0f;
state = 100;
break;
}
}
}
if (state == 100) // delay instruction
{
timer += Time.deltaTime;
if (timer > currentCommand.fValue)
{
state = 1000;
}
}
if (state == 1000)
{
++PC;
state = 1;
}
}
