/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public NavigateTo(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration, string locationToReach = "")
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
this.SMConfiguration = SMConfiguration;
this.locationToReach = locationToReach;
navigSucceded = "I reach the location.";
navigFailed = "I can't reach the location.";
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.RiseArms, RiseArms));
SM.AddState(new FunctionState((int)States.Navigate, Navigate));
SM.AddState(new FunctionState((int)States.Navigate_Succeeded, Navigate_Succeeded));
SM.AddState(new FunctionState((int)States.Navigate_Failed, Navigate_Failed));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public TellPhrase(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration, string phrase)
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
this.SMConfiguration = SMConfiguration;
this.phraseToTell = phrase;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.StateTellPhrase, StateTellPhrase));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public AnswerQuestion(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration)
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
attemptCounter = 0;
this.SMConfiguration = SMConfiguration;
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.StateQuestion, StateQuestion));
SM.AddState(new FunctionState((int)States.StateAnswer, StateAnswer));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public BringObject(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration, string objectName="")
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
this.SMConfiguration = SMConfiguration;
this.objectName = objectName;
foundPersonMessage = "Human please get close to me and take the object.";
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.DeliverObject, DeliverObject));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Creates the SM of the primite action: Take-Object
/// </summary>
/// <param name="brain">HAL9000Brain instance</param>
/// <param name="cmdMan">HAL9000CmdMan instance</param>
/// <param name="objectToTake">Name of the object to take. Default: empty string.</param>
public TakeObject(HAL9000Brain brain, HAL9000CmdMan cmdMan, GPSR_WORLD SMConfiguration, string objectToTake="")
{
this.brain = brain;
this.cmdMan = cmdMan;
finalStatus = Status.Ready;
this.SMConfiguration = SMConfiguration;
this.objectToTake = objectToTake;
SATO_succeeded = "I got it.";
SATO_failed = "I can't take the object.";
SM = new FunctionBasedStateMachine();
SM.AddState(new FunctionState((int)States.InitialState, InitialState));
SM.AddState(new FunctionState((int)States.SearchAndTakeObject, SearchAndTakeObject));
SM.AddState(new FunctionState((int)States.SATO_Failed, SATO_Failed));
SM.AddState(new FunctionState((int)States.SATO_Succeeded, SATO_Succeeded));
SM.AddState(new FunctionState((int)States.FinalState, FinalState, true));
SM.SetFinalState((int)States.FinalState);
}
/// <summary>
/// Configuration state
/// </summary>
private int InitialState(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Initializing GPSR test.");
//Load the WORLD configuration for this test
SMConfiguration = new GPSR_WORLD();
// TODO: Change the next status
return (int)States.EnterArena;
}