public bool dispatch(Event _event, StateData toState, bool bCheckOnly)
{
if (m_StateMachineImpl == null)
return false;
bool bDispatched = false;
if(toState == null || !toState.IsActiveState() && !bCheckOnly)
return bDispatched;
switch ((StateEnum)toState.state_enum)
{
case StateEnum.DriveDistance_VIRTUAL_SUBMACHINESTATE:
if(_event.eventEnum == EventEnum.COMPLETION)
{
if(!bCheckOnly)
{
m_StateMachineImpl.ReleaseSubmachineState(toState);
List<StateData> lstStateData = m_StateMachineImpl.GetStateData();
foreach (StateData state in lstStateData)
{
if (state == toState)
{
lstStateData.Remove(state);
break;
}
}
//delete toState;
toState = null;
}
bDispatched = true;
}
break;
case StateEnum.DriveDistance_ENUM_DRIVEDISTANCESM_FORWARDSTATE:
switch (_event.eventEnum)
{
case EventEnum.COMPLETION:
if(abs(nMotorEncoder[MOTOR_A]) > STOP_DIST) {
if(!bCheckOnly)
TransitionProc(TransitionEnum.DriveDistance_ENUM_FORWARDSTATE__TO__STOPSTATE_6, null, toState.submachine_state);
bDispatched = true;
break;
}
break;
}
break;
}
if (!bDispatched && toState != null && toState.parent_state != null && _event.eventEnum != EventEnum.COMPLETION)
{
bDispatched = dispatch(_event, toState.parent_state, true);
if (bDispatched && !bCheckOnly)
{
/*1. Exit the current state; 2. Decrement the active count of the parent state; 3. dispatch the event to parent state*/
StateProc((StateEnum)toState.state_enum, toState.submachine_state, StateBehaviorEnum.EXIT, null);
toState.parent_state.DecrementActiveCount();
dispatch(_event, toState.parent_state, false);
_event = null;
}
}
return bDispatched;
}
