public void executionStep()
{
// changing state
state = stSonarFiring;
// firing sonar array
Cart.fireSonarArray();
}
public void transitionAction(System.Windows.Forms.Panel panel, System.Windows.Forms.TextBox[] texts)
{
switch (state)
{
case stIdle: // nothing
break;
case stAbilityExecuting:
if (Cart.flagAbilityDone)
{
Cart.flagAbilityDone = false;
// ability dopne. Now firing the transducers
state = stSonarFiring;
Cart.fireSonarArray();
}
break;
case stSonarFiring:
if (Cart.flagSonarArrayFiringDone)
{
// now attempting to retrieve the data
state = stSonarDataTransmission;
Cart.requestSensorData();
}
break;
case stSonarDataTransmission:
if (Cart.flagSensorDataAcquired)
{
Cart.fillSonarTextBoxes(texts);
// now retrieving a camera frame abstraction
state = stFrameTransmission;
Cart.retrieveAbstraction();
}
break;
case stFrameTransmission:
if (Cart.flagAbstractionReady)
{
Cart.drawAbstraction(panel); // no need to reset the flag.
// It's being reset inside drawAbstraction()
state = stIdle;
}
break;
}
}
