/// <summary>
/// Creates a transition between two <see cref="BehaviourEngine"/>, one is the submachine the other the supermachine
/// </summary>
/// <param name="name">The name of the transition</param>
/// <param name="stateFrom">The exit state of the transition</param>
/// <param name="perception">The perception that activates the transition</param>
/// <param name="stateTo">the entry state of the transition</param>
/// <param name="superMachine">The supermachine</param>
/// <param name="subMachine">The submachine</param>
public Transition(string name, State stateFrom, Perception perception, State stateTo, BehaviourEngine superMachine, BehaviourEngine subMachine)
{
this.Name = name;
this.StateFrom = stateFrom;
this.Perception = perception;
this.StateTo = stateTo;
this.type = TRANSITION_TYPE.SUPER_TRANSITION;
if (stateFrom.BehaviourEngine == superMachine) // Exits from the super-machine
{
this.BehaviourEngine = superMachine;
Perception.SetBehaviourMachine(superMachine);
superMachine.Configure(StateFrom)
.OnExit(this.Name, () => Perception.Reset())
.InternalTransition(Perception, this.Name, () => ExitTransition(StateFrom, StateTo, subMachine.GetState("Entry_Machine"), superMachine, subMachine));
}
else // Exits from the sub-machine
{
this.BehaviourEngine = subMachine;
Perception.SetBehaviourMachine(subMachine);
subMachine.Configure(StateFrom)
.OnExit(this.Name, () => Perception.Reset())
.InternalTransition(Perception, this.Name, () => ExitTransition(StateFrom, StateTo, subMachine.GetState("Entry_Machine"), superMachine, subMachine));
}
}
/// <summary>
/// Creates a state with a sub-machine in it
/// </summary>
/// <param name="stateName">The name of the state</param>
/// <param name="subStateMachine">The sub-state machine that the state has</param>
/// <param name="entryState">The entry state of the submachine</param>
/// <param name="stateMachineB">The state machine which the state belongs to</param>
public State(string stateName, State entrySubMachineState, State stateTo, BehaviourEngine subMachine, BehaviourEngine behaviourEngine)
{
this.Name = stateName;
this.BehaviourEngine = behaviourEngine;
this.configurator = new StateConfigurator(StateConfigurator.STATE_TYPE.NOT_EMPTY);
BehaviourEngine.Configure(this)
.OnEntry(() => EntrySubmachine(entrySubMachineState, stateTo, subMachine, behaviourEngine));
}
/// <summary>
/// State that runs a method with no parameters
/// </summary>
/// <param name="stateName">Name of the state</param>
/// <param name="method">Method with no parameters. MUST be a void method</param>
/// <param name="behaviourEngine">The machine which the state belongs to</param>
public State(string stateName, Action method, BehaviourEngine behaviourEngine)
{
this.Name = stateName;
this.StateActionVoid = method;
this.BehaviourEngine = behaviourEngine;
this.configurator = new StateConfigurator(StateConfigurator.STATE_TYPE.NOT_EMPTY);
BehaviourEngine.Configure(this)
.OnEntry(() => method());
}
/// <summary>
/// State that runs a method with a <see cref="Perception"/> parameter
/// </summary>
/// <param name="stateName">Name of the state</param>
/// <param name="method">Method with no parameters. MUST be a void method</param>
/// <param name="behaviourEngine">The machine which the state belongs to</param>
public State(string stateName, Action <Perception> method, BehaviourEngine behaviourEngine)
{
this.Name = stateName;
this.StateActionPerception = method;
this.StatePerception = (Perception)method.Method.GetParameters().GetValue(0);
this.BehaviourEngine = behaviourEngine;
this.configurator = new StateConfigurator(StateConfigurator.STATE_TYPE.NOT_EMPTY);
BehaviourEngine.Configure(this)
.OnEntry(() => method((Perception)method.Method.GetParameters().GetValue(0)));
}
/// <summary>
/// Creates a transition between states from a <see cref="BehaviourStateMachine"/>
/// </summary>
/// <param name="name">The name of the transition</param>
/// <param name="stateFrom">The exit state of the transition</param>
/// <param name="perception">The perception that activates the transition</param>
/// <param name="stateTo">The entry state of the transition</param>
/// <param name="behaviourEngine">The machine the transitions belongs to</param>
public Transition(string name, State stateFrom, Perception perception, State stateTo, BehaviourEngine behaviourEngine)
{
this.Name = name;
this.StateFrom = stateFrom;
this.Perception = perception;
this.StateTo = stateTo;
this.BehaviourEngine = behaviourEngine;
this.type = TRANSITION_TYPE.NORMAL;
BehaviourEngine.Configure(StateFrom)
.OnExit(this.Name, () => { Perception.Reset(); });
}
