private void InjectEvent(KFSMState state, KFSMEvent injectedEvent)
{
state.AddEvent(injectedEvent);
OnCleanup += () => {
// ((List<KFSMEvent>)Refl.GetValue(state, "stateEvents")).Remove(injectedEvent);
// List<KFSMState> kfsmstatelist = (List<KFSMState>)Refl.GetValue(state, GET_STATEEVENTS);
#if false
foreach (var kfsmstate in kfsmstatelist)
{
if (kfsmstate == state)
{
state.
kfsmstatelist.Remove(injectedEvent);
Log.Info("Removed event " + injectedEvent.name + " from state " + state.name);
return;
}
}
#endif
};
Log.Info("Injected event " + injectedEvent.name + " into state " + state.name);
}
private void SelectRootInjectEvent(KFSMState state, KFSMEvent injectedEvent)
{
state.AddEvent(injectedEvent);
OnCleanup += () => {
// ((List<KFSMEvent>)Refl.GetValue(state, "stateEvents")).Remove(injectedEvent);
// List<KFSMState> kfsmstatelist = (List<KFSMState>)Refl.GetValue(state, EditorExtensions.c.GET_STATEEVENTS);
state.StateEvents.Remove(injectedEvent);
Log.dbg("Removed event {0} from state {1}", injectedEvent.name, state.name);
#if false
foreach (var kfsmstate in kfsmstatelist)
{
if (kfsmstate == state)
{
kfsmstatelist.Remove(kfsmstate);
Log.Info("Removed event " + injectedEvent.name + " from state " + state.name);
return;
}
}
#endif
};
Log.dbg("Injected event {0} into state {1}", injectedEvent.name, state.name);
}
/// <summary>
/// Intiialize the maneuver pilot FSM.
/// </summary>
private void ManeuverPilotInitialize()
{
KFSMState idleState = new KFSMState("Idle");
idleState.updateMode = KFSMUpdateMode.FIXEDUPDATE;
KFSMState coastState = new KFSMState("Coasting");
coastState.updateMode = KFSMUpdateMode.FIXEDUPDATE;
MASFlyState flyState = new MASFlyState("Flying", this);
flyState.updateMode = KFSMUpdateMode.FIXEDUPDATE;
flyState.OnEnter = flyState.OnEnterImpl;
flyState.OnFixedUpdate = flyState.OnFixedUpdateImpl;
KFSMEvent stopPilot = new KFSMEvent("Stop Pilot");
stopPilot.updateMode = KFSMUpdateMode.FIXEDUPDATE;
stopPilot.OnCheckCondition = (KFSMState currentState) =>
{
bool stopThisPilot = (maneuverPilotEngaged == false || attitudePilotEngaged == false || node == null);
if (stopThisPilot)
{
CancelAutopilots();
//Utility.LogMessage(this, "StopPilot event: Transitioning");
}
return(stopThisPilot);
};
stopPilot.GoToStateOnEvent = idleState;
KFSMEvent startPilot = new KFSMEvent("Start Pilot");
startPilot.updateMode = KFSMUpdateMode.FIXEDUPDATE;
startPilot.OnCheckCondition = (KFSMState currentState) =>
{
return(maneuverPilotEngaged);
};
startPilot.GoToStateOnEvent = coastState;
KFSMEvent flyPilot = new KFSMEvent("Fly Pilot");
flyPilot.updateMode = KFSMUpdateMode.FIXEDUPDATE;
flyPilot.OnCheckCondition = (KFSMState currentState) =>
{
if (maneuverPilotEngaged) // Should be redundant?
{
double burnTime = NodeBurnTime();
if (burnTime > 0.0 && burnTime * 0.5 >= -maneuverNodeTime)
{
#if VERBOSE_AUTOPILOT_LOGGING
Utility.LogMessage(this, "FlyPilot event: Transitioning");
#endif
return(true);
}
}
return(false);
};
flyPilot.GoToStateOnEvent = flyState;
KFSMEvent doneFlying = new KFSMEvent("Done Event");
doneFlying.updateMode = KFSMUpdateMode.FIXEDUPDATE;
doneFlying.OnCheckCondition = (KFSMState currentState) =>
{
if (maneuverNodeDeltaV < 0.15)
{
CancelAutopilots();
if (vessel.patchedConicSolver != null)
{
vessel.patchedConicSolver.maneuverNodes.Clear();
}
try
{
FlightInputHandler.state.mainThrottle = 0.0f;
}
catch
{
}
#if VERBOSE_AUTOPILOT_LOGGING
Utility.LogMessage(this, "Done flying...");
#endif
return(true);
}
return(false);
};
doneFlying.GoToStateOnEvent = idleState;
idleState.AddEvent(startPilot);
coastState.AddEvent(stopPilot);
coastState.AddEvent(flyPilot);
flyState.AddEvent(stopPilot);
flyState.AddEvent(doneFlying);
maneuverPilot.AddState(idleState);
maneuverPilot.AddState(coastState);
maneuverPilot.AddState(flyState);
maneuverPilot.StartFSM(idleState);
}
private void InitMachine()
{
Log.Info("InitMachine");
// if (saveLoadWinPos == null)
// saveLoadWinPos = new SaveLoadWinPos();
// Create the states
initial = new InitialState("Init", _machine);
settings = new SettingState("Settings", _machine);
sequence = new SequenceState("Sequence", _machine);
launch = new LaunchState("Launch", _machine);
launched = new LaunchedState("Launched", _machine);
finish = new KFSMState("Finish");
// Add events to the states
var go2Finish = new KFSMEvent("Finish")
{
GoToStateOnEvent = finish,
updateMode = KFSMUpdateMode.MANUAL_TRIGGER
};
var go2Settings = new KFSMEvent("Settings")
{
GoToStateOnEvent = settings, updateMode = KFSMUpdateMode.MANUAL_TRIGGER
};
initial.AddEvent(go2Settings);
var go2Init = new KFSMEvent("Init")
{
GoToStateOnEvent = initial, updateMode = KFSMUpdateMode.MANUAL_TRIGGER
};
settings.AddEvent(go2Init);
sequence.AddEvent(go2Init);
finish.AddEvent(go2Init);
var go2Sequence = new KFSMEvent("Sequence")
{
GoToStateOnEvent = sequence, updateMode = KFSMUpdateMode.MANUAL_TRIGGER
};
initial.AddEvent(go2Sequence);
var go2Launch = new KFSMEvent("Launch")
{
GoToStateOnEvent = launch, updateMode = KFSMUpdateMode.MANUAL_TRIGGER
};
initial.AddEvent(go2Launch);
launch.AddEvent(go2Init);
launch.AddEvent(go2Finish);
var go2Launched = new KFSMEvent("Launched")
{
GoToStateOnEvent = launched, updateMode = KFSMUpdateMode.MANUAL_TRIGGER
};
launch.AddEvent(go2Launched);
initial.AddEvent(go2Finish);
launched.AddEvent(go2Finish);
// Add states to the state machine
_machine.AddState(initial);
_machine.AddState(settings);
_machine.AddState(sequence);
_machine.AddState(launch);
_machine.AddState(finish);
}