private void EnterAtHeightState()
{
LeaveState();
curState = FSMDroneState.AtHeight;
if (debugFSM)
{
Debug.Log(string.Format("{0}: Entering ", curState));
}
}
private void EnterFreeMovementState()
{
LeaveState();
curState = FSMDroneState.FreeMovement;
if (debugFSM)
{
Debug.Log(string.Format("{0}: Entering ", curState));
}
}
// Every state XXX need functions EnterXXXState(), UpdateXXXState, and a case in LeaveState().
// By convention, EnterXXXState() should start with a call to LeaveState().
private void EnterStartState()
{
//LeaveState() is not called for the initial state.
curState = FSMDroneState.Start;
if (debugFSM)
{
Debug.Log(string.Format("{0}: Entering ", curState));
}
}
private void EnterAdjustLateralState()
{
LeaveState();
curState = FSMDroneState.AdjustLateral;
if (debugFSM)
{
Debug.Log(string.Format("{0}: Entering ", curState));
}
travelBehavior.BeginLateralJourney(thisScript);
}
private void EnterLandingState()
{
LeaveState();
curState = FSMDroneState.Landing;
if (debugFSM)
{
Debug.Log(string.Format("{0}: Entering ", curState));
}
ResetJourney();
}
private void EnterAtDestinationState()
{
LeaveState();
curState = FSMDroneState.AtDestination;
if (debugFSM)
{
Debug.Log(string.Format("{0}: Entering", curState));
}
// If the user has changed the travel or motion mode, make the switch here.
SetUserTravelAndMotion();
if (curMode == DroneMode.Maintain)
{
// In Maintain mode, do not do anything.
return;
}
if (curMode == DroneMode.Hover)
{
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterAdjustHeightState();
}
if (curMode == DroneMode.Patrol || curMode == DroneMode.Follow)
{
if (!nextWaypoint)
{
Debug.LogError("Error: nextWaypoint must be set in the Inspector.");
SetMaintainMode();
return;
}
}
if (curMode == DroneMode.Patrol)
{
// If patrolling and waypoint reached, identify the next waypoint.
targetBehavior.AdvanceWaypoints(nextWaypoint, target, thisScript);
EnterAdjustLateralState();
}
if (curMode == DroneMode.Follow)
{
// If following, constrained to waypoints, and waypoint has been reached,
// identify the next waypoint.
if (CloseToNextWaypoint())
{
targetBehavior.AdvanceWaypoints(nextWaypoint, target, thisScript);
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
}
if (CloseToPrevWaypoint())
{
targetBehavior.AdvanceWaypoints(prevWaypoint, target, thisScript);
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
}
if (!AtTargetLateralPos())
{
EnterAdjustLateralState();
}
}
}
private void EnterAtDestinationState()
{
LeaveState();
curState = FSMDroneState.AtDestination;
if (debugFSM) Debug.Log(string.Format("{0}: Entering", curState));
// If the user has changed the travel or motion mode, make the switch here.
SetUserTravelAndMotion();
if (curMode == DroneMode.Maintain)
{
// In Maintain mode, do not do anything.
return;
}
if (curMode == DroneMode.Hover)
{
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterAdjustHeightState();
}
if (curMode == DroneMode.Patrol || curMode == DroneMode.Follow)
{
if (!nextWaypoint)
{
Debug.LogError("Error: nextWaypoint must be set in the Inspector.");
SetMaintainMode();
return;
}
}
if (curMode == DroneMode.Patrol)
{
// If patrolling and waypoint reached, identify the next waypoint.
targetBehavior.AdvanceWaypoints(nextWaypoint, target, thisScript);
EnterAdjustLateralState();
}
if (curMode == DroneMode.Follow)
{
// If following, constrained to waypoints, and waypoint has been reached,
// identify the next waypoint.
if (CloseToNextWaypoint())
{
targetBehavior.AdvanceWaypoints(nextWaypoint, target, thisScript);
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
}
if (CloseToPrevWaypoint())
{
targetBehavior.AdvanceWaypoints(prevWaypoint, target, thisScript);
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
}
if (!AtTargetLateralPos())
EnterAdjustLateralState();
}
}
private void EnterAdjustLateralState()
{
LeaveState();
curState = FSMDroneState.AdjustLateral;
if (debugFSM) Debug.Log(string.Format("{0}: Entering ", curState));
travelBehavior.BeginLateralJourney(thisScript);
}
private void EnterAtHeightState()
{
LeaveState();
curState = FSMDroneState.AtHeight;
if (debugFSM) Debug.Log(string.Format("{0}: Entering ", curState));
}
private void EnterLandingState()
{
LeaveState();
curState = FSMDroneState.Landing;
if (debugFSM) Debug.Log(string.Format("{0}: Entering ", curState));
ResetJourney();
}
private void EnterFreeMovementState()
{
LeaveState();
curState = FSMDroneState.FreeMovement;
if (debugFSM) Debug.Log(string.Format("{0}: Entering ", curState));
}
// Every state XXX need functions EnterXXXState(), UpdateXXXState, and a case in LeaveState().
// By convention, EnterXXXState() should start with a call to LeaveState().
private void EnterStartState()
{
//LeaveState() is not called for the initial state.
curState = FSMDroneState.Start;
if (debugFSM) Debug.Log(string.Format("{0}: Entering ", curState));
}
