private void initStates()
{
takeState = Take.Start;
activateState = Activate.Start;
deactivateState = Deactivate.Start;
releaseState = Release.Start;
tasteState = Taste.Start;
smellState = Smell.Start;
/*openDoorState = OpenDoor.Start;
closeDoorState = CloseDoor.Start;*/
moveState = Move.Start;
rotateState = Rotate.Start;
turnState = Turn.Start;
commandStatus = CommandStatus.Running;
headFocusState = HeadFocus.Start;
headResetState = HeadReset.Start;
lookForState = LookFor.Start;
speakState = Speak.Start;
cancelState = Cancel.Start;
getSensesState = GetSenses.Start;
reset = true;
}
private void end()
{
switch (action)
{
case Action.Take:
takeState = Take.End;
break;
case Action.Activate:
activateState = Activate.End;
break;
case Action.Deactivate:
deactivateState = Deactivate.End;
break;
case Action.Release:
releaseState = Release.End;
break;
case Action.Taste:
tasteState = Taste.End;
break;
case Action.Smell:
smellState = Smell.End;
break;
case Action.Move:
moveState = Move.End;
break;
case Action.Rotate:
rotateState = Rotate.End;
break;
case Action.Turn:
turnState = Turn.End;
break;
case Action.HeadFocus:
headFocusState = HeadFocus.End;
break;
case Action.HeadReset:
headResetState = HeadReset.End;
break;
case Action.LookFor:
lookForState = LookFor.End;
break;
case Action.Speak:
speakState = Speak.End;
break;
case Action.Cancel:
cancelState = Cancel.End;
break;
case Action.GetSenses:
getSensesState = GetSenses.End;
break;
default:
break; ;
}
}
private void changeStatus(int value)
{
if (commandStatus != CommandStatus.Fail && commandStatus != CommandStatus.Success)
{
switch (action)
{
case Action.Take:
if (takeState != Take.End)
takeState+=value;
break;
case Action.Activate:
if (activateState != Activate.End)
activateState += value;
break;
case Action.Deactivate:
if (deactivateState != Deactivate.End)
deactivateState += value;
break;
case Action.Release:
if (releaseState != Release.End)
releaseState += value;
break;
case Action.Taste:
if (tasteState != Taste.End)
tasteState += value;
break;
case Action.Smell:
if (smellState != Smell.End)
smellState += value;
break;
case Action.Move:
if (moveState != Move.End)
moveState+=value;
break;
case Action.Rotate:
if (rotateState != Rotate.End)
rotateState+=value;
break;
case Action.Turn:
if (turnState != Turn.End)
turnState+=value;
break;
case Action.HeadFocus:
if (headFocusState != HeadFocus.End)
headFocusState+=value;
break;
case Action.HeadReset:
if (headResetState != HeadReset.End)
headResetState+=value;
break;
case Action.LookFor:
if (lookForState != LookFor.End)
lookForState += value;
break;
case Action.Speak:
if (speakState != Speak.End)
speakState += value;
break;
case Action.Cancel:
if (cancelState != Cancel.End)
cancelState += value;
break;
case Action.GetSenses:
if (getSensesState != GetSenses.End)
getSensesState += value;
break;
default:
break;
}
commandStatus = CommandStatus.Running;
}
}
