/// <summary>
/// one-way (drill down) recursion, no wait allowed
/// </summary>
/// <param name="iter">Task iterator</param>
/// <returns>null when yield break or end of method is encountered</returns>
private IEnumerator <ISubsumptionTask> iterate(IEnumerator <ISubsumptionTask> iter)
{
//Debug.WriteLine("TaskDispatcher: iterate() type: " + iter.GetType());
if (iter != null && iter.MoveNext())
{
ISubsumptionTask task = iter.Current;
//Debug.WriteLine("...iterating... task: " + task);
bool doContinie = task == RobotTask.Continue;
if (doContinie)
{
//Debug.WriteLine("TaskDispatcher: iterate() - task: " + task + " Task.Continue - doing nothing");
return(iter);
}
iter = task.Execute();
//Debug.WriteLine("TaskDispatcher: iterate() - task: " + task + " - iterating inside inner loop");
return(iterate(iter));
}
//Debug.WriteLine("TaskDispatcher: iterate() finished task");
return(null);
}
/// <summary>
/// adds a task to the list of active tasks
/// </summary>
/// <param name="task"></param>
public void Dispatch(ISubsumptionTask task)
{
Debug.WriteLine("TaskDispatcher: Dispatch: " + tasks.Count + " tasks, adding: " + task.name);
tasks.Add(task);
//lock(iStates)
{
iStates.Add(new IteratorState() { taskName = task.name, iterator = task.Execute() });
}
}
/// <summary>
/// adds a task to the list of active tasks
/// </summary>
/// <param name="task"></param>
public void Dispatch(ISubsumptionTask task)
{
Debug.WriteLine("TaskDispatcher: Dispatch: " + tasks.Count + " tasks, adding: " + task.name);
tasks.Add(task);
//lock(iStates)
{
iStates.Add(new IteratorState()
{
taskName = task.name, iterator = task.Execute()
});
}
}