public void executionStep()
{
// changing state
state = stSensorDataTransmission;
// requesting sensor data
Robosapien.requestSensorData();
}
public void transitionAction(System.Windows.Forms.Panel panel, System.Windows.Forms.TextBox[] texts)
{
switch (state)
{
case stIdle: // nothing
break;
case stAbilityExecuting:
if (Robosapien.flagAbilityDone)
{
Robosapien.flagAbilityDone = false;
// ability dopne. Now firing the transducers
state = stSensorDataTransmission;
Robosapien.requestSensorData();
}
break;
case stSensorDataTransmission:
if (Robosapien.flagSensorDataAcquired)
{
Robosapien.fillSensorTexts(texts);
// flag has been cleared inside fillSensorTexts
// now retrieving a camera frame abstraction
state = stFrameTransmission;
Robosapien.retrieveAbstraction();
}
break;
case stFrameTransmission:
if (Robosapien.flagAbstractionReady)
{
Robosapien.drawAbstraction(panel); // no need to reset the flag.
// It's being reset inside drawAbstraction()
state = stIdle;
}
break;
}
}
public void browsingStep(ref System.Windows.Forms.TextBox[] texts)
{
if ((!close2Cart()) || (TaskQueueLength > 0))
{
switch (state)
{
case stIdle:
// call to the planner
planner();
// now switching to execution
state = stTasksExecuting;
break;
case stSensorDataTransmission:
if (Robosapien.flagSensorDataAcquired)
{
Robosapien.fillSensorTexts(texts);
// Now checking if we bumped into something
if ((Robosapien.sensorLeft_Hand_Triggered == 1) && (Robosapien.sensorRight_Hand_Triggered == 1))
{
// re-assigning last move
insertPriorityTask(CurrentTask);
// inserting correction in queue
insertPriorityTask(taskGO_BACKWARD);
state = stTasksExecuting;
}
else
if (Robosapien.sensorLeft_Hand_Triggered == 1)
{
// re-assigning last move
insertPriorityTask(CurrentTask);
insertPriorityTask(taskGO_BACKLEFT);
state = stTasksExecuting;
}
else
if (Robosapien.sensorRight_Hand_Triggered == 1)
{
// re-assigning last move
insertPriorityTask(CurrentTask);
insertPriorityTask(taskGO_BACKRIGHT);
state = stTasksExecuting;
}
else // ability was excuted without interruption. finding new position and orientation
{
// updating last known position of the robosapien
// in the mapping FSM
mappingFSM.LastKnownRsv2Ipos = ipos;
mappingFSM.LastKnownRsv2Jpos = jpos;
// finding new orientation and position
switch (orientation)
{
case orNORTH:
switch (CurrentTask)
{
case taskGO_FORWARD: orientation = orNORTH;
ipos--;
break;
case taskGO_BACKWARD: orientation = orNORTH;
ipos++;
break;
case taskTURN_LEFT: orientation = orWEST;
break;
case taskTURN_RIGHT: orientation = orEAST;
break;
}
break;
case orSOUTH:
switch (CurrentTask)
{
case taskGO_FORWARD: orientation = orSOUTH;
ipos++;
break;
case taskGO_BACKWARD: orientation = orSOUTH;
ipos--;
break;
case taskTURN_LEFT: orientation = orEAST;
break;
case taskTURN_RIGHT: orientation = orWEST;
break;
}
break;
case orEAST:
switch (CurrentTask)
{
case taskGO_FORWARD: orientation = orEAST;
jpos++;
break;
case taskGO_BACKWARD: orientation = orEAST;
jpos--;
break;
case taskTURN_LEFT: orientation = orNORTH;
break;
case taskTURN_RIGHT: orientation = orSOUTH;
break;
}
break;
case orWEST:
switch (CurrentTask)
{
case taskGO_FORWARD: orientation = orWEST;
jpos--;
break;
case taskGO_BACKWARD: orientation = orWEST;
jpos++;
break;
case taskTURN_LEFT: orientation = orSOUTH;
break;
case taskTURN_RIGHT: orientation = orNORTH;
break;
}
break;
} // end switch (orientation)
state = stIdle;
}
}
break;
case stTasksExecuting:
if (TaskQueueLength == 0)
{
state = stSensorDataTransmission;
Robosapien.requestSensorData();
}
else
{
CurrentTask = removeTask();
state = stAbilityExecuting;
switch (CurrentTask)
{
case taskGO_FORWARD: Robosapien.useAbility(t_RSV2Ability.abWALK_FORWARD);
break;
case taskGO_BACKWARD: Robosapien.useAbility(t_RSV2Ability.abWALK_BACKWARD);
break;
case taskTURN_LEFT: Robosapien.useAbility(t_RSV2Ability.abTURN_LEFT);
break;
case taskTURN_RIGHT: Robosapien.useAbility(t_RSV2Ability.abTURN_RIGHT);
break;
case taskGO_BACKLEFT: Robosapien.useAbility(t_RSV2Ability.abWALK_BACKWARDLEFT);
break;
case taskGO_BACKRIGHT: Robosapien.useAbility(t_RSV2Ability.abWALK_BACKWARDRIGHT);
break;
case taksGO_FORWARDLEFT: Robosapien.useAbility(t_RSV2Ability.abWALK_FORWARDLEFT);
break;
case taskGO_FORWARDRIGHT: Robosapien.useAbility(t_RSV2Ability.abWALK_FORWARDRIGHT);
break;
case taskDISSAPOINTED: Robosapien.useAbility(t_RSV2Ability.abSPARE_CHANGE);
break;
case taskHUG: Robosapien.useAbility(t_RSV2Ability.abHUG);
break;
}
}
break;
case stAbilityExecuting:
if (Robosapien.flagAbilityDone)
{
// reseting the flag
Robosapien.flagAbilityDone = false;
// requesting sensor data
Robosapien.requestSensorData();
// changing state
state = stSensorDataTransmission;
} // end if
break;
} // end state switch
}
}
