/// <summary>
/// Updates the ActionSequence instance.
/// </summary>
public override void Update()
{
_stateMachine
.Transition(
@from: ActionSequenceStates.WaitOutgoing,
to: ActionSequenceStates.OutgoingOne,
guard: _module.HandleHasMoved && _module.HandlePosition.Value == HandlePosition.Down,
action: _module.One)
.Transition(
from: ActionSequenceStates.RetractFour,
to: ActionSequenceStates.OutgoingOne,
guard: _module.HandleHasMoved && _module.HandlePosition.Value == HandlePosition.Down,
action: () =>
{
_module.One();
Reset = true;
})
.Transition(
@from: ActionSequenceStates.OutgoingOne,
to: ActionSequenceStates.OutgoingTwo,
guard: _module.DoorsOpen,
action: () =>
{
_module.OutgoingTwo();
Reset = false;
})
.Transition(
@from: ActionSequenceStates.OutgoingOne,
to: ActionSequenceStates.RetractFour,
guard: _module.HandleHasMoved && _module.HandlePosition.Value == HandlePosition.Up,
action: () =>
{
_module.Four();
Reset = true;
})
.Transition(
@from: ActionSequenceStates.OutgoingTwo,
to: ActionSequenceStates.OutgoingThree,
guard: _module.GearsExtended,
action: () =>
{
_module.OutgoingThree();
Reset = false;
})
.Transition(
@from: new[] { ActionSequenceStates.OutgoingTwo, ActionSequenceStates.OutgoingThree },
to: ActionSequenceStates.RetractTwo,
guard: _module.HandleHasMoved && _module.HandlePosition.Value == HandlePosition.Up &&
_module.GearShockAbsorberRelaxed,
action: () =>
{
_module.RetractionTwo();
Reset = true;
})
.Transition(
@from: ActionSequenceStates.OutgoingThree,
to: ActionSequenceStates.OutgoingFour,
guard: _module.HandlePosition.Value == HandlePosition.Down,
action: _module.Four)
.Transition(
@from: ActionSequenceStates.OutgoingFour,
to: ActionSequenceStates.WaitRetract,
guard: _module.DoorsClosed,
action: () =>
{
_module.Zero();
Reset = false;
})
.Transition(
@from: ActionSequenceStates.OutgoingFour,
to: ActionSequenceStates.RetractOne,
guard: _module.HandleHasMoved && _module.HandlePosition.Value == HandlePosition.Up,
action: () =>
{
_module.One();
Reset = true;
})
.Transition(
from: ActionSequenceStates.WaitRetract,
to: ActionSequenceStates.RetractOne,
guard: _module.HandleHasMoved && _module.HandlePosition.Value == HandlePosition.Up,
action: _module.One)
.Transition(
@from: ActionSequenceStates.RetractOne,
to: ActionSequenceStates.RetractTwo,
guard: _module.DoorsOpen && _module.GearShockAbsorberRelaxed,
action: () =>
{
_module.RetractionTwo();
Reset = false;
})
//if the gear shock absorbers are not relaxed
.Transition(
@from: ActionSequenceStates.RetractOne,
to: ActionSequenceStates.RetractThree,
guard: _module.DoorsOpen && !_module.GearShockAbsorberRelaxed,
action: () => { Reset = false; })
.Transition(
@from: ActionSequenceStates.RetractOne,
to: ActionSequenceStates.OutgoingFour,
guard: _module.HandleHasMoved && _module.HandlePosition.Value == HandlePosition.Down,
action: () =>
{
_module.Four();
Reset = true;
})
.Transition(
@from: ActionSequenceStates.RetractTwo,
to: ActionSequenceStates.RetractThree,
guard: _module.GearsRetracted,
action: () =>
{
_module.RetractionThree();
Reset = false;
})
.Transition(
@from: new[] { ActionSequenceStates.RetractTwo, ActionSequenceStates.RetractThree },
to: ActionSequenceStates.OutgoingTwo,
guard: _module.HandleHasMoved && _module.HandlePosition.Value == HandlePosition.Down,
action: () =>
{
_module.OutgoingTwo();
Reset = true;
})
.Transition(
@from: ActionSequenceStates.RetractThree,
to: ActionSequenceStates.RetractFour,
guard: _module.HandlePosition.Value == HandlePosition.Up,
action: _module.Four)
.Transition(
@from: ActionSequenceStates.RetractFour,
to: ActionSequenceStates.WaitOutgoing,
guard: _module.DoorsClosed,
action: () =>
{
_module.Zero();
Reset = false;
})
;
}
