/// <summary>
/// Executes the exit transitions between a submachine and the supermachine
/// </summary>
/// <param name="stateFrom">The exit state of the transition</param>
/// <param name="stateTo">The entry state of the transition</param>
/// <param name="entrySubMachineState">The 'Entry_State' of the submachine</param>
/// <param name="superMachine">The supermachine where the trasition is going to</param>
/// <param name="subMachine">The subsmachine the transition is leaving</param>
private void ExitTransition(State stateFrom, State stateTo, State entrySubMachineState, BehaviourEngine superMachine, BehaviourEngine subMachine)
{
if (stateFrom.BehaviourEngine == superMachine) // Exits from the super-machine
// Transitions from Submachine.CurrentState -> Submachine.EntryState
{
Transition returnTransition = new Transition("reset_submachine", subMachine.actualState, new PushPerception(subMachine), entrySubMachineState, subMachine);
returnTransition.FireTransition();
subMachine.Reset();
subMachine.Active = false;
superMachine.Active = true;
// Transitions from stateFrom -> stateTo
Transition superTransition = new Transition("to_state", stateFrom, new PushPerception(superMachine), stateTo, superMachine);
superTransition.FireTransition();
}
else // Exits from the sub-machine
// Transitions from stateFrom -> Submachine.EntryState
{
Transition returnTransition = new Transition("reset_submachine", stateFrom, new PushPerception(subMachine), entrySubMachineState, subMachine);
returnTransition.FireTransition();
subMachine.Reset();
subMachine.Active = false;
superMachine.Active = true;
// Transitions from Supermachine.CurrentState -> stateTo
Transition superTransition = new Transition("to_state", superMachine.actualState, new PushPerception(superMachine), stateTo, superMachine);
superTransition.FireTransition();
}
}
/// <summary>
/// Executes the exit transitions between a submachine and the supermachine which is a <see cref="BehaviourTreeEngine"/>
/// </summary>
/// <param name="stateFrom">The exit state of the transition</param>
/// <param name="stateTo">The entry state of the transition</param>
/// <param name="entrySubMachineState">The 'Entry_State' of the submachine</param>
/// <param name="superMachine">The supermachine where the trasition is going to</param>
/// <param name="subMachine">The subsmachine the transition is leaving</param>
private void ExitTransition(State stateFrom, LeafNode stateTo, ReturnValues returnValue, State entrySubMachineState, BehaviourTreeEngine superMachine, BehaviourEngine subMachine)
{
if (stateFrom.BehaviourEngine == superMachine) // Exits from the super-machine
// Transitions from Submachine.CurrentState -> Submachine.EntryState
{
Transition returnTransition = new Transition("reset_submachine", subMachine.actualState, new PushPerception(subMachine), entrySubMachineState, subMachine);
returnTransition.FireTransition();
subMachine.Reset();
subMachine.Active = false;
superMachine.Active = true;
stateTo.ReturnValue = returnValue;
// Transitions from stateFrom -> stateTo
// Maybe I should change this too, as I changed the next one?
// TODO review if this is working properly
Transition superTransition = new Transition("to_state", stateFrom, new PushPerception(superMachine), stateTo.StateNode, superMachine);
superTransition.FireTransition();
}
else // Exits from the sub-machine
// Transitions from stateFrom -> Submachine.EntryState
{
Transition returnTransition = new Transition("reset_submachine", stateFrom, new PushPerception(subMachine), entrySubMachineState, subMachine);
returnTransition.FireTransition();
subMachine.Reset();
subMachine.Active = false;
superMachine.Active = true;
stateTo.ReturnValue = returnValue;
// Transitions from Supermachine.CurrentState -> stateTo
/* ¿BUG?
* stateTo SHOULD BE THE SAME AS SuperMachine.CurrentState --> We are exiting from a machine
* that returns Succeed or Failed to the SuperMachine LeafNode, if we enter again to that Node
* we are again putting the ReturnType to "process", so we enter in an infinite loop
*/
//Transition superTransition = new Transition("to_state", superMachine.actualState, new PushPerception(superMachine), stateTo.StateNode, superMachine);
//superTransition.FireTransition();
}
}