public void transitionAction(ref System.Windows.Forms.Panel panel,
System.Windows.Forms.TextBox[] texts, ref int pass)
{
switch (state)
{
case stIdle: // nothing
break;
case stSensorDataTransmission:
if (Robosapien.flagSensorDataAcquired)
{
Robosapien.fillSensorTexts(texts);
state = stFrameTransmission;
Robosapien.retrieveAbstraction();
}
break;
case stFrameTransmission:
if (Robosapien.flagAbstractionReady)
{
Robosapien.drawAbstraction(panel);
state = stAbilityExecuting;
// running the cognitive array now
double[][] inputVecs = Robosapien.makeInputVector();
pass++;
int output = (int)MetaNode.getOutput(Robosapien.CogTop, inputVecs, pass);
Robosapien.useAbility((t_RSV2Ability)output);
}
break;
case stAbilityExecuting:
if (Robosapien.flagAbilityDone)
{
Robosapien.flagAbilityDone = false;
state = stIdle;
}
break;
}
}
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;
}
}
