static void Main(string[] args)
{
_pseq = new TreeSharp.Parallel(
new Decorator(canRun => test1,
new TreeSharp.Action(delegate { Console.WriteLine("Action0"); })),
new Decorator(canRun => test1,
new TreeSharp.Action(delegate { Console.WriteLine("Action1"); return(RunStatus.Running); })),
new Decorator(canRun => test2,
new TreeSharp.Action(delegate { Console.WriteLine("Action2"); }))
);
_ps = new Sequence(_pseq);
object context = new object();
_ps.Start(context);
while (true && Console.NumberLock != false)
{
// Console.WriteLine();
var input = Console.ReadLine();
if (input == "1")
{
test1 = !test1;
}
if (input == "2")
{
test2 = !test2;
}
//Pulse the tree
//_ps.Tick(context);
_ps.Tick(context);
// If the last status wasn't running, stop the tree, and restart it.
if (_ps.LastStatus == RunStatus.Running)
{
_ps.Stop(context);
_ps.Start(context);
}
}
}
public void Init()
{
c1 = new IterComp(0, RunStatus.Success);
c2 = new IterComp(1, RunStatus.Success);
c1Failure = new IterComp(0, RunStatus.Failure);
c2Failure = new IterComp(1, RunStatus.Failure);
cCont1 = new IterComp(5, RunStatus.Success);
cCont2 = new IterComp(10, RunStatus.Success);
p1 = new Parallel(Policy.ALL_MET, Policy.ALL_MET, c1, c2);
empty = new Parallel(Policy.ALL_MET, Policy.ALL_MET);
single = new Parallel(Policy.ALL_MET, Policy.ALL_MET, c2);
pSuccessOne = new Parallel(Policy.ALL_MET, Policy.ONE_MET, c1, c2);
pFailureOne = new Parallel(Policy.ONE_MET, Policy.ALL_MET, c1Failure, c2Failure);
pFailureAll = new Parallel(Policy.ALL_MET, Policy.ALL_MET, c1Failure, c2Failure);
pContinuous = new Parallel(Policy.ALL_MET, Policy.ALL_MET, cCont1, cCont2);
pContinousStop = new Parallel(Policy.ALL_MET, Policy.ONE_MET, cCont1);
}