/// <summary> /// This method tries to change the state the FSM is in based on /// the current state and the transition passed. If current state /// doesn't have a target state for the transition passed, /// an ERROR message is printed. /// </summary> public void PerformTransition(Transition trans) { // Check for NullTransition before changing the current state if (trans == Transition.NullTransition) { Console.WriteLine("FSM ERROR: NullTransition is not allowed for a real transition"); return; } // Check if the currentState has the transition passed as argument StateID id = currentState.GetOutputState(trans); if (id == StateID.NullStateID) { Console.WriteLine("FSM ERROR: State " + currentStateID.ToString() + " does not have a target state " + " for transition " + trans.ToString()); return; } // Update the currentStateID and currentState currentStateID = id; foreach (FSMState state in states) { if (state.ID == currentStateID) { // Do the post processing of the state before setting the new one currentState.DoBeforeLeaving(); currentState = state; // Reset the state to its desired condition before it can reason or act currentState.DoBeforeEntering(); break; } } }