public void executionStep() { // changing state state = stSensorDataTransmission; // requesting sensor data Robosapien.requestSensorData(); }
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; } }
public void browsingStep(ref System.Windows.Forms.TextBox[] texts) { if ((!close2Cart()) || (TaskQueueLength > 0)) { switch (state) { case stIdle: // call to the planner planner(); // now switching to execution state = stTasksExecuting; break; case stSensorDataTransmission: if (Robosapien.flagSensorDataAcquired) { Robosapien.fillSensorTexts(texts); // Now checking if we bumped into something if ((Robosapien.sensorLeft_Hand_Triggered == 1) && (Robosapien.sensorRight_Hand_Triggered == 1)) { // re-assigning last move insertPriorityTask(CurrentTask); // inserting correction in queue insertPriorityTask(taskGO_BACKWARD); state = stTasksExecuting; } else if (Robosapien.sensorLeft_Hand_Triggered == 1) { // re-assigning last move insertPriorityTask(CurrentTask); insertPriorityTask(taskGO_BACKLEFT); state = stTasksExecuting; } else if (Robosapien.sensorRight_Hand_Triggered == 1) { // re-assigning last move insertPriorityTask(CurrentTask); insertPriorityTask(taskGO_BACKRIGHT); state = stTasksExecuting; } else // ability was excuted without interruption. finding new position and orientation { // updating last known position of the robosapien // in the mapping FSM mappingFSM.LastKnownRsv2Ipos = ipos; mappingFSM.LastKnownRsv2Jpos = jpos; // finding new orientation and position switch (orientation) { case orNORTH: switch (CurrentTask) { case taskGO_FORWARD: orientation = orNORTH; ipos--; break; case taskGO_BACKWARD: orientation = orNORTH; ipos++; break; case taskTURN_LEFT: orientation = orWEST; break; case taskTURN_RIGHT: orientation = orEAST; break; } break; case orSOUTH: switch (CurrentTask) { case taskGO_FORWARD: orientation = orSOUTH; ipos++; break; case taskGO_BACKWARD: orientation = orSOUTH; ipos--; break; case taskTURN_LEFT: orientation = orEAST; break; case taskTURN_RIGHT: orientation = orWEST; break; } break; case orEAST: switch (CurrentTask) { case taskGO_FORWARD: orientation = orEAST; jpos++; break; case taskGO_BACKWARD: orientation = orEAST; jpos--; break; case taskTURN_LEFT: orientation = orNORTH; break; case taskTURN_RIGHT: orientation = orSOUTH; break; } break; case orWEST: switch (CurrentTask) { case taskGO_FORWARD: orientation = orWEST; jpos--; break; case taskGO_BACKWARD: orientation = orWEST; jpos++; break; case taskTURN_LEFT: orientation = orSOUTH; break; case taskTURN_RIGHT: orientation = orNORTH; break; } break; } // end switch (orientation) state = stIdle; } } break; case stTasksExecuting: if (TaskQueueLength == 0) { state = stSensorDataTransmission; Robosapien.requestSensorData(); } else { CurrentTask = removeTask(); state = stAbilityExecuting; switch (CurrentTask) { case taskGO_FORWARD: Robosapien.useAbility(t_RSV2Ability.abWALK_FORWARD); break; case taskGO_BACKWARD: Robosapien.useAbility(t_RSV2Ability.abWALK_BACKWARD); break; case taskTURN_LEFT: Robosapien.useAbility(t_RSV2Ability.abTURN_LEFT); break; case taskTURN_RIGHT: Robosapien.useAbility(t_RSV2Ability.abTURN_RIGHT); break; case taskGO_BACKLEFT: Robosapien.useAbility(t_RSV2Ability.abWALK_BACKWARDLEFT); break; case taskGO_BACKRIGHT: Robosapien.useAbility(t_RSV2Ability.abWALK_BACKWARDRIGHT); break; case taksGO_FORWARDLEFT: Robosapien.useAbility(t_RSV2Ability.abWALK_FORWARDLEFT); break; case taskGO_FORWARDRIGHT: Robosapien.useAbility(t_RSV2Ability.abWALK_FORWARDRIGHT); break; case taskDISSAPOINTED: Robosapien.useAbility(t_RSV2Ability.abSPARE_CHANGE); break; case taskHUG: Robosapien.useAbility(t_RSV2Ability.abHUG); break; } } break; case stAbilityExecuting: if (Robosapien.flagAbilityDone) { // reseting the flag Robosapien.flagAbilityDone = false; // requesting sensor data Robosapien.requestSensorData(); // changing state state = stSensorDataTransmission; } // end if break; } // end state switch } }