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https://github.com/FlightControl-Master/MOOSE.git
synced 2025-08-15 10:47:21 +00:00
Templates progress, not perfect yet...
issues with smoke issues with accounting issues with scoring minor things, should be solvable.
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FlightControl
@@ -40,49 +40,28 @@ function STATEMACHINE:New( FsmT )
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--setmetatable( self, MT )
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--self.__index = self
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for TransitionID, Transition in pairs( FsmT:GetTransitions() ) do
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self:AddAction( Transition.From, Transition.Event, Transition.To )
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self.FsmT:CopyCallHandler( self, "onenter", Transition.From )
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self.FsmT:CopyCallHandler( self, "onleave", Transition.From )
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self.FsmT:CopyCallHandler( self, "onenter", Transition.To )
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self.FsmT:CopyCallHandler( self, "onleave", Transition.To )
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self.FsmT:CopyCallHandler( self, "onbefore", Transition.Event )
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self.FsmT:CopyCallHandler( self, "onafter", Transition.Event )
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end
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for ProcessID, Process in pairs( self.FsmT:GetProcesses() ) do
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self:E( Process )
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local FsmProcess = self:AddProcess(Process.From, Process.Event, Process.Process:New( unpack( Process.Arguments ) ), Process.ReturnEvents )
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self.FsmT:CopyCallHandler( FsmProcess, "onenter", Process.From )
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self.FsmT:CopyCallHandler( FsmProcess, "onleave", Process.From )
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self.FsmT:CopyCallHandler( FsmProcess, "onbefore", Process.Event )
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self.FsmT:CopyCallHandler( FsmProcess, "onafter", Process.Event )
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end
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for EndStateID, EndState in pairs( FsmT:EndStates() ) do
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self:E( EndState )
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self:AddEndState( EndState )
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end
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self:SetStartState( FsmT:GetStartState() )
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self.options = options or {}
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self.options.subs = self.options.subs or {}
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self.current = self.options.initial or 'none'
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self.events = {}
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self.subs = {}
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self.endstates = {}
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self.Scores = {}
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FsmT = FsmT or STATEMACHINE_TEMPLATE:New( "" )
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self:SetStartState( FsmT:GetStartState() )
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for TransitionID, Transition in pairs( FsmT:GetTransitions() ) do
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self:AddTransition( Transition.From, Transition.Event, Transition.To )
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end
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self:CopyCallHandlers( FsmT )
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return self
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end
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function STATEMACHINE:SetInitialState( State )
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self.current = State
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end
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function STATEMACHINE:AddTransition( From, Event, To )
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@@ -110,13 +89,9 @@ function STATEMACHINE:AddProcess( From, Event, Process, ReturnEvents )
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sub.event = "Start"
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sub.ReturnEvents = ReturnEvents
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-- Make the reference table weak.
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-- setmetatable( self.options.subs, { __mode = "v" } )
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self.options.subs[Event] = sub
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self:_submap( self.subs, sub, nil )
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self:AddAction( From, Event, From )
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self:AddTransition( From, Event, From )
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return Process
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end
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@@ -125,6 +100,10 @@ function STATEMACHINE:AddEndState( State )
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self.endstates[State] = State
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end
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function STATEMACHINE:SetStartState( State )
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self.current = State
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end
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function STATEMACHINE:GetSubs()
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return self.options.subs
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@@ -157,7 +136,7 @@ function STATEMACHINE:_submap( subs, sub, name )
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subs[sub.FromParent][sub.EventParent] = subs[sub.FromParent][sub.EventParent] or {}
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-- Make the reference table weak.
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setmetatable( subs[sub.FromParent][sub.EventParent], { __mode = "k" } )
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-- setmetatable( subs[sub.FromParent][sub.EventParent], { __mode = "k" } )
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subs[sub.FromParent][sub.EventParent][sub] = {}
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subs[sub.FromParent][sub.EventParent][sub].fsm = sub.fsm
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@@ -325,6 +304,27 @@ function STATEMACHINE:cannot(e)
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return not self:can(e)
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end
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function STATEMACHINE:CopyCallHandlers( FsmT )
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local Parent = BASE:GetParent( FsmT )
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if Parent then
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self:CopyCallHandlers( Parent )
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end
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for ElementID, Element in pairs( FsmT ) do
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self:E( { ElementID = ElementID } )
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if type( Element ) == "function" then
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if ElementID.find( ElementID, "^onbefore" ) or
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ElementID.find( ElementID, "^onafter" ) or
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ElementID.find( ElementID, "^onenter" ) or
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ElementID.find( ElementID, "^onleave" ) or
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ElementID.find( ElementID, "^onfunc" ) then
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self[ ElementID ] = Element
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end
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end
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end
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end
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function STATEMACHINE:todot(filename)
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local dotfile = io.open(filename,'w')
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dotfile:write('digraph {\n')
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@@ -388,9 +388,21 @@ function STATEMACHINE_CONTROLLABLE:GetControllable()
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end
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function STATEMACHINE_CONTROLLABLE:_call_handler( handler, params )
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local ErrorHandler = function( errmsg )
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env.info( "Error in SCHEDULER function:" .. errmsg )
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if debug ~= nil then
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env.info( debug.traceback() )
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end
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return errmsg
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end
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if self[handler] then
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self:E( "Calling " .. handler )
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return self[handler]( self, self.Controllable, unpack( params ) )
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return xpcall( function() return self[handler]( self, self.Controllable, unpack( params ) ) end, ErrorHandler )
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--return self[handler]( self, self.Controllable, unpack( params ) )
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end
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end
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@@ -406,9 +418,26 @@ STATEMACHINE_PROCESS = {
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--- Creates a new STATEMACHINE_PROCESS object.
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-- @param #STATEMACHINE_PROCESS self
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-- @return #STATEMACHINE_PROCESS
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function STATEMACHINE_PROCESS:New( FSMT )
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function STATEMACHINE_PROCESS:New( FsmT, Controllable, Task )
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local self = BASE:Inherit( self, STATEMACHINE_CONTROLLABLE:New( FSMT ) ) -- StateMachine#STATEMACHINE_PROCESS
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local self = BASE:Inherit( self, STATEMACHINE_CONTROLLABLE:New( FsmT ) ) -- StateMachine#STATEMACHINE_PROCESS
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self:Assign( Controllable, Task )
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self.ClassName = FsmT._Name
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for ParameterID, Parameter in pairs( FsmT:GetParameters() ) do
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self[ ParameterID ] = Parameter
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end
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for ProcessID, Process in pairs( FsmT:GetProcesses() ) do
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self:E( Process )
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local FsmProcess = self:AddProcess(Process.From, Process.Event, STATEMACHINE_PROCESS:New( Process.Process, Controllable, Task ), Process.ReturnEvents )
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end
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for EndStateID, EndState in pairs( FsmT:GetEndStates() ) do
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self:E( EndState )
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self:AddEndState( EndState )
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end
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return self
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end
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@@ -442,21 +471,17 @@ end
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--- Assign the process to a @{Unit} and activate the process.
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-- @param #PROCESS self
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-- @param #STATEMACHINE_PROCESS self
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-- @param Task.Tasking#TASK_BASE Task
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-- @param Wrapper.Unit#UNIT ProcessUnit
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-- @return #PROCESS self
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function STATEMACHINE_PROCESS:Assign( Task, ProcessUnit )
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-- @return #STATEMACHINE_PROCESS self
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function STATEMACHINE_PROCESS:Assign( ProcessUnit, Task )
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self:E( { Task, ProcessUnit } )
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self:SetControllable( ProcessUnit )
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self:SetTask( Task )
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self.ProcessGroup = ProcessUnit:GetGroup()
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--Task:RemoveMenuForGroup( self.ProcessGroup )
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--Task:SetAssignedMenuForGroup( self.ProcessGroup )
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--self:Activate()
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--self.ProcessGroup = ProcessUnit:GetGroup()
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return self
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end
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@@ -486,7 +511,7 @@ end
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-- @param #string From
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-- @param #string To
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function STATEMACHINE_PROCESS:onstatechange( ProcessUnit, Event, From, To, Dummy )
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self:E( { ProcessUnit, Event, From, To, Dummy } )
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self:E( { ProcessUnit, Event, From, To, Dummy, self:IsTrace() } )
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if self:IsTrace() then
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MESSAGE:New( "Process " .. self.ProcessName .. " : " .. Event .. " changed to state " .. To, 15 ):ToAll()
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@@ -601,12 +626,13 @@ function STATEMACHINE_TEMPLATE:New( Name )
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-- Inherits from BASE
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local self = BASE:Inherit( self, BASE:New() ) -- #STATEMACHINE_TEMPLATE
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self._Transitions = self.Transitions or {}
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self._Processes = self.Processes or {}
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self._EndStates = self.EndStates or {}
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self._StartState = "none"
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self._Transitions = {}
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self._Processes = {}
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self._EndStates = {}
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self._Scores = {}
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self._Name = Name
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self._Name = Name or ""
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return self
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end
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@@ -623,20 +649,24 @@ end
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function STATEMACHINE_TEMPLATE:GetTransitions()
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return self._Transitions
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return self._Transitions or {}
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end
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--- Set the default @{Process} template with key ProcessName providing the ProcessClass and the process object when it is assigned to a @{Controllable} by the task.
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-- @return Process#PROCESS
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function STATEMACHINE_TEMPLATE:AddProcess( From, Event, ProcessTemplate, ProcessArguments, ReturnEvents )
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function STATEMACHINE_TEMPLATE:AddProcess( From, Event, ProcessTemplate, ReturnEvents )
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self:E( { ProcessTemplate = ProcessTemplate } )
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local Process = {}
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Process.From = From
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Process.Event = Event
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Process.Process = ProcessTemplate
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Process.Arguments = ProcessArguments
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Process.Parameters = ProcessTemplate:GetParameters()
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Process.ReturnEvents = ReturnEvents
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self:E( { From = Process.From, Event = Process.Event, Process = Process.Process._Name, Parameters = Process.Parameters, ReturnEvents = Process.ReturnEvents } )
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-- Make the reference table weak.
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-- setmetatable( self.options.subs, { __mode = "v" } )
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self._Processes[Process] = Process
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@@ -646,27 +676,48 @@ end
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function STATEMACHINE_TEMPLATE:GetProcesses()
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return self._Processes
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return self._Processes or {}
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end
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function STATEMACHINE_TEMPLATE:GetProcess( From, Event )
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for ProcessID, Process in pairs( self:GetProcesses() ) do
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if Process.From == From and Process.Event == Event then
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self:E( Process )
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return Process.Process
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end
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end
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error( "Sub-Process from state " .. From .. " with event " .. Event .. " not found!" )
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end
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function STATEMACHINE_TEMPLATE:SetParameters( Parameters )
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self._Parameters = Parameters
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end
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function STATEMACHINE_TEMPLATE:GetParameters()
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return self._Parameters or {}
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end
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function STATEMACHINE_TEMPLATE:AddEndState( State )
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self._EndStates[EndState] = EndState
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self._EndStates[State] = State
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end
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function STATEMACHINE_TEMPLATE:GetEndStates()
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return self._EndStates
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return self._EndStates or {}
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end
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function STATEMACHINE_TEMPLATE:AddStartState()
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function STATEMACHINE_TEMPLATE:SetStartState( State )
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self._StartState = StartState
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self._StartState = State
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end
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function STATEMACHINE_TEMPLATE:GetStartState()
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return self._StartState
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return self._StartState or {}
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end
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--- Adds a score for the STATEMACHINE_PROCESS to be achieved.
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@@ -678,16 +729,31 @@ end
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function STATEMACHINE_TEMPLATE:AddScore( State, ScoreText, Score )
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self:F2( { State, ScoreText, Score } )
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self.Scores[State] = self.Scores[State] or {}
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self.Scores[State].ScoreText = ScoreText
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self.Scores[State].Score = Score
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self._Scores[State] = self._Scores[State] or {}
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self._Scores[State].ScoreText = ScoreText
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self._Scores[State].Score = Score
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return self
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end
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function STATEMACHINE_TEMPLATE:CopyCallHandler( Fsm, OnAction, Transition )
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self:E( { Fsm.ClassName, OnAction, Transition } )
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if OnAction and Transition and self[OnAction .. Transition] then
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Fsm[OnAction .. Transition] = self[OnAction .. Transition]
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end
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--- Adds a score for the STATEMACHINE_PROCESS to be achieved.
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-- @param #STATEMACHINE_TEMPLATE self
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-- @param #string From is the From State of the main process.
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-- @param #string Event is the Event of the main process.
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-- @param #string State is the state of the process when the score needs to be given. (See the relevant state descriptions of the process).
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-- @param #string ScoreText is a text describing the score that is given according the status.
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-- @param #number Score is a number providing the score of the status.
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-- @return #STATEMACHINE_TEMPLATE self
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function STATEMACHINE_TEMPLATE:AddScoreProcess( From, Event, State, ScoreText, Score )
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self:F2( { Event, State, ScoreText, Score } )
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local Process = self:GetProcess( From, Event )
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self:E( { Process = Process._Name, Scores = Process._Scores, State = State, ScoreText = ScoreText, Score = Score } )
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Process._Scores[State] = Process._Scores[State] or {}
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Process._Scores[State].ScoreText = ScoreText
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Process._Scores[State].Score = Score
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return Process
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end
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