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Working version of the DETECTION classes

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FlightControl
2016-07-19 18:12:26 +02:00
parent 86b283c7f0
commit d5671a5f65
143 changed files with 71123 additions and 3660 deletions
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17
Moose Development/Moose/StateMachine.lua
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@@ -92,7 +92,7 @@ function STATEMACHINE:_create_transition(name)
self:E( { name = name } )
return function(self, ...)
local can, to = self:can(name)
self:E( { name, can, to } )
self:T( { name, can, to } )
if can then
local from = self.current
@@ -113,11 +113,12 @@ function STATEMACHINE:_create_transition(name)
sub.fsm.fsmparent = self
sub.fsm.returnevents = sub.returnevents
sub.fsm[sub.event]( sub.fsm )
execute = false
execute = true
end
local fsmparent, event = self:_isendstate( to )
if fsmparent and event then
self:E( { "end state: ", fsmparent, event } )
self:_call_handler(self["onenter" .. to] or self["on" .. to], params)
self:_call_handler(self["onafter" .. name] or self["on" .. name], params)
self:_call_handler(self["onstatechange"], params)
@@ -126,6 +127,7 @@ function STATEMACHINE:_create_transition(name)
end
if execute then
self:E( { "execute: " .. to, name } )
self:_call_handler(self["onenter" .. to] or self["on" .. to], params)
self:_call_handler(self["onafter" .. name] or self["on" .. name], params)
self:_call_handler(self["onstatechange"], params)
@@ -161,6 +163,8 @@ function STATEMACHINE:_isendstate( state )
local to = event and event.map[fromstate] or event.map['*']
if to and to == state then
return fsmparent, eventname
else
self:E( { "could not find parent event name for state", fromstate, to } )
end
end
end
@@ -253,7 +257,7 @@ STATEMACHINE_TASK = {
--- Creates a new STATEMACHINE_TASK object.
-- @param #STATEMACHINE_TASK self
-- @return #STATEMACHINE_TASK
function STATEMACHINE_TASK:New( Task, options )
function STATEMACHINE_TASK:New( Task, TaskUnit, options )
local FsmTask = routines.utils.deepCopy( self ) -- Create a new self instance
local Parent = STATEMACHINE:New(options)
@@ -262,13 +266,18 @@ function STATEMACHINE_TASK:New( Task, options )
FsmTask.__index = FsmTask
FsmTask["onstatechange"] = Task.OnStateChange
FsmTask["onAssigned"] = Task.OnAssigned
FsmTask["onSuccess"] = Task.OnSuccess
FsmTask["onFailed"] = Task.OnFailed
FsmTask.Task = Task
FsmTask.TaskUnit = TaskUnit
return FsmTask
end
function STATEMACHINE_TASK:_call_handler( handler, params )
if handler then
return handler( self.Task, unpack( params ) )
return handler( self.Task, self.TaskUnit, unpack( params ) )
end
end