Progress hierarchical state machine

- sub fsm call is working
- return from fsm to parent fsm is in progress

Moose Development/Moose/Moose.lua

@@ -45,9 +45,10 @@ Include.File( "AIBalancer" )
 Include.File( "AirbasePolice" )
 Include.File( "Detection" )
 Include.File( "FAC" )
-Include.File( "Task2" )
-Include.File( "TaskSead" )
 Include.File( "StateMachine" )
+Include.File( "Task2" )
+Include.File( "TaskClientSead" )
+Include.File( "TaskClientMenu" )
 
 -- The order of the declarations is important here. Don't touch it.
 

Moose Development/Moose/StateMachine.lua

@@ -22,17 +22,23 @@ STATEMACHINE = {
 -- @return #STATEMACHINE
 function STATEMACHINE:New( options )
 
-  local self = routines.utils.deepCopy( self ) -- Create a new self instance
+  -- Inherits from BASE
+  local self = BASE:Inherit( self, BASE:New() )
+
+
+  --local self = routines.utils.deepCopy( self ) -- Create a new self instance
 
   assert(options.events)
 
-  local MT = {}
-  setmetatable( self, MT )
-  self.__index = self
+  --local MT = {}
+  --setmetatable( self, MT )
+  --self.__index = self
 
   self.options = options
   self.current = options.initial or 'none'
   self.events = {}
+  self.subs = {}
+  self.endstates = {}
 
   for _, event in ipairs(options.events or {}) do
     local name = event.name
@@ -44,11 +50,30 @@ function STATEMACHINE:New( options )
   for name, callback in pairs(options.callbacks or {}) do
     self[name] = callback
   end
+  
+  for name, sub in pairs( options.subs or {} ) do
+    self:_submap( self.subs, sub, name )
+  end
+  
+  for name, endstate in pairs( options.endstates or {} ) do
+    self.endstates[name] = endstate
+  end
 
   return self
 end
 
 
+function STATEMACHINE:_submap( subs, sub, name )
+  self:E( { subs = subs, sub = sub, name = name } )
+  subs[sub.onstateparent] = subs[sub.onstateparent] or {}
+  subs[sub.onstateparent][sub.oneventparent] = subs[sub.onstateparent][sub.oneventparent] or {}
+  subs[sub.onstateparent][sub.oneventparent].fsm = sub.fsm
+  subs[sub.onstateparent][sub.oneventparent].event = sub.event
+  subs[sub.onstateparent][sub.oneventparent].name = name
+  subs[sub.onstateparent][sub.oneventparent].fsmparent = self
+end
+
+
 function STATEMACHINE:_call_handler(handler, params)
   if handler then
     return handler(unpack(params))
@@ -56,7 +81,9 @@ function STATEMACHINE:_call_handler(handler, params)
 end
 
 function STATEMACHINE:_create_transition(name)
+  self:E( { name = name } )
   return function(self, ...)
+    self:E(name)
     local can, to = self:can(name)
 
     if can then
@@ -69,11 +96,25 @@ function STATEMACHINE:_create_transition(name)
       end
 
       self.current = to
-
-      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)
-
+      
+      local fsm, event = self:_gosub( to, name )
+      if fsm and fsm[event] then
+        self:E( "calling sub: " .. event )
+        fsm.fsmparent = self
+        fsm.from = to
+        fsm[event]( fsm )
+      else
+        
+        local fsmparent, event = self:_isendstate( to )
+        if fsmparent then
+          fsmparent[event]( fsmparent )
+        else
+          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)
+        end
+      end
+      
       return true
     end
 
@@ -81,6 +122,23 @@ function STATEMACHINE:_create_transition(name)
   end
 end
 
+function STATEMACHINE:_gosub( parentstate, parentevent )
+  if self.subs[parentstate] and self.subs[parentstate][parentevent] then
+    return self.subs[parentstate][parentevent].fsm, self.subs[parentstate][parentevent].event
+  else
+    return nil
+  end
+end
+
+function STATEMACHINE:_isendstate( state )
+  if self.fsmparent then
+    return self.fsmparent, 
+  else
+    return nil
+  end
+
+end
+
 function STATEMACHINE:_add_to_map(map, event)
   if type(event.from) == 'string' then
     map[event.from] = event.to

Moose Development/Moose/Task2.lua

@@ -5,6 +5,7 @@
 -- @field Scheduler#SCHEDULER TaskScheduler
 -- @field Client#CLIENT Client
 -- @field Mission#MISSION Mission
+-- @field StateMachine#STATEMACHINE_TASK Fsm
 -- @extends Base#BASE
 TASK2 = {
   ClassName = "TASK",

Moose Development/Moose/TaskClientMenu.lua

@@ -0,0 +1,84 @@
+--- @module Task_Client_Menu
+
+--- TASK2_CLIENT_MENU class
+-- @type TASK2_CLIENT_MENU
+-- @field Client#CLIENT Client
+-- @field Set#SET_UNIT TargetSet
+-- @field Menu#MENU_CLIENT_COMMAND MenuSEAD
+-- @extends Task2#TASK2
+TASK2_CLIENT_MENU = { 
+  ClassName = "TASK2_CLIENT_MENU",
+  TargetSet = nil,
+}
+
+
+--- Creates a new MENU handling machine.
+-- @param #TASK2_CLIENT_MENU self
+-- @param Client#CLIENT Client
+-- @param Mission#MISSION Mission
+-- @param #string MenuText The text of the menu item.
+-- @return #TASK2_CLIENT_MENU self
+function TASK2_CLIENT_MENU:New( Client, Mission, MenuText )
+
+  -- Inherits from BASE
+  local self = BASE:Inherit( self, TASK2:New( Client, Mission ) ) -- #TASK2_CLIENT_MENU
+  
+  self.MenuText = MenuText
+
+  self.Fsm = STATEMACHINE_TASK:New( self, {
+    initial = 'Unassigned',
+    events = {
+      { name = 'Menu',  from = 'Unassigned',  to = 'AwaitingMenu' },
+      { name = 'Assign',  from = 'AwaitingMenu',  to = 'Assigned' },
+    },
+    callbacks = {
+      onMenu = self.OnMenu,
+      onAssign =  self.OnAssign,
+    },
+    finals = {
+      'Assigned'
+    },
+  } )
+  
+  return self
+end
+
+--- Task Events
+
+--- StateMachine callback function for a TASK2
+-- @param #TASK2_CLIENT_MENU self
+-- @param StateMachine#STATEMACHINE_TASK Fsm
+-- @param #string Event
+-- @param #string From
+-- @param #string To
+function TASK2_CLIENT_MENU:OnMenu( Fsm, Event, From, To )
+  self:E( { Event, From, To, self.Client.ClientName} )
+
+  self.Client:Message( "Press F10 for task menu", 15 )
+  self.Menu = MENU_CLIENT:New( self.Client, self.Mission:GetName(), nil )
+  self.MenuTask = MENU_CLIENT_COMMAND:New( self.Client, self.MenuText, self.Menu, self.MenuAssign, self )
+end
+
+--- Menu function.
+-- @param #TASK2_CLIENT_MENU self
+function TASK2_CLIENT_MENU:MenuAssign()
+  self:E( )
+
+  self.Client:Message( "Menu Assign", 15 )
+
+  self:NextEvent( self.Fsm.Assign )
+end
+
+--- StateMachine callback function for a TASK2
+-- @param #TASK2_CLIENT_MENU self
+-- @param StateMachine#STATEMACHINE_TASK Fsm
+-- @param #string Event
+-- @param #string From
+-- @param #string To
+function TASK2_CLIENT_MENU:OnAssign( Fsm, Event, From, To )
+  self:E( { Event, From, To, self.Client.ClientName} )
+
+  self.Client:Message( "Assign Task", 15 )
+  self.MenuTask:Remove()
+end
+

Moose Development/Moose/TaskClientSead.lua

@@ -27,10 +27,8 @@ function TASK2_SEAD:New( Client, Mission, TargetSet )
   self.TargetSet = TargetSet
 
   self.Fsm = STATEMACHINE_TASK:New( self, {
-    initial = 'Start',
+    initial = 'Assigned',
     events = {
-      { name = 'Menu',  from = 'Start',  to = 'Unassigned' },
-      { name = 'Assign',  from = 'Unassigned',  to = 'Assigned' },
       { name = 'Await', from = 'Assigned', to = 'Waiting'    },
       { name = 'HitTarget',  from = 'Waiting',    to = 'Destroy' },
       { name = 'MoreTargets', from = 'Destroy', to = 'Waiting'  },
@@ -38,17 +36,13 @@ function TASK2_SEAD:New( Client, Mission, TargetSet )
       { name = 'Killed', from = 'Assigned', to = 'Failed' },
       { name = 'Killed', from = 'Waiting', to = 'Failed' },
       { name = 'Killed', from = 'Destroy', to = 'Failed' },
-      { name = 'Restart', from = 'Failed', to = 'Unassigned' }
     },
     callbacks = {
-      onMenu = self.OnMenu,
-      onAssign =  self.OnAssign,
       onAwait =  self.OnAwait,
       onHitTarget =  self.OnHitTarget,
       onMoreTargets = self.OnMoreTargets,
       onDestroyed = self.OnDestroyed,
       onKilled = self.OnKilled,
-      onRestart = self.OnRestart,
     }
   } )
 
@@ -57,53 +51,11 @@ function TASK2_SEAD:New( Client, Mission, TargetSet )
   _EVENTDISPATCHER:OnDead( self.EventKilled, self )
   _EVENTDISPATCHER:OnCrash( self.EventKilled, self )
   
-  self:NextEvent( self.Fsm.Menu )
-  
   return self
 end
 
 --- Task Events
 
---- StateMachine callback function for a TASK2
--- @param #TASK2_SEAD self
--- @param StateMachine#STATEMACHINE_TASK Fsm
--- @param #string Event
--- @param #string From
--- @param #string To
-function TASK2_SEAD:OnMenu( Fsm, Event, From, To )
-  self:E( { Event, From, To, self.Client.ClientName} )
-
-  self.Client:Message( "Menu", 15 )
-  self.Menu = MENU_CLIENT:New( self.Client, self.Mission:GetName(), nil )
-  self.MenuSEAD = MENU_CLIENT_COMMAND:New( self.Client, "SEAD", self.Menu, self.SEADAssign, self )
-end
-
---- StateMachine callback function for a TASK2
--- @param #TASK2_SEAD self
-function TASK2_SEAD:SEADAssign()
-  self:E( )
-
-  self.Client:Message( "SEAD Menu Assign", 15 )
-
-  self:NextEvent( self.Fsm.Assign )
-end
-
-
-
---- StateMachine callback function for a TASK2
--- @param #TASK2_SEAD self
--- @param StateMachine#STATEMACHINE_TASK Fsm
--- @param #string Event
--- @param #string From
--- @param #string To
-function TASK2_SEAD:OnAssign( Fsm, Event, From, To )
-  self:E( { Event, From, To, self.Client.ClientName} )
-
-  self.Client:Message( "Assigned", 15 )
-  self.MenuSEAD:Remove()
-  self:NextEvent( Fsm.Await )
-end
-
 --- StateMachine callback function for a TASK2
 -- @param #TASK2_SEAD self
 -- @param StateMachine#STATEMACHINE_TASK Fsm

Moose Test Missions/Moose_Test_TASK_SEAD/Moose_Test_TASK_SEAD.lua

@@ -7,9 +7,27 @@ Mission:AddScoring( Scoring )
 local Client = CLIENT:FindByName( "Test SEAD" )
 local TargetSet = SET_UNIT:New():FilterPrefixes( "US Hawk SR" ):FilterStart()
 
-local Task_SEAD = TASK2_SEAD:New( Client, Mission, TargetSet )
+local Task_Menu = TASK2_CLIENT_MENU:New( Client, Mission, "SEAD" )
+--local Task_Route = TASK2_ROUTE:New( Client, Mission ) -- Zone is dynamically defined in state machine
+local Task_Client_Sead = TASK2_SEAD:New( Client, Mission, TargetSet )
 
-Task_SEAD:AddScore( "Destroy", "Destroyed RADAR", 25 )
-Task_SEAD:AddScore( "Success", "Destroyed all radars!!!", 100 )
+Task_Client_Sead:AddScore( "Destroy", "Destroyed RADAR", 25 )
+Task_Client_Sead:AddScore( "Success", "Destroyed all radars!!!", 100 )
 
+local Task_Sead = STATEMACHINE:New( {
+    initial = 'None',
+    events = {
+      { name = 'Start',  from = 'None',  to = 'Unassigned' },
+      { name = 'Assign',  from = 'Unassigned',  to = 'Assigned' },
+--      { name = 'Route', from = 'Assigned', to = 'Arrived'    },
+      { name = 'Sead',  from = 'Assigned',    to = 'Seading' },
+      { name = 'Destroyed', from = 'Destroy', to = 'Success' },      
+    },
+    subs = {
+      Menu = { onstateparent = 'Unassigned', oneventparent = 'Start', fsm = Task_Menu.Fsm, event = 'Menu' },
+      --Assigned = { onstateparent = 'Assigned', oneventparent = 'Assign', fsm = Task_Route.Fsm, event = 'Route' },
+      Sead = { onstateparent = 'Assigned', oneventparent = 'Assign', fsm = Task_Client_Sead.Fsm, event = 'Await' }
+    }
+  } )
 
+Task_Sead:Start()