diff --git a/Moose Development/Moose/Core/Fsm.lua b/Moose Development/Moose/Core/Fsm.lua index 49fe28893..0f060855a 100644 --- a/Moose Development/Moose/Core/Fsm.lua +++ b/Moose Development/Moose/Core/Fsm.lua @@ -73,7 +73,7 @@ -- ## 1.1) FSM Linear Transitions -- -- Linear Transitions are Transition Rules allowing an FSM to transition from one or multiple possible **From** state(s) towards a **To** state upon a Triggered **Event**. --- The Lineair transition rule evaluation will always be done from the **current state* of the FSM. +-- The Lineair transition rule evaluation will always be done from the **current state** of the FSM. -- If no valid Transition Rule can be found in the FSM, the FSM will log an error and stop. -- -- ### 1.1.1) FSM Transition Rules @@ -85,6 +85,33 @@ -- -- The initial state can be defined using the method @{#FSM.SetStartState}(). The default start state of an FSM is "None". -- +-- Find below an example of a Linear Transition Rule definition for an FSM. +-- +-- local Fsm3Switch = FSM:New() -- #FsmDemo +-- FsmSwitch:SetStartState( "Off" ) +-- FsmSwitch:AddTransition( "Off", "SwitchOn", "On" ) +-- FsmSwitch:AddTransition( "Off", "SwitchMiddle", "Middle" ) +-- FsmSwitch:AddTransition( "On", "SwitchOff", "Off" ) +-- FsmSwitch:AddTransition( "Middle", "SwitchOff", "Off" ) +-- +-- The above code snippet models a 3-way switch Linear Transition: +-- +-- * It can be switched **On** by triggering event **SwitchOn**. +-- * It can be switched to the **Middle** position, by triggering event **SwitchMiddle**. +-- * It can be switched **Off** by triggering event **SwitchOff**. +-- * Note that once the Switch is **On** or **Middle**, it can only be switched **Off**. +-- +-- ### Some additional comments: +-- +-- Note that Linear Transition Rules **can be declared in a few variations**: +-- +-- * The From states can be **a table of strings**, indicating that the transition rule will be valid **if the current state** of the FSM will be **one of the given From states**. +-- * The From state can be a **"*"**, indicating that **the transition rule will always be valid**, regardless of the current state of the FSM. +-- +-- The below code snippet shows how the two last lines can be rewritten and consensed. +-- +-- FsmSwitch:AddTransition( { "On", "Middle" }, "SwitchOff", "Off" ) +-- -- ### 1.1.2) Transition Handling -- -- ![Transition Handlers](..\Presentations\FSM\Dia4.JPG) @@ -105,7 +132,7 @@ -- * Event = A string containing the Event name that was triggered. -- * To = A string containing the To state. -- --- On top, each of these methods can have a variable amount of parameters passed. See the example in section 1.3. +-- On top, each of these methods can have a variable amount of parameters passed. See the example in section [1.1.3](#1.1.3\)-event-triggers). -- -- ### 1.1.3) Event Triggers -- @@ -145,12 +172,18 @@ -- -- Because ... When Event was asynchronously processed after 5 seconds, Amount was set to 2. So be careful when processing and passing values and objects in asynchronous processing! -- --- ### 1.1.4) Linear Transitioning Example +-- ### 1.1.4) Linear Transition Example -- --- This example creates a new FsmDemo object from class FSM. --- It will set the start state of FsmDemo to Green. --- Two Transition Rules are created, where upon the event Switch, --- the FsmDemo will transition from state Green to Red and vise versa. +-- This example is fully implemented in the MOOSE test mission on GITHUB: [FSM-100 - Transition Explanation](https://github.com/FlightControl-Master/MOOSE/blob/master/Moose%20Test%20Missions/FSM%20-%20Finite%20State%20Machine/FSM-100%20-%20Transition%20Explanation/FSM-100%20-%20Transition%20Explanation.lua) +-- +-- It models a unit standing still near Batumi, and flaring every 5 seconds while switching between a Green flare and a Red flare. +-- The purpose of this example is not to show how exciting flaring is, but it demonstrates how a Linear Transition FSM can be build. +-- Have a look at the source code. The source code is also further explained below in this section. +-- +-- The example creates a new FsmDemo object from class FSM. +-- It will set the start state of FsmDemo to state **Green**. +-- Two Linear Transition Rules are created, where upon the event **Switch**, +-- the FsmDemo will transition from state **Green** to **Red** and from **Red** back to **Green**. -- -- ![Transition Example](..\Presentations\FSM\Dia6.JPG) -- @@ -204,16 +237,7 @@ -- -- FsmDemo:__Switch( 5, FsmUnit ) -- Trigger the next Switch event to happen in 5 seconds. -- --- This example is fully implemented in the MOOSE test mission on GITHUB: [FSM-100 - Transition Explanation](https://github.com/FlightControl-Master/MOOSE/blob/master/Moose%20Test%20Missions/FSM%20-%20Finite%20State%20Machine/FSM-100%20-%20Transition%20Explanation/FSM-100%20-%20Transition%20Explanation.lua) --- --- ### Some additional comments: --- --- Note that transition rules **can be declared with a few variations**: --- --- * The From states can be **a table of strings**, indicating that the transition rule will be valid **if the current state** of the FSM will be **one of the given From states**. --- * The From state can be a **"*"**, indicating that **the transition rule will always be valid**, regardless of the current state of the FSM. --- --- The below code fragment extends the FsmDemo, demonstrating multiple **From states declared as a table**, in an additional transition rule. +-- The below code fragment extends the FsmDemo, demonstrating multiple **From states declared as a table**, adding a **Linear Transition Rule**. -- The new event **Stop** will cancel the Switching process. -- The transition for event Stop can be executed if the current state of the FSM is either "Red" or "Green". -- diff --git a/docs/Documentation/Cargo.html b/docs/Documentation/Cargo.html index 0319727b8..c03fa6ee7 100644 --- a/docs/Documentation/Cargo.html +++ b/docs/Documentation/Cargo.html @@ -2411,7 +2411,6 @@ The UNIT carrying the package.

- AI_CARGO_UNIT.CargoCarrier diff --git a/docs/Documentation/Fsm.html b/docs/Documentation/Fsm.html index c1be84c0e..87231267a 100644 --- a/docs/Documentation/Fsm.html +++ b/docs/Documentation/Fsm.html @@ -149,7 +149,7 @@ The below documentation has a seperate chapter explaining both transition modes,

1.1) FSM Linear Transitions

Linear Transitions are Transition Rules allowing an FSM to transition from one or multiple possible From state(s) towards a To state upon a Triggered Event. -The Lineair transition rule evaluation will always be done from the *current state of the FSM. +The Lineair transition rule evaluation will always be done from the current state of the FSM. If no valid Transition Rule can be found in the FSM, the FSM will log an error and stop.

1.1.1) FSM Transition Rules

@@ -161,6 +161,39 @@ These rules define when an FSM can transition from a specific state towards an o

The initial state can be defined using the method FSM.SetStartState(). The default start state of an FSM is "None".

+

Find below an example of a Linear Transition Rule definition for an FSM.

+ +
 local Fsm3Switch = FSM:New() -- #FsmDemo
+ FsmSwitch:SetStartState( "Off" )
+ FsmSwitch:AddTransition( "Off", "SwitchOn", "On" )
+ FsmSwitch:AddTransition( "Off", "SwitchMiddle", "Middle" )
+ FsmSwitch:AddTransition( "On", "SwitchOff", "Off" )
+ FsmSwitch:AddTransition( "Middle", "SwitchOff", "Off" )
+
+ +

The above code snippet models a 3-way switch Linear Transition:

+ + + +

Some additional comments:

+ +

Note that Linear Transition Rules can be declared in a few variations:

+ + + +

The below code snippet shows how the two last lines can be rewritten and consensed.

+ +
 FsmSwitch:AddTransition( { "On",  "Middle" }, "SwitchOff", "Off" )
+
+

1.1.2) Transition Handling

Transition Handlers

@@ -185,7 +218,7 @@ These parameters are on the correct order: From, Event, To:

  • To = A string containing the To state.
    • -

    On top, each of these methods can have a variable amount of parameters passed. See the example in section 1.3.

    +

    On top, each of these methods can have a variable amount of parameters passed. See the example in section 1.1.3.

    1.1.3) Event Triggers

    @@ -230,12 +263,18 @@ Event will be processed after 5 seconds, and Amount is given as a parameter.

    Because ... When Event was asynchronously processed after 5 seconds, Amount was set to 2. So be careful when processing and passing values and objects in asynchronous processing!

    -

    1.1.4) Linear Transitioning Example

    +

    1.1.4) Linear Transition Example

    -

    This example creates a new FsmDemo object from class FSM. -It will set the start state of FsmDemo to Green. -Two Transition Rules are created, where upon the event Switch, -the FsmDemo will transition from state Green to Red and vise versa.

    +

    This example is fully implemented in the MOOSE test mission on GITHUB: FSM-100 - Transition Explanation

    + +

    It models a unit standing still near Batumi, and flaring every 5 seconds while switching between a Green flare and a Red flare. +The purpose of this example is not to show how exciting flaring is, but it demonstrates how a Linear Transition FSM can be build. +Have a look at the source code. The source code is also further explained below in this section.

    + +

    The example creates a new FsmDemo object from class FSM. +It will set the start state of FsmDemo to state Green. +Two Linear Transition Rules are created, where upon the event Switch, +the FsmDemo will transition from state Green to Red and from Red back to Green.

    Transition Example

    @@ -295,18 +334,7 @@ and one additional parameter that was given when the event was triggered, which 
       FsmDemo:__Switch( 5, FsmUnit ) -- Trigger the next Switch event to happen in 5 seconds.
    -

    This example is fully implemented in the MOOSE test mission on GITHUB: FSM-100 - Transition Explanation

    - -

    Some additional comments:

    - -

    Note that transition rules can be declared with a few variations:

    - - - -

    The below code fragment extends the FsmDemo, demonstrating multiple From states declared as a table, in an additional transition rule. +

    The below code fragment extends the FsmDemo, demonstrating multiple From states declared as a table, adding a Linear Transition Rule. The new event Stop will cancel the Switching process. The transition for event Stop can be executed if the current state of the FSM is either "Red" or "Green".

    diff --git a/docs/Documentation/Spawn.html b/docs/Documentation/Spawn.html index 1116db12a..6b5623a9b 100644 --- a/docs/Documentation/Spawn.html +++ b/docs/Documentation/Spawn.html @@ -1692,9 +1692,6 @@ The group that was spawned. You can use this group for further actions.

    - -

    Don't repeat the group from Take-Off till Landing and back Take-Off by ReSpawning.

    -