Combat::Combat(const NSFString& name)
: NSFStateMachine(name, new NSFEventThread(name)), distanceToEnemy(100), inRangeDistance(25), nearDistance(50),
// State Machine Components
// Define and initialize in the order:
// 1) Events
// 2) Regions and states, from outer to inner
// 3) Transitions, ordered internal, local, external
// 4) Group states and transitions within a region together.
// Maintain the same order of declaration and initialization.
// Events
scoutEvent("Scout", this),
// Regions and states, from outer to inner
combatInitialState("CombatInitial", this),
scoutingState("Scouting", this, NULL, NULL),
scoutingInitialState("ScountingInitial", &scoutingState),
patrolState("Patrol", &scoutingState, NULL, NULL),
moveToEnemyState("MoveToEnemy", &scoutingState, NULL, NULL),
attackChoiceState("AttackChoice", this),
attackState("Attack", this, NULL, NULL),
// Transitions, ordered internal, local, external
combatInitialToScoutingTransition("CombatInitialToScouting", &combatInitialState, &scoutingState, NULL, NULL, NULL),
scoutingToAttackChoiceTransition("ScoutingToAttackChoice", &scoutingState, &attackChoiceState, &scoutEvent, NULL, NULL),
scoutingInitialToPatrolTransition("ScoutingInitialToPatrol", &scoutingInitialState, &patrolState, NULL, NULL, NULL),
attackChoiceToPatrolTransition("AttackChoiceToPatrol", &attackChoiceState, &patrolState, NULL, Else, NULL),
attackChoiceToAttackTransition("AttackChoiceToAttack", &attackChoiceState, &attackState, NULL, NSFGuard(this, &Combat::isEnemyInRange), NULL),
attackChoiceToMoveToEnemyTransition("AttackChoiceToMoveToEnemy", &attackChoiceState, &moveToEnemyState, NULL, NSFGuard(this, &Combat::isEnemyNear), NULL)
{
}
ChoiceStateTest::ChoiceStateTest(const NSFString& name)
: NSFStateMachine(name, new NSFEventThread(name)), value (0),
// Events
evaluateEvent("EvaluateEvent", this),
waitEvent("WaitEvent", this),
// Regions and states, from outer to inner
initialChoiceStateTestState("InitialChoiceStateTest", this),
waitToEvaluateState("WaitToEvaluate", this, NULL, NULL),
evaluateValueState("EvaluateValue", this),
evaluatedState("Evaluated", this, NULL, NULL),
initialEvaluatedState("InitialEvaluatedState", &evaluatedState),
valueLowState("ValueLow", &evaluatedState, NULL, NULL),
valueMiddleState("ValueMiddle", &evaluatedState, NULL, NULL),
valueHighState("ValueHigh", &evaluatedState, NULL, NULL),
// Transitions, ordered internal, local, external
initialChoiceStateTestToWaitToEvaluateTransition("InitialChoiceStateTestToWaitToEvaluate", &initialChoiceStateTestState, &waitToEvaluateState, NULL, NULL, NULL),
waitToEvaluateToEvaluateValueTransition("WaitToEvaluateToEvaluateValueTransition", &waitToEvaluateState, &evaluateValueState, &evaluateEvent, NULL, NULL),
initialEvaluatedToValueLowTransition("InitialEvaluatedToValueLowTransition", &initialEvaluatedState, &valueLowState, NULL, NULL, NULL),
evaluateValueToValueLowTransition("EvaluateValueToValueLowTransition", &evaluateValueState, &valueLowState, NULL, NSFGuard(this, &ChoiceStateTest::isValueLow), NULL),
evaluateValueToValueMiddleTransition("EvaluateValueToValueMiddleTransition", &evaluateValueState, &valueMiddleState, NULL, Else, NULL),
evaluateValueToValueHighTransition("EvaluateValueToValueHighTransition", &evaluateValueState, &valueHighState, NULL, NSFGuard(this, &ChoiceStateTest::isValueHigh), NULL),
evaluatedToWaitToEvaluateTransition("EvaluatedToWaitToEvaluateTransition", &evaluatedState, &waitToEvaluateState, &waitEvent, NULL, NSFAction(this, &ChoiceStateTest::addValue))
{
}
CommandProcessorWithResetStrategy::CommandProcessorWithResetStrategy(const NSFString& name)
: CommandProcessor(name), resetStrategy("ResetStrategy", &resetState)
{
resetToWaitForCommandTransition.Guards += NSFGuard(this, &CommandProcessorWithResetStrategy::isReady);
}
ResetStrategy::ResetStrategy(const NSFString& name, NSFCompositeState* parentState)
: NSFStateMachine(name, parentState), hardwareReset(false), commReady(false), hardwareResetDelayTime(1000), commReadyDelayTime(1000),
// State Machine Components
// Define and initialize in the order:
// 1) Events
// 2) Regions and states, from outer to inner
// 3) Transitions, ordered internal, local, external
// 4) Group states and transitions within a region together.
// Maintain the same order of declaration and initialization.
// Events
commReadyEvent("CommReady", this),
hardwareResetEvent("HardwareReset", this),
// Regions and states, from outer to inner
// Initial state construtors take the form (name, parent)
initialResetStrategyState("InitialResetStrategy", this),
// Composite state construtors take the form (name, parent, entry action, exit action)
resetHardwareState("ResetHardware", this, NSFAction(this, &ResetStrategy::resetHardwareEntryActions), NULL),
reestablishCommunicationsState("ReestablishCommunications", this, NSFAction(this, &ResetStrategy::reestablishCommunicationsEntryActions), NULL),
readyState("Ready", this, NULL, NULL),
// Transitions, ordered internal, local, external
// External transition construtors take the form (name, source, target, trigger, guard, action)
initialResetStrategyToResetHardwareTransition("InitialToResetHardware", &initialResetStrategyState, &resetHardwareState, NULL, NULL, NSFAction(this, &ResetStrategy::resetVariables)),
resetHardwareToReestablishCommunicationsTransition("ResetHardwareToReestablishCommunications", &resetHardwareState, &reestablishCommunicationsState, NULL, NSFGuard(this, &ResetStrategy::isHardwareReset), NULL),
reestablishCommunicationsStateToReadyTransition("ReestablishCommunicationsStateToReady", &reestablishCommunicationsState, &readyState, NULL, NSFGuard(this, &ResetStrategy::isCommReady), NULL),
// Actions
resetHardwareAction("ReadHardware", NSFAction(this, &ResetStrategy::resetHardware), getEventThread()),
readyCommAction("ResetComm", NSFAction(this, &ResetStrategy::resetComm), getEventThread())
{
}
