mirror of
https://github.com/Sneed-Group/Poodletooth-iLand
synced 2024-12-26 13:12:30 -06:00
276 lines
8.9 KiB
Python
276 lines
8.9 KiB
Python
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"""Undocumented Module"""
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__all__ = ['FourStateAI']
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from direct.directnotify import DirectNotifyGlobal
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#import DistributedObjectAI
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import ClassicFSM
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import State
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from direct.task import Task
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class FourStateAI:
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"""
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Generic four state ClassicFSM base class.
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This is a mix-in class that expects that your derived class
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is a DistributedObjectAI.
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Inherit from FourStateFSM and pass in your states. Two of
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the states should be oposites of each other and the other
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two should be the transition states between the first two.
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E.g.
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+--------+
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-->| closed | --
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| +--------+ |
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| v
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+---------+ +---------+
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| closing |<----->| opening |
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+---------+ +---------+
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^ |
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| +------+ |
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----| open |<---
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+------+
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There is a fifth off state, but that is an implementation
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detail (and that's why it's not called a five state ClassicFSM).
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I found that this pattern repeated in several things I was
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working on, so this base class was created.
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"""
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notify = DirectNotifyGlobal.directNotify.newCategory('FourStateAI')
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def __init__(self, names, durations = [0, 1, None, 1, 1]):
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"""
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names is a list of state names
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E.g.
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['off', 'opening', 'open', 'closing', 'closed',]
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e.g. 2:
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['off', 'locking', 'locked', 'unlocking', 'unlocked',]
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e.g. 3:
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['off', 'deactivating', 'deactive', 'activating', 'activated',]
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durations is a list of durations in seconds or None values.
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The list of duration values should be the same length
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as the list of state names and the lists correspond.
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For each state, after n seconds, the ClassicFSM will move to
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the next state. That does not happen for any duration
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values of None.
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More Details
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Here is a diagram showing the where the names from the list
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are used:
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+---------+
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| 0 (off) |----> (any other state and vice versa).
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+---------+
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+--------+
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-->| 4 (on) |---
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| +--------+ |
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| v
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+---------+ +---------+
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| 3 (off) |<----->| 1 (off) |
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+---------+ +---------+
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^ |
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| +---------+ |
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--| 2 (off) |<--
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+---------+
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Each states also has an associated on or off value. The only
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state that is 'on' is state 4. So, the transition states
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between off and on (states 1 and 3) are also considered
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off (and so is state 2 which is oposite of state 4 and therefore
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oposite of 'on').
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"""
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self.stateIndex = 0
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assert self.debugPrint(
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"FourStateAI(names=%s, durations=%s)"
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%(names, durations))
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self.doLaterTask = None
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assert len(names) == 5
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assert len(names) == len(durations)
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self.names = names
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self.durations = durations
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self.states = {
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0: State.State(names[0],
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self.enterState0,
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self.exitState0,
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[names[1],
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names[2],
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names[3],
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names[4]]),
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1: State.State(names[1],
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self.enterState1,
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self.exitState1,
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[names[2], names[3]]),
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2: State.State(names[2],
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self.enterState2,
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self.exitState2,
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[names[3]]),
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3: State.State(names[3],
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self.enterState3,
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self.exitState3,
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[names[4], names[1]]),
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4: State.State(names[4],
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self.enterState4,
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self.exitState4,
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[names[1]]),
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}
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self.fsm = ClassicFSM.ClassicFSM('FourState',
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self.states.values(),
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# Initial State
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names[0],
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# Final State
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names[0],
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)
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self.fsm.enterInitialState()
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def delete(self):
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assert self.debugPrint("delete()")
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if self.doLaterTask is not None:
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self.doLaterTask.remove()
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del self.doLaterTask
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del self.states
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del self.fsm
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def getState(self):
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assert self.debugPrint("getState() returning %s"%(self.stateIndex,))
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return [self.stateIndex]
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def sendState(self):
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assert self.debugPrint("sendState()")
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self.sendUpdate('setState', self.getState())
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def setIsOn(self, isOn):
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assert self.debugPrint("setIsOn(isOn=%s)"%(isOn,))
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if isOn:
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if self.stateIndex != 4:
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# ...if it's not On; request turning on:
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self.fsm.request(self.states[3])
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else:
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if self.stateIndex != 2:
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# ...if it's not Off; request turning off:
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self.fsm.request(self.states[1])
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#if isOn:
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# nextState = (4, 3, 3, 4, None)[self.stateIndex]
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#else:
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# nextState = (2, 2, None, 1, 1)[self.stateIndex]
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#if nextState is not None:
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# self.fsm.request(self.states[nextState])
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def isOn(self):
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assert self.debugPrint("isOn() returning %s (stateIndex=%s)"%(self.stateIndex==4, self.stateIndex))
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return self.stateIndex==4
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def changedOnState(self, isOn):
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"""
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Allow derived classes to overide this.
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The self.isOn value has toggled. Call getIsOn() to
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get the current state.
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"""
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assert self.debugPrint("changedOnState(isOn=%s)"%(isOn,))
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##### states #####
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def switchToNextStateTask(self, task):
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assert self.debugPrint("switchToNextStateTask()")
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self.fsm.request(self.states[self.nextStateIndex])
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return Task.done
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def distributeStateChange(self):
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"""
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This function is intentionaly simple so that derived classes
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may easily alter the network message.
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"""
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assert self.debugPrint("distributeStateChange()")
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self.sendState()
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def enterStateN(self, stateIndex, nextStateIndex):
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assert self.debugPrint(
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"enterStateN(stateIndex=%s, nextStateIndex=%s)"%
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(stateIndex, nextStateIndex))
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self.stateIndex = stateIndex
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self.nextStateIndex = nextStateIndex
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self.distributeStateChange()
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if self.durations[stateIndex] is not None:
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assert self.doLaterTask is None
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self.doLaterTask=taskMgr.doMethodLater(
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self.durations[stateIndex],
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self.switchToNextStateTask,
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"enterStateN-timer-%s"%id(self))
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def exitStateN(self):
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assert self.debugPrint("exitStateN()")
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if self.doLaterTask:
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taskMgr.remove(self.doLaterTask)
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self.doLaterTask=None
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##### state 0 #####
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def enterState0(self):
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assert self.debugPrint("enter0()")
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self.enterStateN(0, 0)
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def exitState0(self):
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assert self.debugPrint("exit0()")
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##### state 1 #####
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def enterState1(self):
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#assert self.debugPrint("enterState1()")
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self.enterStateN(1, 2)
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def exitState1(self):
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assert self.debugPrint("exitState1()")
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self.exitStateN()
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##### state 2 #####
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def enterState2(self):
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#assert self.debugPrint("enterState2()")
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self.enterStateN(2, 3)
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def exitState2(self):
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assert self.debugPrint("exitState2()")
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self.exitStateN()
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##### state 3 #####
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def enterState3(self):
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#assert self.debugPrint("enterState3()")
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self.enterStateN(3, 4)
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def exitState3(self):
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assert self.debugPrint("exitState3()")
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self.exitStateN()
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##### state 4 #####
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def enterState4(self):
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assert self.debugPrint("enterState4()")
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self.enterStateN(4, 1)
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self.changedOnState(1)
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def exitState4(self):
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assert self.debugPrint("exitState4()")
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self.exitStateN()
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self.changedOnState(0)
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if __debug__:
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def debugPrint(self, message):
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"""for debugging"""
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return self.notify.debug("%d (%d) %s"%(
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id(self), self.stateIndex==4, message))
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