package nl.ru.ai.projects.parrot.tools;
import nl.ru.ai.projects.parrot.behaviors.FlyTowardsPole;
import nl.ru.ai.projects.parrot.behaviors.Hover;
import nl.ru.ai.projects.parrot.behaviors.InitializeDrone;
import nl.ru.ai.projects.parrot.behaviors.PassLeft;
import nl.ru.ai.projects.parrot.behaviors.PassRight;
import nl.ru.ai.projects.parrot.behaviors.SearchPole;
import nl.ru.ai.projects.parrot.behaviors.TurnLeft;
import nl.ru.ai.projects.parrot.behaviors.TurnRight;
import nl.ru.ai.projects.parrot.behaviors.TwitterBehavior;
import nl.ru.ai.projects.parrot.dronecontrol.ParrotDroneInterface;
import nl.ru.ai.projects.parrot.dronecontrol.PolePositionPollInterface;
import nl.ru.ai.projects.parrot.fsm.Behavior;
import nl.ru.ai.projects.parrot.fsm.State;
import nl.ru.ai.projects.parrot.fsm.Transition;
import nl.ru.ai.projects.parrot.transitions.CloseToPole;
import nl.ru.ai.projects.parrot.transitions.OutOfSight;
import nl.ru.ai.projects.parrot.transitions.PoleFound;
public Transition poleFoundLeft;
public Transition poleFoundRight;
public Transition outOfSightRight;
public Transition outOfSightLeft;
public Transition poleLostLeft;
public Transition poleLostRight;
public Transition closeToPoleLeft;
public Transition closeToPoleRight;
public BehaviorModuleSL(ParrotDroneInterface pdi, PolePositionPollInterface pppi) {
super(pdi, pppi);
State searchPoleLeft = new State("Search left pole");
State searchPoleRight = new State("Search right pole");
State leftPass = new State("Pass left");
State turnRight = new State("Turn right");
State rightPass = new State("Pass right");
State turnLeft = new State("Turn left");
State flyToPoleLeft = new State("Fly to pole left");
State flyToPoleRight = new State("Fly to pole right");
Behavior initializeDroneBehavior = new InitializeDrone(pdi, pppi);
initializeDroneBehavior.setDuration(2500);
Behavior hoverBehavior = new Hover(pdi, pppi);
hoverBehavior.setDuration(1500);
Behavior twitterBehavior = new TwitterBehavior(pdi, pppi);
Behavior searchPoleBehavior = new SearchPole(pdi, pppi);
searchPoleBehavior.setDuration(200);
Behavior passLeftBehavior = new PassLeft(pdi, pppi);
passLeftBehavior.setDuration(250);
Behavior passRightBehavior = new PassRight(pdi, pppi);
passRightBehavior.setDuration(250);
Behavior turnLeftBehavior = new TurnLeft(pdi, pppi);
turnLeftBehavior.setDuration(250);
Behavior turnRightBehavior = new TurnRight(pdi, pppi);
turnRightBehavior.setDuration(250);
Behavior flyToPoleLeftBehavior = new FlyTowardsPole(pdi, pppi);
flyToPoleLeftBehavior.setDuration(250);
Behavior flyToPoleRightBehavior = new FlyTowardsPole(pdi, pppi);
flyToPoleRightBehavior.setDuration(250);
searchPoleRight.setEntryBehavior(initializeDroneBehavior);
searchPoleRight.addBehavior(searchPoleBehavior);
searchPoleRight.setExitBehavior(hoverBehavior);
searchPoleLeft.addBehavior(searchPoleBehavior);
searchPoleLeft.setExitBehavior(hoverBehavior);
leftPass.addBehavior(passLeftBehavior);
leftPass.addBehavior(twitterBehavior);
leftPass.setExitBehavior(hoverBehavior);
turnRight.addBehavior(turnRightBehavior);
turnRight.addBehavior(twitterBehavior);
turnRight.setExitBehavior(hoverBehavior);
rightPass.addBehavior(passRightBehavior);
rightPass.addBehavior(twitterBehavior);
rightPass.setExitBehavior(hoverBehavior);
turnLeft.addBehavior(turnLeftBehavior);
turnLeft.addBehavior(twitterBehavior);
turnLeft.setExitBehavior(hoverBehavior);
flyToPoleLeft.addBehavior(flyToPoleLeftBehavior);
flyToPoleLeft.addBehavior(twitterBehavior);
flyToPoleLeft.setExitBehavior(hoverBehavior);
flyToPoleRight.addBehavior(flyToPoleRightBehavior);
flyToPoleRight.addBehavior(twitterBehavior);
flyToPoleRight.setExitBehavior(hoverBehavior);
poleFoundLeft = new PoleFound(flyToPoleLeft, pdi, pppi);
poleFoundLeft.setDuration(20);
searchPoleLeft.addTransition(poleFoundLeft);
poleFoundRight = new PoleFound(flyToPoleRight, pdi, pppi);
poleFoundRight.setDuration(20);
searchPoleRight.addTransition(poleFoundRight);
turnLeft.addTransition(poleFoundRight);
turnRight.addTransition(poleFoundLeft);
outOfSightRight = new OutOfSight(turnRight, pdi, pppi);
outOfSightRight.setDuration(5);
leftPass.addTransition(outOfSightRight);
outOfSightLeft = new OutOfSight(turnLeft, pdi, pppi);
outOfSightLeft.setDuration(5);
rightPass.addTransition(outOfSightLeft);
poleLostLeft = new OutOfSight(searchPoleLeft, pdi, pppi);
poleLostLeft.setDuration(5);
flyToPoleLeft.addTransition(poleLostLeft);
poleLostRight = new OutOfSight(searchPoleRight, pdi, pppi);
poleLostRight.setDuration(5);
flyToPoleRight.addTransition(poleLostRight);
closeToPoleLeft = new CloseToPole(rightPass, pdi, pppi);
closeToPoleLeft.setDuration(211);
flyToPoleLeft.addTransition(closeToPoleLeft);
closeToPoleRight = new CloseToPole(leftPass, pdi, pppi);
closeToPoleRight.setDuration(211);
flyToPoleRight.addTransition(closeToPoleRight);
fsm.setInitialState(searchPoleRight);
}
}