164 lines
3.2 KiB
C#
164 lines
3.2 KiB
C#
//--------------------------------------------------
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// Motion Framework
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// Copyright©2018-2020 何冠峰
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// Licensed under the MIT license
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//--------------------------------------------------
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using System;
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using System.Collections;
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using System.Collections.Generic;
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namespace MotionFramework.AI
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{
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/// <summary>
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/// 有限状态机
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/// </summary>
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public class FiniteStateMachine
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{
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private readonly List<IFsmNode> _nodes = new List<IFsmNode>();
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private IFsmNode _curNode;
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private IFsmNode _preNode;
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/// <summary>
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/// 节点转换关系图
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/// 注意：如果为NULL则不检测转换关系
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/// </summary>
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public FsmGraph Graph;
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/// <summary>
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/// 当前运行的节点名称
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/// </summary>
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public string CurrentNodeName
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{
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get { return _curNode != null ? _curNode.Name : string.Empty; }
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}
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/// <summary>
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/// 之前运行的节点名称
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/// </summary>
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public string PreviousNodeName
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{
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get { return _preNode != null ? _preNode.Name : string.Empty; }
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}
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/// <summary>
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/// 启动状态机
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/// </summary>
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/// <param name="entryNode">入口节点</param>
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public void Run(string entryNode)
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{
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_curNode = GetNode(entryNode);
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_preNode = GetNode(entryNode);
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if (_curNode != null)
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_curNode.OnEnter();
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else
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MotionLog.Error($"Not found entry node : {entryNode}");
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}
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/// <summary>
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/// 显示帧更新
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/// </summary>
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public void Update()
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{
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if (_curNode != null)
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_curNode.OnUpdate();
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}
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/// <summary>
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/// 物理帧更新
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/// </summary>
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public void FixedUpdate()
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{
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if (_curNode != null)
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_curNode.OnFixedUpdate();
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}
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/// <summary>
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/// 加入一个节点
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/// </summary>
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public void AddNode(IFsmNode node)
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{
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if (node == null)
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throw new ArgumentNullException();
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if (_nodes.Contains(node) == false)
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{
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_nodes.Add(node);
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}
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else
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{
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MotionLog.Warning($"Node {node.Name} already existed");
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}
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}
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/// <summary>
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/// 转换节点
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/// </summary>
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public void Transition(string nodeName)
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{
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if (string.IsNullOrEmpty(nodeName))
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throw new ArgumentNullException();
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IFsmNode node = GetNode(nodeName);
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if (node == null)
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{
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MotionLog.Error($"Can not found node {nodeName}");
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return;
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}
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// 检测转换关系
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if (Graph != null)
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{
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if (Graph.CanTransition(_curNode.Name, node.Name) == false)
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{
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MotionLog.Error($"Can not transition {_curNode} to {node}");
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return;
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}
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}
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MotionLog.Log($"FSM transition {_curNode.Name} to {node.Name}");
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_preNode = _curNode;
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_curNode.OnExit();
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_curNode = node;
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_curNode.OnEnter();
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}
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/// <summary>
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/// 返回到之前的节点
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/// </summary>
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public void RevertToPreviousNode()
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{
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Transition(PreviousNodeName);
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}
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/// <summary>
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/// 接收消息
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/// </summary>
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public void HandleMessage(object msg)
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{
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if (_curNode != null)
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_curNode.OnHandleMessage(msg);
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}
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private bool IsContains(string nodeName)
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{
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for (int i = 0; i < _nodes.Count; i++)
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{
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if (_nodes[i].Name == nodeName)
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return true;
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}
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return false;
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}
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private IFsmNode GetNode(string nodeName)
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{
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for (int i = 0; i < _nodes.Count; i++)
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{
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if (_nodes[i].Name == nodeName)
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return _nodes[i];
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}
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return null;
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}
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}
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}
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