1 /*
2 * To change this template, choose Tools | Templates
3 * and open the template in the editor.
4 */
5 package cz.cuni.amis.pogamut.usar2004.samples.AirScanner;
6
7 /**
8 * List of all Robot states. Each state represents on type of behaviour
9 * associated with this state
10 *
11 * @author vejmanm
12 */
13 public enum State
14 {
15 DEFAULT,//initial - find closest corner
16 LONGFORTH,//long way
17 SHORTFORTH,//short way
18 LONGBACK,//long way backwards
19 SHORTBACK,//short as well
20 TERMINATE,//return home and end
21 LAND,//fall
22 CHARGE,//return to base
23 CHARGING,//fall down, reconfigure, wait one moment
24 AVOIDING,//reactive avoiding obstacles
25 AVOIDED,//got to the point that leaded away from an obstacle
26 CONTINUE,//Get back to the position before charge was required
27 CONTINUED;//continue in scanning
28
29 public static State getNextState(State current)
30 {
31 switch(current)
32 {
33 case DEFAULT:
34 return LONGFORTH;
35 case LONGFORTH:
36 return SHORTFORTH;
37 case SHORTFORTH:
38 return LONGBACK;
39 case LONGBACK:
40 return SHORTBACK;
41 case SHORTBACK:
42 return LONGFORTH;
43 case TERMINATE:
44 return LAND;
45 case LAND:
46 return LAND;
47 case CHARGE:
48 return CHARGING;
49 case CHARGING:
50 return CHARGING;
51 case CONTINUE:
52 return CONTINUED;
53 case AVOIDING:
54 return AVOIDED;
55 default:
56 return DEFAULT;
57 }
58 }
59 }