>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  initial-ready-and-set
        >>>  initial-opponent-kick-off
        >>>  own-team-scored
        >>>  ready-opponent-kick-off
        >>>  set-opponent-kick-off
        >>>  initial-own-kick-off
        >>>  opponent-team-scored
        >>>  ready-own-kick-off
        >>>  set-own-kick-off
        >>>  playing

Option initial-ready-and-set

A state machine for the initial, ready, and set game state.

State Machine

This browser can't display the SVG file svg/option_initial-ready-and-set.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html

State initial-opponent-kick-off

If that state is active,
 >  The option initial-set-team-color is executed.
 
 >  These output symbols are set:
 
    sent-game-state  =  sent-game-state.initial
    head-control-mode  =  head-control-mode.look-straight-ahead
    leds.back-middle-orange  =  back-middle-orange.oooo
    leds.back-front-white  =  back-front-white.lloo
    leds.back-middle-white  =  back-middle-white.lloo
    leds.back-rear-white  =  back-rear-white.lloo
 
The decision tree:
  This browser can't display the SVG file svg/option_initial-ready-and-set_state_initial-opponent-kick-off.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (game.own-team-scored)   // own team scored
{
  
transition-to-state(own-team-scored);
}
else if (game.opponent-team-scored)   // opponent team scored
{
  
transition-to-state(opponent-team-scored);
}
else if (
(robot-state.middle-back-button-pressed-short)
&& 
(time-of-state-execution > 1000)
)   // middle back pressed short
{
  
transition-to-state(initial-own-kick-off);
}
else if (
(game.state == game.state.ready)
&& 
(game.time-since-last-message < 500)
)   // ready message received
{
  
transition-to-state(ready-opponent-kick-off);
}
else if (
(game.state == game.state.set)
&& 
(game.time-since-last-message < 500)
)   // set message received
{
  
transition-to-state(set-opponent-kick-off);
}
else if (
(game.state == game.state.playing)
&& 
(game.time-since-last-message < 500)
)   // playing message received
{
  
transition-to-state(playing);
}
else if (another-player-is-in-ready-state)   // another player is already in ready state
{
  
transition-to-state(ready-opponent-kick-off);
}
else if (
(robot-state.head-button-pressed-short)
&& 
(time-of-state-execution > 1000)
)   // head pressed short
{
  
transition-to-state(ready-opponent-kick-off);
}
else if (
(game.kickoff == game.kickoff.own)
&& 
(game.time-since-last-message < 500)
)   // own kick off message received
{
  
transition-to-state(initial-own-kick-off);
}
else
{
  
transition-to-state(initial-opponent-kick-off);
}

State own-team-scored

If that state is active,
 >  The option own-team-scored is executed.
 
 >  These output symbols are set:
 
    leds.back-front-white  =  back-front-white.llll
    leds.back-middle-white  =  back-middle-white.oooo
    leds.back-rear-white  =  back-rear-white.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_initial-ready-and-set_state_own-team-scored.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (subsequent-option-reached-target-state)   // cheering finished
{
  
transition-to-state(ready-opponent-kick-off);
}
else
{
  
transition-to-state(own-team-scored);
}

State ready-opponent-kick-off

If that state is active,
 >  The option go-to-kickoff-position is executed. Parameters:
 
    go-to-kickoff-position.x  =  kickoff.x( kickoff.rolenumber , 0 ) ;
    go-to-kickoff-position.y  =  kickoff.y( kickoff.rolenumber , 0 ) ;
    go-to-kickoff-position.angle  =  kickoff.angle( kickoff.rolenumber , 0 ) ;
 
 >  These output symbols are set:
 
    sent-game-state  =  sent-game-state.ready
    leds.back-middle-orange  =  back-middle-orange.oooo
    leds.back-front-white  =  back-front-white.llll
    leds.back-middle-white  =  back-middle-white.oooo
    leds.back-rear-white  =  back-rear-white.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_initial-ready-and-set_state_ready-opponent-kick-off.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (
(robot-state.head-button-pressed-short)
&& 
(time-of-state-execution > 1000)
)   // head pressed short
{
  
transition-to-state(set-opponent-kick-off);
}
else if (
(game.state == game.state.initial)
&& 
(game.time-since-last-message < 500)
)   // initial message received
{
  
transition-to-state(initial-opponent-kick-off);
}
else if (
(game.state == game.state.set)
&& 
(game.time-since-last-message < 500)
)   // set message received
{
  
transition-to-state(set-opponent-kick-off);
}
else if (game.state == game.state.playing)   // playing message received
{
  
transition-to-state(playing);
}
else if (subsequent-option-reached-target-state)   // arrived
{
  
transition-to-state(set-opponent-kick-off);
}
else if (
(game.kickoff == game.kickoff.own)
&& 
(game.time-since-last-message < 500)
)   // own kick off message received
{
  
transition-to-state(ready-own-kick-off);
}
else
{
  
transition-to-state(ready-opponent-kick-off);
}

State set-opponent-kick-off

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
    sent-game-state  =  sent-game-state.set
    leds.back-middle-orange  =  back-middle-orange.oooo
    leds.back-front-white  =  back-front-white.llll
    leds.back-middle-white  =  back-middle-white.lloo
    leds.back-rear-white  =  back-rear-white.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_initial-ready-and-set_state_set-opponent-kick-off.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (
(robot-state.head-button-pressed-short)
&& 
(time-of-state-execution > 1000)
)   // head pressed short
{
  
transition-to-state(playing);
}
else if (
(game.state == game.state.initial)
&& 
(game.time-since-last-message < 500)
)   // initial message received
{
  
transition-to-state(initial-opponent-kick-off);
}
else if (
(game.state == game.state.ready)
&& 
(game.time-since-last-message < 500)
)   // ready message received
{
  
transition-to-state(ready-opponent-kick-off);
}
else if (
(game.state == game.state.playing)
&& 
(game.time-since-last-message < 500)
)   // playing message received
{
  
transition-to-state(playing);
}
else if (
(game.kickoff == game.kickoff.own)
&& 
(game.time-since-last-message < 500)
)   // own kick off message received
{
  
transition-to-state(set-own-kick-off);
}
else
{
  
transition-to-state(set-opponent-kick-off);
}

State initial-own-kick-off

If that state is active,
 >  The option initial-set-team-color is executed.
 
 >  These output symbols are set:
 
    sent-game-state  =  sent-game-state.initial
    head-control-mode  =  head-control-mode.look-straight-ahead
    leds.back-middle-orange  =  back-middle-orange.llll
    leds.back-front-white  =  back-front-white.lloo
    leds.back-middle-white  =  back-middle-white.lloo
    leds.back-rear-white  =  back-rear-white.lloo
 
The decision tree:
  This browser can't display the SVG file svg/option_initial-ready-and-set_state_initial-own-kick-off.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (
(robot-state.middle-back-button-pressed-short)
&& 
(time-of-state-execution > 1000)
)   // middle back pressed short
{
  
transition-to-state(initial-opponent-kick-off);
}
else if (
(game.state == game.state.ready)
&& 
(game.time-since-last-message < 500)
)   // ready message received
{
  
transition-to-state(ready-own-kick-off);
}
else if (
(game.state == game.state.set)
&& 
(game.time-since-last-message < 500)
)   // set message received
{
  
transition-to-state(set-own-kick-off);
}
else if (
(game.state == game.state.playing)
&& 
(game.time-since-last-message < 500)
)   // playing message received
{
  
transition-to-state(playing);
}
else if (another-player-is-in-ready-state)   // another player is already in ready state
{
  
transition-to-state(ready-own-kick-off);
}
else if (
(robot-state.head-button-pressed-short)
&& 
(time-of-state-execution > 1000)
)   // head pressed short
{
  
transition-to-state(ready-own-kick-off);
}
else if (
(game.kickoff == game.kickoff.opponent)
&& 
(game.time-since-last-message < 500)
)   // opponent kick off message received
{
  
transition-to-state(initial-opponent-kick-off);
}
else
{
  
transition-to-state(initial-own-kick-off);
}

State opponent-team-scored

If that state is active,
 >  The option opponent-team-scored is executed.
 
 >  These output symbols are set:
 
    leds.back-front-white  =  back-front-white.llll
    leds.back-middle-white  =  back-middle-white.oooo
    leds.back-rear-white  =  back-rear-white.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_initial-ready-and-set_state_opponent-team-scored.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (subsequent-option-reached-target-state)   // cheering finished
{
  
transition-to-state(ready-own-kick-off);
}
else
{
  
transition-to-state(opponent-team-scored);
}

State ready-own-kick-off

If that state is active,
 >  The option go-to-kickoff-position is executed. Parameters:
 
    go-to-kickoff-position.x  =  kickoff.x( kickoff.rolenumber , 1 ) ;
    go-to-kickoff-position.y  =  kickoff.y( kickoff.rolenumber , 1 ) ;
    go-to-kickoff-position.angle  =  kickoff.angle( kickoff.rolenumber , 1 ) ;
 
 >  These output symbols are set:
 
    sent-game-state  =  sent-game-state.ready
    leds.back-middle-orange  =  back-middle-orange.llll
    leds.back-front-white  =  back-front-white.llll
    leds.back-middle-white  =  back-middle-white.oooo
    leds.back-rear-white  =  back-rear-white.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_initial-ready-and-set_state_ready-own-kick-off.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (
(robot-state.head-button-pressed-short)
&& 
(time-of-state-execution > 1000)
)   // head pressed short
{
  
transition-to-state(set-own-kick-off);
}
else if (
(game.state == game.state.initial)
&& 
(game.time-since-last-message < 500)
)   // initial message received
{
  
transition-to-state(initial-own-kick-off);
}
else if (
(game.state == game.state.set)
&& 
(game.time-since-last-message < 500)
)   // set message received
{
  
transition-to-state(set-own-kick-off);
}
else if (
(game.state == game.state.playing)
&& 
(game.time-since-last-message < 500)
)   // playing message received
{
  
transition-to-state(playing);
}
else if (subsequent-option-reached-target-state)   // arrived
{
  
transition-to-state(set-own-kick-off);
}
else if (
(game.kickoff == game.kickoff.opponent)
&& 
(game.time-since-last-message < 500)
)   // opponent kick off message received
{
  
transition-to-state(ready-opponent-kick-off);
}
else
{
  
transition-to-state(ready-own-kick-off);
}

State set-own-kick-off

If that state is active,
 >  The option set-before-own-kickoff is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.search-auto
    sent-game-state  =  sent-game-state.set
    leds.back-middle-orange  =  back-middle-orange.llll
    leds.back-front-white  =  back-front-white.llll
    leds.back-middle-white  =  back-middle-white.lloo
    leds.back-rear-white  =  back-rear-white.llll
 
The decision tree:
  This browser can't display the SVG file svg/option_initial-ready-and-set_state_set-own-kick-off.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (
(robot-state.head-button-pressed-short)
&& 
(time-of-state-execution > 1000)
)   // head pressed short
{
  
transition-to-state(playing);
}
else if (
(game.state == game.state.initial)
&& 
(game.time-since-last-message < 500)
)   // initial message received
{
  
transition-to-state(initial-own-kick-off);
}
else if (
(game.state == game.state.ready)
&& 
(game.time-since-last-message < 500)
)   // ready message received
{
  
transition-to-state(ready-own-kick-off);
}
else if (
(game.state == game.state.playing)
&& 
(game.time-since-last-message < 500)
)   // playing message received
{
  
transition-to-state(playing);
}
else if (
(game.kickoff == game.kickoff.opponent)
&& 
(game.time-since-last-message < 500)
)   // opponent kick off message received
{
  
transition-to-state(set-opponent-kick-off);
}
else
{
  
transition-to-state(set-own-kick-off);
}

State playing

This state is a target state.
If that state is active,
 >  The option playing is executed.
 
 >  These output symbols are set:
 
    sent-game-state  =  sent-game-state.playing
 
The decision tree:
  This browser can't display the SVG file svg/option_initial-ready-and-set_state_playing.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (
(game.state == game.state.initial)
&& 
(game.time-since-last-message < 500)
)   // initial message received
{
  
transition-to-state(initial-opponent-kick-off);
}
else if (
(game.state == game.state.ready)
&& 
(game.time-since-last-message < 500)
)   // ready message received
{
  
transition-to-state(ready-opponent-kick-off);
}
else if (
(game.state == game.state.set)
&& 
(game.time-since-last-message < 500)
)   // set message received
{
  
transition-to-state(set-opponent-kick-off);
}
else
{
  
transition-to-state(playing);
}