>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  play-soccer
        >>>  initial-ready-and-set
        >>>  playing
        >>>  penalized
        >>>  finished

Option play-soccer

Selects gamestate according to game manager messages and buttons.

State Machine

This browser can't display the SVG file svg/option_play-soccer.svg.



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

State initial-ready-and-set

If that state is active,
 >  The option initial-ready-and-set is executed.
 
 >  These output symbols are set:
 
    profiler-collect-mode  =  profiler-collect-mode.dont-collect-profiles
    profiler-write-mode  =  profiler-write-mode.dont-write-profiles
 
The decision tree:
  This browser can't display the SVG file svg/option_play-soccer_state_initial-ready-and-set.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.ready)
|| 
(game.state == game.state.set)
|| 
(game.state == game.state.initial)
)
&& 
(game.time-since-last-message < 500)
)   // initial, ready, or set message received
{
  
transition-to-state(initial-ready-and-set);
}
else if (
(game.state == game.state.penalized)
&& 
(game.time-since-last-message < 500)
)   // penalized message received
{
  
transition-to-state(penalized);
}
else if (
(game.state == game.state.finished)
&& 
(game.time-since-last-message < 500)
)   // finished message received
{
  
transition-to-state(finished);
}
else
{
  
if (subsequent-option-reached-target-state)   // game started (reached target state)
{
  
transition-to-state(playing);
}
else
{
  
transition-to-state(initial-ready-and-set);
}
}

State playing

If that state is active,
 >  The option playing is executed.
 
 >  These output symbols are set:
 
    sent-game-state  =  sent-game-state.playing
    profiler-collect-mode  =  profiler-collect-mode.dont-collect-profiles
    profiler-write-mode  =  profiler-write-mode.dont-write-profiles
 
The decision tree:
  This browser can't display the SVG file svg/option_play-soccer_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.ready)
|| 
(game.state == game.state.set)
|| 
(game.state == game.state.initial)
)
&& 
(game.time-since-last-message < 500)
)   // initial, ready, or set message received
{
  
transition-to-state(initial-ready-and-set);
}
else if (
(game.state == game.state.penalized)
&& 
(game.time-since-last-message < 500)
)   // penalized message received
{
  
transition-to-state(penalized);
}
else if (
(game.state == game.state.finished)
&& 
(game.time-since-last-message < 500)
)   // finished message received
{
  
transition-to-state(finished);
}
else
{
  
if (robot-state.any-back-button-pressed-for-one-second)   // one of the back switches pressed for more than one second
{
  
transition-to-state(penalized);
}
else
{
  
transition-to-state(playing);
}
}

State penalized

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.look-between-feet
    sent-game-state  =  sent-game-state.penalized
    leds.back-middle-white  =  back-middle-white.lloo
    profiler-collect-mode  =  profiler-collect-mode.dont-collect-profiles
    profiler-write-mode  =  profiler-write-mode.dont-write-profiles
 
The decision tree:
  This browser can't display the SVG file svg/option_play-soccer_state_penalized.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.ready)
|| 
(game.state == game.state.set)
|| 
(game.state == game.state.initial)
)
&& 
(game.time-since-last-message < 500)
)   // initial, ready, or set message received
{
  
transition-to-state(initial-ready-and-set);
}
else if (
(game.state == game.state.penalized)
&& 
(game.time-since-last-message < 500)
)   // penalized message received
{
  
transition-to-state(penalized);
}
else if (
(game.state == game.state.finished)
&& 
(game.time-since-last-message < 500)
)   // finished message received
{
  
transition-to-state(finished);
}
else
{
  
if (robot-state.head-button-pressed-for-three-seconds)   // head pressed for 3 seconds
{
  
transition-to-state(initial-ready-and-set);
}
else if (robot-state.head-button-pressed-short-and-released)   // head pressed short
{
  
transition-to-state(playing);
}
else if (
(game.state == game.state.playing)
&& 
(game.time-since-last-message < 500)
)   // playing message received
{
  
transition-to-state(playing);
}
else
{
  
transition-to-state(penalized);
}
}

State finished

If that state is active,
 >  The option finished is executed.
 
 >  These output symbols are set:
 
    profiler-collect-mode  =  profiler-collect-mode.dont-collect-profiles
    profiler-write-mode  =  profiler-write-mode.dont-write-profiles
 
The decision tree:
  This browser can't display the SVG file svg/option_play-soccer_state_finished.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.ready)
|| 
(game.state == game.state.set)
|| 
(game.state == game.state.initial)
)
&& 
(game.time-since-last-message < 500)
)   // initial, ready, or set message received
{
  
transition-to-state(initial-ready-and-set);
}
else if (
(game.state == game.state.penalized)
&& 
(game.time-since-last-message < 500)
)   // penalized message received
{
  
transition-to-state(penalized);
}
else if (
(game.state == game.state.finished)
&& 
(game.time-since-last-message < 500)
)   // finished message received
{
  
transition-to-state(finished);
}
else
{
  
if (
(game.state == game.state.playing)
&& 
(game.time-since-last-message < 500)
)   // playing message received
{
  
transition-to-state(playing);
}
else
{
  
transition-to-state(finished);
}
}