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#include "seek_ai.h"
QState *SeekAi::create(QState *parentState, QObject *tank)
{
QState *topLevel = new QState(parentState);
topLevel->setObjectName("topLevel");
QState *seek = new QState(topLevel);
seek->setObjectName("seek");
topLevel->setInitialState(seek);
QState *lookForNearestWall = new SearchState(tank, seek);
lookForNearestWall->setObjectName("lookForNearestWall");
seek->setInitialState(lookForNearestWall);
QState *driveToFirstObstacle = new QState(seek);
driveToFirstObstacle->setObjectName("driveToFirstObstacle");
lookForNearestWall->addTransition(lookForNearestWall, SIGNAL(nearestObstacleStraightAhead()),
driveToFirstObstacle);
QState *drive = new QState(driveToFirstObstacle);
drive->setObjectName("drive");
driveToFirstObstacle->setInitialState(drive);
connect(drive, SIGNAL(entered()), tank, SLOT(moveForwards()));
connect(drive, SIGNAL(exited()), tank, SLOT(stop()));
// Go in loop
QState *finishedDriving = new QState(driveToFirstObstacle);
finishedDriving->setObjectName("finishedDriving");
drive->addTransition(tank, SIGNAL(actionCompleted()), finishedDriving);
finishedDriving->addTransition(drive);
QState *turnTo = new QState(seek);
turnTo->setObjectName("turnTo");
driveToFirstObstacle->addTransition(new CollisionTransition(tank, turnTo));
turnTo->addTransition(tank, SIGNAL(actionCompleted()), driveToFirstObstacle);
return topLevel;
}
Q_EXPORT_PLUGIN2(seek_ai, SeekAi)
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