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#ifndef SEEK_AI_H
#define SEEK_AI_H
#include <errorstate/plugin.h>
#include <QState>
#include <QSignalTransition>
#include <QSignalEvent>
#include <QVariant>
#include <QLineF>
#include <QDebug>
class SearchState: public QState
{
Q_OBJECT
public:
SearchState(QObject *tank, QState *parentState = 0)
: QState(parentState),
m_tank(tank),
m_distanceToTurn(360.0),
m_nearestDistance(-1.0),
m_directionOfNearestObstacle(0.0)
{
}
public slots:
void turnAlittle()
{
qreal dist = m_tank->property("distanceToObstacle").toDouble();
if (m_nearestDistance < 0.0 || dist < m_nearestDistance) {
m_nearestDistance = dist;
m_directionOfNearestObstacle = m_tank->property("direction").toDouble();
}
m_distanceToTurn -= 10.0;
if (m_distanceToTurn < 0.0) {
disconnect(m_tank, SIGNAL(actionCompleted()), this, SLOT(turnAlittle()));
connect(m_tank, SIGNAL(actionCompleted()), this, SIGNAL(nearestObstacleStraightAhead()));
m_tank->setProperty("direction", m_directionOfNearestObstacle);
}
qreal currentDirection = m_tank->property("direction").toDouble();
m_tank->setProperty("direction", currentDirection + 10.0);
}
signals:
void nearestObstacleStraightAhead();
protected:
void onEntry()
{
connect(m_tank, SIGNAL(actionCompleted()), this, SLOT(turnAlittle()));
turnAlittle();
}
void onExit()
{
disconnect(m_tank, SIGNAL(actionCompleted()), this, SLOT(turnAlittle()));
disconnect(m_tank, SIGNAL(actionCompleted()), this, SLOT(nearestObstacleStraightAhead()));
}
private:
QObject *m_tank;
qreal m_distanceToTurn;
qreal m_nearestDistance;
qreal m_directionOfNearestObstacle;
};
class CollisionTransition: public QSignalTransition
{
public:
CollisionTransition(QObject *tank, QState *turnTo)
: QSignalTransition(tank, SIGNAL(collision(QLineF)), turnTo),
m_tank(tank),
m_turnTo(turnTo)
{
setTargetState(turnTo);
}
protected:
bool eventTest(QEvent *event) const
{
if (event->type() == QEvent::Signal) {
QSignalEvent *se = static_cast<QSignalEvent *>(event);
m_lastLine = se->arguments().at(0).toLineF();
}
return QSignalTransition::eventTest(event);
}
void onTransition()
{
qreal currentDirection = m_tank->property("direction").toDouble();
qreal angleOfWall = m_lastLine.angle();
qreal newDirection;
if (qAbs(currentDirection - angleOfWall) < qAbs(angleOfWall - currentDirection))
newDirection = angleOfWall;
else
newDirection = -angleOfWall;
m_turnTo->assignProperty(m_tank, "direction", newDirection);
}
private:
mutable QLineF m_lastLine;
QObject *m_tank;
QState *m_turnTo;
};
class SeekAi: public QObject, public Plugin
{
Q_OBJECT
Q_INTERFACES(Plugin)
public:
virtual QState *create(QState *parentState, QObject *tank);
};
#endif
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