oolite/Resources/AIs/dockingAI.plist

{
    GLOBAL = {
        ENTER = ("setSpeedTo: 0.0", requestDockingCoordinates, "setStateTo: AWAIT_COORDS");
        EXIT = ();
        UPDATE = ();
    };
    "AWAIT_COORDS" = {
        "APPROACH" = ("setStateTo: APPROACH");
        "APPROACH_COORDINATES" = ("setStateTo: GO_TO_COORDS");
        "BACK_OFF" = ("setStateTo: RETREAT");
        "HOLD_POSITION" = ("setStateTo: STATIONKEEPING");
        "DOCKING_ABORTED" = ("setStateTo: ABORT");
        "TRY_AGAIN_LATER" = ("pauseAI: 30.0", "setStateTo: ABORT");
        "COLLISION" = ("setStateTo: ABORT");
        "RESTART_DOCKING" = ("setStateTo: GLOBAL");
        DOCKED = ("setStateTo: EXIT_SYSTEM");
        ENTER = ();
        EXIT = ();
        UPDATE = ();
    };
    STATIONKEEPING = {
        ENTER = (performIdle, "setSpeedTo: 0.0", "pauseAI: 10.0");
        EXIT = ();
        UPDATE = (requestDockingCoordinates, "setStateTo: AWAIT_COORDS");
    };
    APPROACH = {
        ENTER = (recallDockingInstructions, "setSpeedFactorTo: 1.0", performFlyToRangeFromDestination);
        "DESIRED_RANGE_ACHIEVED" = (requestDockingCoordinates, "setStateTo: AWAIT_COORDS");
        "DOCKING_ABORTED" = ("setStateTo: ABORT");
        "COLLISION" = ("setStateTo: ABORT");
        "RESTART_DOCKING" = ("setStateTo: GLOBAL");
        EXIT = ();
        UPDATE = ();
    };
    RETREAT = {
        ENTER = (recallDockingInstructions, "setSpeedTo: 0.0", setDestinationToDockingAbort, performFaceDestination);
        "FACING_DESTINATION" =  ("setSpeedFactorTo: 1.0", "setDesiredRangeTo: 500.0", performFlyToRangeFromDestination);
        "DESIRED_RANGE_ACHIEVED" = ("setSpeedTo: 0.0", requestDockingCoordinates, "setStateTo: AWAIT_COORDS");
        "DOCKING_ABORTED" = ("setStateTo: ABORT");
        "COLLISION" = ("setStateTo: ABORT");
        "RESTART_DOCKING" = ("setStateTo: GLOBAL");
        EXIT = ();
        UPDATE = ();
    };
    "GO_TO_COORDS" = {
        ENTER = (performFaceDestination);
        FRUSTRATED = ("setSpeedTo: 0.0", performFaceDestination);
        "FACING_DESTINATION" = (recallDockingInstructions, performFlyToRangeFromDestination);
        "DESIRED_RANGE_ACHIEVED" = (requestDockingCoordinates, "setStateTo: AWAIT_COORDS");
        "DOCKING_ABORTED" = ("setStateTo: ABORT");
        "COLLISION" = ("setStateTo: ABORT");
        "RESTART_DOCKING" = ("setStateTo: GLOBAL");
        EXIT = ();
        UPDATE = ();
    };
    ABORT = {
        ENTER = (abortDocking, "setSpeedTo: 0.0", setDestinationToDockingAbort, "setDesiredRangeTo: 500.0", performFaceDestination);
        "FACING_DESTINATION" = ("setSpeedFactorTo: 1.0", "setDesiredRangeTo: 500.0", performFlyToRangeFromDestination);
        EXIT = ();
        "RESTART_DOCKING" = ("setStateTo: GLOBAL");
        "REACHED_SAFETY" = (performIdle, "setStateTo: GLOBAL");
        "DESIRED_RANGE_ACHIEVED" = (performIdle, "setStateTo: GLOBAL");
        UPDATE = ();
    };
    "EXIT_SYSTEM" = {ENTER = (performDocking, exitAI); EXIT = (); UPDATE = (); };
}