sea-battle/Assets/Scripts/Pirate/PirateLoader.cs

using UnityEngine;
using UnityEngine.AI;
using System.Collections;

public class PirateLoader : PirateBehavior
{
    public enum State { GoToCrate, PickUp, GoToCannon, LoadCannon }
    public State currentState;
    public State lastState;

    [Header("Ññûëêè")]
    public Transform ammoCrate;
    public Cannon cannon;

    [Header("ßäðî")]
    public GameObject cannonBallPrefab;
    public Transform handSocket;
    private GameObject carriedBall;

    [Header("Îãðàíè÷åíèå âðåìåíè")]
    [Tooltip("Ìàêñèìàëüíàÿ äëèòåëüíîñòü çàäà÷è (ñåê). Ïî èñòå÷åíèè — ôîðñ-çàðÿäêà è âûêëþ÷åíèå.")]
    public float maxTaskTime = 35f;
    private float _deadline = float.PositiveInfinity;

    private Vector3 currentTargetPosition;
    private Vector3 lastPos;
    private float stuckTimer;

    public void ActivateWithTarget(Cannon targetCannon, Transform crate)
    {
        cannon = targetCannon;
        ammoCrate = crate;
        Activate(); // çàïóñê FSM
    }

    public override void Activate()
    {
        enabled = true;

        if (pirate.agent != null)
            pirate.agent.isStopped = false;

        _deadline = maxTaskTime > 0f ? Time.time + maxTaskTime : float.PositiveInfinity;

        currentState = State.GoToCrate;
        lastState = State.GoToCrate - 1; // ÷òîáû ñðàáîòàë OnStateEnter
    }

    public override void Deactivate(bool interrupted = false)
    {
        StopAllCoroutines();
        enabled = false;

        if (pirate.agent != null)
            pirate.agent.isStopped = true;

        if (Animator != null)
        {
            Animator.SetBool("isWalking", false);
            Animator.SetBool("isCarrying", false);
        }

        if (carriedBall != null)
        {
            Destroy(carriedBall);
            carriedBall = null;
        }

        pirate?.ClearCurrentBehavior(this, interrupted);
    }

    void Update()
    {
        // --- Òàéìàóò çàäà÷è ---
        if (Time.time >= _deadline)
        {
            Debug.LogWarning($"{name}: èñò¸ê ëèìèò {maxTaskTime:F0}s — ôîðñèðóåì ïåðåçàðÿäêó è âûêëþ÷àåìñÿ.");
            _deadline = float.PositiveInfinity; 

            if(carriedBall != null) currentState = State.LoadCannon;
            else
            {
                cannon?.OnReloadComplete();
                Deactivate();
            }

                return; // Deactivate óæå âûçâàí
        }

        if (currentState != lastState)
        {
            OnStateEnter(currentState);
            lastState = currentState;
        }

        // Ïðîâåðêà çàñòðåâàíèÿ (áûñòðûé ðåïàô)
        if ((transform.position - lastPos).sqrMagnitude < 0.001f)
        {
            stuckTimer += Time.deltaTime;
            if (stuckTimer > 2f && pirate.agent != null)
            {
                Debug.LogWarning($"{name} çàñòðÿë, ïåðåñ÷èòûâàåì ïóòü");
                pirate.agent.ResetPath();
                pirate.agent.SetDestination(currentTargetPosition);
                stuckTimer = 0f;
            }
        }
        else
        {
            stuckTimer = 0f;
        }

        lastPos = transform.position;

        // Ïðîâåðêà äîñòèæåíèÿ öåëè
        switch (currentState)
        {
            case State.GoToCrate:
                if (!pirate.agent.pathPending && pirate.agent.remainingDistance <= pirate.agent.stoppingDistance)
                    currentState = State.PickUp;
                break;

            case State.GoToCannon:
                if (!pirate.agent.pathPending && pirate.agent.remainingDistance <= pirate.agent.stoppingDistance)
                    currentState = State.LoadCannon;
                break;
        }

        // Ïðîâåðêà âàëèäíîñòè ïóòè
        if (pirate.agent != null &&
           (pirate.agent.pathStatus == NavMeshPathStatus.PathInvalid || pirate.agent.pathStatus == NavMeshPathStatus.PathPartial))
        {
            Debug.LogWarning($"{name} èìååò íåâàëèäíûé ïóòü, èùåì áëèæàéøóþ òî÷êó íà NavMesh");
            if (NavMesh.SamplePosition(currentTargetPosition, out NavMeshHit hit, 2f, NavMesh.AllAreas))
            {
                pirate.agent.SetDestination(hit.position);
            }
            else
            {
                Debug.LogWarning($"{name} íå ìîæåò äîñòè÷ü öåëè, ïðåðûâàåì çàäà÷ó");
                FailAndStop();
            }
        }
    }

    void OnStateEnter(State state)
    {
        switch (state)
        {
            case State.GoToCrate:
                if (ammoCrate == null) { FailAndStop(); return; }
                Animator.SetBool("isWalking", true);
                Animator.SetBool("isCarrying", false);
                currentTargetPosition = ammoCrate.position;
                pirate.agent.SetDestination(currentTargetPosition);
                break;

            case State.PickUp:
                Animator.SetBool("isWalking", false);
                Animator.SetTrigger("PickUpTrigger");
                break;

            case State.GoToCannon:
                if (cannon == null) { FailAndStop(); return; }
                Animator.SetBool("isWalking", true);
                Animator.SetBool("isCarrying", true);
                Transform targetPoint = cannon.GetNearestReloadPoint(transform.position);
                currentTargetPosition = targetPoint != null ? targetPoint.position : cannon.transform.position;
                pirate.agent.SetDestination(currentTargetPosition);
                break;

            case State.LoadCannon:
                Animator.SetBool("isWalking", false);
                Animator.SetTrigger("LoadCannonTrigger");
                break;
        }
    }

    // --- Animation Events ---
    public void OnGrabBall()
    {

        if (!enabled || !gameObject.activeInHierarchy) return;

        if (carriedBall == null && cannonBallPrefab != null && handSocket != null)
        {
            carriedBall = Instantiate(cannonBallPrefab, handSocket);
            carriedBall.transform.localPosition = new Vector3(-0.307f, -0.423f, 0.008f);
            carriedBall.transform.localRotation = Quaternion.identity;
        }

        currentState = State.GoToCannon;

        // Åñëè íóæíî ñ÷èòàòü òàéìåð ñ ìîìåíòà âçÿòèÿ ÿäðà, ðàñêîììåíòèðóé:
        // _deadline = Time.time + maxTaskTime;
    }

    public void OnLoadCannon()
    {
        if (!isActiveAndEnabled) return;

        if (carriedBall != null)
        {
            Transform target = cannon != null ? cannon.reloadTarget : null;
            if (target != null)
                StartCoroutine(MoveCannonBallToTarget(carriedBall, target.position, 0.5f, cannon));
            else
            {
                Destroy(carriedBall);
                carriedBall = null;
                cannon?.OnReloadComplete();
                Deactivate(false);
            }
        }
        else
        {
            Deactivate(false);
        }
    }

    private IEnumerator MoveCannonBallToTarget(GameObject ball, Vector3 targetPos, float duration, Cannon targetCannon)
    {
        if (ball == null) yield break;

        Vector3 startPos = ball.transform.position;
        float elapsed = 0f;
        float height = 1.5f;

        while (elapsed < duration)
        {
            float t = elapsed / duration;
            Vector3 currentPos = Vector3.Lerp(startPos, targetPos, t);
            currentPos.y += 4 * height * t * (1 - t);
            ball.transform.position = currentPos;

            elapsed += Time.deltaTime;
            yield return null;
        }

        ball.transform.position = targetPos;
        Destroy(ball);

        targetCannon?.OnReloadComplete();
        Deactivate(false);
    }

    // === Ôîðñ-çàâåðøåíèå ïî òàéìàóòó ===


    private void FailAndStop()
    {
        Debug.LogWarning($"{name} íå ñìîã âûïîëíèòü çàäà÷ó çàãðóçêè.");
        Deactivate(true);
    }
}