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-rw-r--r--digital/io/src/filterbridge_cb.c149
1 files changed, 0 insertions, 149 deletions
diff --git a/digital/io/src/filterbridge_cb.c b/digital/io/src/filterbridge_cb.c
deleted file mode 100644
index 2b4e452d..00000000
--- a/digital/io/src/filterbridge_cb.c
+++ /dev/null
@@ -1,149 +0,0 @@
-/* filterbridge_cb.c - filterbridge FSM callbacks. */
-/* {{{
- *
- * Copyright (C) 2009 Nicolas Haller
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
- *
- * }}} */
-#include "common.h"
-#include "fsm.h"
-#include "filterbridge_cb.h"
-#include "elevator.h"
-#include "servo_pos.h"
-#include "aquajim.h"
-#include "filterbridge.h"
-#include "top.h"
-#include "cylinder.h"
-#include "modules/trace/trace.h"
-#include "trace_event.h"
-
-/*
- * IDLE =start=>
- * => WAIT_JACK_IN
- * we wait for the jack
- */
-fsm_branch_t
-filterbridge__IDLE__start (void)
-{
- return filterbridge_next (IDLE, start);
-}
-
-/*
- * WAIT_JACK_IN =jack_inserted_into_bot=>
- * => CLOSE_DOOR
- * we init the bridge
- */
-fsm_branch_t
-filterbridge__WAIT_JACK_IN__jack_inserted_into_bot (void)
-{
- servo_pos_move_to(SERVO_FINGER_ID, SERVO_FINGER_IDLE);
- servo_pos_move_to(SERVO_DOOR_ID, SERVO_DOOR_CLOSE);
- return filterbridge_next (WAIT_JACK_IN, jack_inserted_into_bot);
-}
-
-/*
- * CLOSE_DOOR =state_timeout=>
- * => WAIT_A_PUCK
- * we are ready, we wait a puck
- */
-fsm_branch_t
-filterbridge__CLOSE_DOOR__state_timeout (void)
-{
- return filterbridge_next (CLOSE_DOOR, state_timeout);
-}
-
-/*
- * WAIT_A_PUCK =puck_on_pos2=>
- * => WAIT_LIFT_READY
- * Puck ready to be dropped to the elevator. Test if elvt ready to get it.
- */
-fsm_branch_t
-filterbridge__WAIT_A_PUCK__puck_on_pos2 (void)
-{
- return filterbridge_next (WAIT_A_PUCK, puck_on_pos2);
-}
-
-/*
- * WAIT_LIFT_READY =lift_ready=>
- * => MARCEL_WAIT
- * the lift is ready
- */
-fsm_branch_t
-filterbridge__WAIT_LIFT_READY__lift_ready (void)
-{
- return filterbridge_next (WAIT_LIFT_READY, lift_ready);
-}
-
-/*
- * MARCEL_WAIT =state_timeout=>
- * => OPEN_DOOR
- * lift ready, we deliver
- */
-fsm_branch_t
-filterbridge__MARCEL_WAIT__state_timeout (void)
-{
- servo_pos_move_to(SERVO_DOOR_ID, SERVO_DOOR_OPEN);
- return filterbridge_next (MARCEL_WAIT, state_timeout);
-}
-
-/*
- * OPEN_DOOR =state_timeout=>
- * => PUSH_PUCK
- * we push the puck to the lift
- */
-fsm_branch_t
-filterbridge__OPEN_DOOR__state_timeout (void)
-{
- servo_pos_move_to(SERVO_FINGER_ID,SERVO_FINGER_PUSHING);
- return filterbridge_next (OPEN_DOOR, state_timeout);
-}
-
-/*
- * PUSH_PUCK =no_puck_on_pos2=>
- * => TEMPO_ELVETATOR_COMMUNICATION
- * nothing to do.
- */
-fsm_branch_t
-filterbridge__PUSH_PUCK__no_puck_on_pos2 (void)
-{
- return filterbridge_next (PUSH_PUCK, no_puck_on_pos2);
-}
-
-/*
- * TEMPO_ELVETATOR_COMMUNICATION =state_timeout=>
- * => CLOSE_DOOR
- * the puck disappears, we close doors
- * tell the elevator we are ready.
- */
-fsm_branch_t
-filterbridge__TEMPO_ELVETATOR_COMMUNICATION__state_timeout (void)
-{
- ++elvt_nb_puck;
- if(fb_nb_puck) --fb_nb_puck;
- top_puck_inside_bot = cylinder_nb_puck + fb_nb_puck + elvt_nb_puck;
- elvt_new_puck = 1;
- servo_pos_move_to(SERVO_FINGER_ID, SERVO_FINGER_IDLE);
- servo_pos_move_to(SERVO_DOOR_ID, SERVO_DOOR_CLOSE);
- TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot,
- cylinder_nb_puck, fb_nb_puck, elvt_nb_puck);
- return filterbridge_next (TEMPO_ELVETATOR_COMMUNICATION, state_timeout);
-}
-
-