From f416af1eeed92e9508744544e39983af82479965 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Mon, 18 May 2009 22:29:25 +0200 Subject: * digital/io/src: - fix event sent to the wrong FSM, - start top FSM, - rewrite event generated by move FSM when its finished, - init FSM generates an event when the match start, - init FSM starts the chrono when the match start, - top FSM now uses the event generated by the init FSM to know when the match start and not the jack states. --- digital/io/src/top_cb.c | 88 +++++++++++++++++++++++++++++++++---------------- 1 file changed, 60 insertions(+), 28 deletions(-) (limited to 'digital/io/src/top_cb.c') diff --git a/digital/io/src/top_cb.c b/digital/io/src/top_cb.c index a10939d5..19127922 100644 --- a/digital/io/src/top_cb.c +++ b/digital/io/src/top_cb.c @@ -1,21 +1,41 @@ -/* - * THIS IS AN AUTOMATICALLY GENERATED FILE, DO NOT EDIT! +/* top_cb.c */ +/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ + * + * Copyright (C) 2009 Dufour Jérémy + * + * 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. * - * Skeleton for top callbacks implementation. + * 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. * - * Top FSM with the Marcel's strategy + * }}} + * Main FSM calling other FSM. */ + + #include "common.h" #include "fsm.h" #include "top_cb.h" -#include "chrono.h" #include "asserv.h" #include "playground.h" #include "move.h" /* move FSM */ /* * IDLE =start=> - * => WAIT_FIRST_JACK_IN + * => WAIT_INIT_TO_FINISH * nothing to do. */ fsm_branch_t @@ -25,49 +45,61 @@ top__IDLE__start (void) } /* - * WAIT_FIRST_JACK_IN =jack_inserted_into_bot=> - * => WAIT_FIRST_JACK_OUT - * nothing to do. + * WAIT_INIT_TO_FINISH =init_match_is_started=> + * => GET_PUCK_FROM_THE_GROUND + * the match start, try to get some puck from the ground. */ fsm_branch_t -top__WAIT_FIRST_JACK_IN__jack_inserted_into_bot (void) +top__WAIT_INIT_TO_FINISH__init_match_is_started (void) { - return top_next (WAIT_FIRST_JACK_IN, jack_inserted_into_bot); + return top_next (WAIT_INIT_TO_FINISH, init_match_is_started); } /* - * WAIT_FIRST_JACK_OUT =jack_removed_from_bot=> - * => WAIT_SECOND_JACK_IN - * nothing to do. + * GET_PUCK_FROM_THE_GROUND =move_fsm_succeed=> + * already_six_pucks_or_no_next_position => GET_PUCK_FROM_DISTRIBUTOR + * get the next distributor position and launch move FSM to go there. + * next_position_exists => GET_PUCK_FROM_THE_GROUND + * go to the next position using move FSM. */ fsm_branch_t -top__WAIT_FIRST_JACK_OUT__jack_removed_from_bot (void) +top__GET_PUCK_FROM_THE_GROUND__move_fsm_succeed (void) { - return top_next (WAIT_FIRST_JACK_OUT, jack_removed_from_bot); + return top_next_branch (GET_PUCK_FROM_THE_GROUND, move_fsm_succeed, already_six_pucks_or_no_next_position); + return top_next_branch (GET_PUCK_FROM_THE_GROUND, move_fsm_succeed, next_position_exists); } /* - * WAIT_SECOND_JACK_IN =jack_removed_from_bot=> - * => WAIT_SECOND_JACK_OUT - * nothing to do. + * GET_PUCK_FROM_THE_GROUND =move_fsm_failed=> + * => GET_PUCK_FROM_DISTRIBUTOR + * we have failed to do a move, go the distributor. */ fsm_branch_t -top__WAIT_SECOND_JACK_IN__jack_removed_from_bot (void) +top__GET_PUCK_FROM_THE_GROUND__move_fsm_failed (void) { - return top_next (WAIT_SECOND_JACK_IN, jack_removed_from_bot); + return top_next (GET_PUCK_FROM_THE_GROUND, move_fsm_failed); } /* - * WAIT_SECOND_JACK_OUT =jack_removed_from_bot=> - * => GET_PUCK_FROM_THE_GROUND - * the match start, try to get some puck from the ground. + * GET_PUCK_FROM_THE_GROUND =bot_is_full_of_puck=> + * => STOP_TO_GO_TO_UNLOAD_AREA + * stop move FSM. + */ +fsm_branch_t +top__GET_PUCK_FROM_THE_GROUND__bot_is_full_of_puck (void) +{ + return top_next (GET_PUCK_FROM_THE_GROUND, bot_is_full_of_puck); +} + +/* + * GET_PUCK_FROM_THE_GROUND =state_timeout=> + * => STOP_TO_GET_PUCK_FROM_DISTRIBUTOR + * too much time lost to get puck from the ground, stop move FSM. */ fsm_branch_t -top__WAIT_SECOND_JACK_OUT__jack_removed_from_bot (void) +top__GET_PUCK_FROM_THE_GROUND__state_timeout (void) { - /* Start the chronometer */ - chrono_init (); - return top_next (WAIT_SECOND_JACK_OUT, jack_removed_from_bot); + return top_next (GET_PUCK_FROM_THE_GROUND, state_timeout); } -- cgit v1.2.3