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authorNélio Laranjeiro2008-03-19 01:00:37 +0100
committerNélio Laranjeiro2008-03-19 01:00:37 +0100
commit5c7c8446d26ead0a3f1afe6396b0741a3b69dd66 (patch)
treee280ca498c152fa6e403221c9541521c4e955fce
parent2f97332fc96c32255be21986f9b867ab8ca4cd95 (diff)
Added the dfagen file for the FSM loadsamples. This is a first shoot,
it is not complete.
-rw-r--r--digital/io/src/loadsamples/Makefile23
-rw-r--r--digital/io/src/loadsamples/loadsamples.conf5
-rw-r--r--digital/io/src/loadsamples/loadsamples.fsm24
3 files changed, 52 insertions, 0 deletions
diff --git a/digital/io/src/loadsamples/Makefile b/digital/io/src/loadsamples/Makefile
new file mode 100644
index 00000000..8a2fba73
--- /dev/null
+++ b/digital/io/src/loadsamples/Makefile
@@ -0,0 +1,23 @@
+CFLAGS = -O2 -Wall
+
+all: loadsamples loadsamples.png
+
+loadsamples: loadsamples.o loadsamples.o
+
+loadsamples.c: loadsamples.fsm loadsamples.conf
+ python ../../../../tools/dfagen/dfagen.py -o c -d loadsamples.fsm -c loadsamples.conf -p loadsamples
+
+loadsamples.h loadsamples.cb_skel.c loadsamples.cb.h: loadsamples.c
+
+loadsamples.o: loadsamples.cb.h loadsamples.h
+loadsamples_cb.o: loadsamples.cb.h loadsamples.h
+
+%.dot: %.fsm
+ python ../../../../tools/dfagen/dfagen.py -o dot -d $< -p $(@:%.dot=%)
+
+%.png: %.dot
+ dot -Tpng $< -o $@
+
+clean:
+ rm -f loadsamples loadsamples.o loadballs_cb.o loadsamples.c loadsamples.h loadsamples_cb_skel.c loadsamples_cb.h loadsamples_cb.c
+ rm -f loadsamples.dot loadsamples.png
diff --git a/digital/io/src/loadsamples/loadsamples.conf b/digital/io/src/loadsamples/loadsamples.conf
new file mode 100644
index 00000000..74c0a579
--- /dev/null
+++ b/digital/io/src/loadsamples/loadsamples.conf
@@ -0,0 +1,5 @@
+[user]
+type = loadsamples_t
+type-forward-decl = typedef struct loadsamples_t loadsamples_t;
+type-decl = struct loadsamples_t { loadsamples_state_t fsm; };
+field = fsm
diff --git a/digital/io/src/loadsamples/loadsamples.fsm b/digital/io/src/loadsamples/loadsamples.fsm
new file mode 100644
index 00000000..f7686bce
--- /dev/null
+++ b/digital/io/src/loadsamples/loadsamples.fsm
@@ -0,0 +1,24 @@
+#The loadsamples state.
+loadsamples
+
+States:
+ ROTATE_ARM
+ GO_BACKWARD
+ ARM_INIT
+
+Events:
+ arm_stopped
+ move_finished
+ move_blocked
+
+ROTATE_ARM:
+ arm_stopped -> GO_BACKWARD
+ Request the robot to go backward.
+
+GO_BACKWARD:
+ move_finished -> ARM_INIT
+ When the move is finished the ARM shall be reset to its init position.
+
+ARM_INIT:
+ move_finished -> .
+ This procedure is finish.