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authorNicolas Schodet2011-05-04 19:58:33 +0200
committerNicolas Schodet2011-05-04 19:58:33 +0200
commit4a6a90cb512f1a43e1229ef0d13ef3e5abd25b9c (patch)
tree506bc6e9b0983fcc8c88047ea20b85a12e4deb09 /digital/io/src/move.c
parent42163ae3d62642753899c389a7a1a42ae9bd68a9 (diff)
digital/{ai,io}: move fsm queue to ai
Diffstat (limited to 'digital/io/src/move.c')
-rw-r--r--digital/io/src/move.c24
1 files changed, 12 insertions, 12 deletions
diff --git a/digital/io/src/move.c b/digital/io/src/move.c
index fa65418d..60db0272 100644
--- a/digital/io/src/move.c
+++ b/digital/io/src/move.c
@@ -37,7 +37,7 @@
#include "loader.h"
#include "modules/path/path.h"
#include "modules/utils/utils.h"
-#include "main.h" /* main_post_event_for_top_fsm */
+#include "fsm_queue.h"
#include "modules/math/fixed/fixed.h" /* fixed_* */
#include "modules/trace/trace.h"
#include "debug.host.h"
@@ -305,7 +305,7 @@ FSM_TRANS (MOVE_IDLE, move_start,
}
else
{
- main_post_event (FSM_EVENT (AI, move_fsm_failed));
+ fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed));
return FSM_NEXT (MOVE_IDLE, move_start, no_path_found);
}
}
@@ -370,7 +370,7 @@ FSM_TRANS (MOVE_MOVING, bot_move_succeed,
{
if (move_data.final_move)
{
- main_post_event (FSM_EVENT (AI, move_fsm_succeed));
+ fsm_queue_post_event (FSM_EVENT (AI, move_fsm_succeed));
return FSM_NEXT (MOVE_MOVING, bot_move_succeed, done);
}
else
@@ -440,7 +440,7 @@ FSM_TRANS (MOVE_MOVING, obstacle_in_front,
asserv_stop_motor ();
if (--move_data.try_again_counter == 0)
{
- main_post_event (FSM_EVENT (AI, move_fsm_failed));
+ fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed));
return FSM_NEXT (MOVE_MOVING, obstacle_in_front, tryout);
}
else
@@ -472,7 +472,7 @@ FSM_TRANS (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_succeed,
{
if (--move_data.try_again_counter == 0)
{
- main_post_event (FSM_EVENT (AI, move_fsm_failed));
+ fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed));
return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_succeed, tryout);
}
else
@@ -487,7 +487,7 @@ FSM_TRANS (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_succeed,
}
else
{
- main_post_event (FSM_EVENT (AI, move_fsm_failed));
+ fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed));
return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_succeed, no_path_found);
}
}
@@ -507,7 +507,7 @@ FSM_TRANS (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_failed,
{
if (--move_data.try_again_counter == 0)
{
- main_post_event (FSM_EVENT (AI, move_fsm_failed));
+ fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed));
return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_failed, tryout);
}
else
@@ -524,7 +524,7 @@ FSM_TRANS (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_failed,
{
if (--move_data.try_again_counter == 0)
{
- main_post_event (FSM_EVENT (AI, move_fsm_failed));
+ fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed));
return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_failed, no_path_found_tryout);
}
else
@@ -557,7 +557,7 @@ FSM_TRANS_TIMEOUT (MOVE_WAIT_FOR_CLEAR_PATH, 255,
/* Error, no new position, should we try again? */
if (--move_data.try_again_counter == 0)
{
- main_post_event (FSM_EVENT (AI, move_fsm_failed));
+ fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed));
return FSM_NEXT_TIMEOUT (MOVE_WAIT_FOR_CLEAR_PATH, no_path_found_tryout);
}
else
@@ -610,7 +610,7 @@ FSM_TRANS (MOVE_LOADER_UNBLOCKING_DOWNING, loader_downed,
}
else
{
- main_post_event (FSM_EVENT (AI, move_fsm_failed));
+ fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed));
return FSM_NEXT (MOVE_LOADER_UNBLOCKING_DOWNING, loader_downed, no_path_found);
}
}
@@ -645,7 +645,7 @@ FSM_TRANS (MOVE_LOADER_UNBLOCKING_DOWNING, loader_errored,
}
else
{
- main_post_event (FSM_EVENT (AI, move_fsm_failed));
+ fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed));
return FSM_NEXT (MOVE_LOADER_UNBLOCKING_DOWNING, loader_errored, tryout_no_path_found);
}
}
@@ -681,7 +681,7 @@ FSM_TRANS_TIMEOUT (MOVE_LOADER_UNBLOCKING_DOWNING, 450,
}
else
{
- main_post_event (FSM_EVENT (AI, move_fsm_failed));
+ fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed));
return FSM_NEXT_TIMEOUT (MOVE_LOADER_UNBLOCKING_DOWNING, tryout_no_path_found);
}
}