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authorNélio Laranjeiro2008-04-05 15:17:34 +0200
committerNélio Laranjeiro2008-04-05 15:17:34 +0200
commite138d020e6d594258146b975b057a32b09143af6 (patch)
tree5fb4860537622fa53ada67807aa68d96d5745648 /digital/io/src/test/move/main.c
parent5399880c55c65e9f5e577bf26e4e30f9c242ace4 (diff)
Added and test the move fsm. Only the machine sequence is tested.
Diffstat (limited to 'digital/io/src/test/move/main.c')
-rw-r--r--digital/io/src/test/move/main.c101
1 files changed, 101 insertions, 0 deletions
diff --git a/digital/io/src/test/move/main.c b/digital/io/src/test/move/main.c
new file mode 100644
index 00000000..60f62aa3
--- /dev/null
+++ b/digital/io/src/test/move/main.c
@@ -0,0 +1,101 @@
+/* main.c */
+/* {{{
+ *
+ * Copyright (C) 2008 Nélio Laranjeiro
+ *
+ * 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 <stdio.h>
+
+void
+move_print_test (fsm_t *move)
+{
+ printf ("Machine state ");
+
+ switch (move->state_current)
+ {
+ case MOVE_STATE_END:
+ printf ("END");
+ break;
+ case MOVE_STATE_DESIRED_POSITION:
+ printf ("DESIRED POSITION");
+ break;
+ case MOVE_STATE_MOVE_ON_RIGHT:
+ printf ("MOVE ON RIGHT");
+ break;
+ case MOVE_STATE_MOVE_ON_LEFT:
+ printf ("MOVE ON LEFT");
+ break;
+ default:
+ printf ("STATE_NB");
+ }
+ printf ("\n");
+}
+
+int
+main (void)
+{
+ fsm_init (&move_fsm);
+
+ fsm_handle_event (&move_fsm, MOVE_EVENT_ok);
+
+ move_print_test (&move_fsm);
+
+ fsm_handle_event (&move_fsm, MOVE_EVENT_failed_or_blocked);
+ move_print_test (&move_fsm);
+
+ fsm_handle_event (&move_fsm, MOVE_EVENT_failed_or_blocked);
+ move_print_test (&move_fsm);
+
+ fsm_handle_event (&move_fsm, MOVE_EVENT_near_border);
+ move_print_test (&move_fsm);
+
+ fsm_handle_event (&move_fsm, MOVE_EVENT_failed_or_blocked);
+ move_print_test (&move_fsm);
+
+ fsm_handle_event (&move_fsm, MOVE_EVENT_reached);
+ move_print_test (&move_fsm);
+
+ fsm_handle_event (&move_fsm, MOVE_EVENT_failed_or_blocked);
+ move_print_test (&move_fsm);
+
+ fsm_handle_event (&move_fsm, MOVE_EVENT_reached);
+ move_print_test (&move_fsm);
+
+ fsm_handle_event (&move_fsm, MOVE_EVENT_reached);
+ move_print_test (&move_fsm);
+
+ return 0;
+}
+
+//void
+//asserv_set_x_position (uint32_t position)
+//{
+// printf ("X position : %d\n", position);
+//}
+//
+//void
+//asserv_set_y_position (int32_t y)
+//{
+// printf ("Y position : %d\n", y);
+//}