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authorJerome Jutteau2013-04-02 13:11:06 +0200
committerJerome Jutteau2013-04-02 13:11:06 +0200
commit634db6fd9b62a5fdb935739916b76918eb5ffe05 (patch)
tree108bbbae919db07ff911044b946fbac56074b4e0 /digital
parente804421531895acaf4231781d555e6a4256e117b (diff)
digital/io-hub/src/apbirthday: fix comments in candles.cc
Diffstat (limited to 'digital')
-rw-r--r--digital/io-hub/src/apbirthday/candles.cc70
1 files changed, 35 insertions, 35 deletions
diff --git a/digital/io-hub/src/apbirthday/candles.cc b/digital/io-hub/src/apbirthday/candles.cc
index 434ba96d..9196adf7 100644
--- a/digital/io-hub/src/apbirthday/candles.cc
+++ b/digital/io-hub/src/apbirthday/candles.cc
@@ -34,7 +34,7 @@ extern "C" {
Candles::Candles (int calif_mode)
{
int i;
- /* Init candles color. */
+ // Init candles color.
for (i = 0; i < total_count; i++)
{
color[i] = UNKNOWN;
@@ -68,7 +68,7 @@ void Candles::blow (int candle)
void Candles::deduce ()
{
int i;
- /* Far. */
+ // Far.
for (i = 1; i < 4; i++)
if (color[i] != color[i + 3])
{
@@ -81,7 +81,7 @@ void Candles::deduce ()
else if (color[i + 3] == BLUE)
color[i] = RED;
}
- /* Near. */
+ // Near.
for (i = 9; i < 14; i++)
if (color[i] != color[i + 5])
{
@@ -107,7 +107,7 @@ inline bool Candles::is_far (int pos)
return pos < far_count;
}
-/* Global candle FSM */
+// Global candle FSM.
FSM_STATES (AI_CANDLE_OFF,
AI_CANDLE_INIT,
AI_CANDLE_SLEEPING,
@@ -122,37 +122,37 @@ FSM_START_WITH (AI_CANDLE_OFF)
FSM_TRANS (AI_CANDLE_OFF, init_actuators, AI_CANDLE_INIT)
{
- /* Deploy for initializing. */
- /* Deploy arm. */
+ // Deploy for initializing.
+ // Deploy arm.
robot->hardware.cake_arm_out.set (true);
robot->hardware.cake_arm_in.set (false);
- /* Prepare far pusher. */
+ // Prepare far pusher.
robot->hardware.cake_push_far_out.set (false);
robot->hardware.cake_push_far_in.set (true);
- /* Prepare near pusher. */
+ // Prepare near pusher.
robot->hardware.cake_push_near_out.set (false);
robot->hardware.cake_push_near_in.set (true);
}
FSM_TRANS_TIMEOUT (AI_CANDLE_INIT, 12, AI_CANDLE_UNDEPLOYING)
{
- /* Prepare far puncher to undeploy. */
+ // Prepare far puncher to undeploy.
robot->hardware.cake_push_far_out.set (true);
robot->hardware.cake_push_far_in.set (false);
- /* Be sure the near punched in not punching. */
+ // Be sure the near punched in not punching.
robot->hardware.cake_push_near_out.set (false);
robot->hardware.cake_push_near_in.set (true);
}
FSM_TRANS (AI_CANDLE_SLEEPING, ai_candle_deploy, AI_CANDLE_READY)
{
- /* Deploy arm. */
+ // Deploy arm.
robot->hardware.cake_arm_out.set (true);
robot->hardware.cake_arm_in.set (false);
- /* Prepare far pusher. */
+ // Prepare far pusher.
robot->hardware.cake_push_far_out.set (false);
robot->hardware.cake_push_far_in.set (true);
- /* Prepare near pusher. */
+ // Prepare near pusher.
robot->hardware.cake_push_near_out.set (false);
robot->hardware.cake_push_near_in.set (true);
}
@@ -164,7 +164,7 @@ FSM_TRANS (AI_CANDLE_READY, ai_candle_blow, AI_CANDLE_READY)
{
if (robot->candles.actual_pos[i] != -1)
{
- /* We can already punch if we know the color. */
+ // We can already punch if we know the color.
if (robot->candles.state[robot->candles.actual_pos[i]] == Candles::UNPUNCHED
&& (robot->candles.color[robot->candles.actual_pos[i]] == (Candles::Color) team_color
|| robot->candles.color[robot->candles.actual_pos[i]] == Candles::WHITE))
@@ -176,7 +176,7 @@ FSM_TRANS (AI_CANDLE_READY, ai_candle_blow, AI_CANDLE_READY)
robot->candles.state[robot->candles.actual_pos[i]] = Candles::PUNCHED;
robot->candles.actual_pos[i] = -1;
}
- /* We need to analyse color. */
+ // We need to analyse color.
else if (robot->candles.color[robot->candles.actual_pos[i]] == Candles::UNKNOWN)
{
if (Candles::is_far (robot->candles.actual_pos[i]))
@@ -190,25 +190,25 @@ FSM_TRANS (AI_CANDLE_READY, ai_candle_blow, AI_CANDLE_READY)
FSM_TRANS (AI_CANDLE_READY, ai_candle_undeploy, AI_CANDLE_UNDEPLOYING)
{
- /* Prepare far puncher to undeploy. */
+ // Prepare far puncher to undeploy.
robot->hardware.cake_push_far_out.set (true);
robot->hardware.cake_push_far_in.set (false);
- /* Be sure the near punched in not punching. */
+ // Be sure the near punched in not punching.
robot->hardware.cake_push_near_out.set (false);
robot->hardware.cake_push_near_in.set (true);
}
FSM_TRANS_TIMEOUT (AI_CANDLE_UNDEPLOYING, 10, AI_CANDLE_SLEEPING) //TODO timeout value
{
- /* Unleach far punched. */
+ // Unleach far punched.
robot->hardware.cake_push_far_out.set (false);
robot->hardware.cake_push_far_in.set (false);
- /* Put arm back. */
+ // Put arm back.
robot->hardware.cake_arm_out.set (false);
robot->hardware.cake_arm_in.set (true);
}
-/* Far puncher FSM */
+// Far puncher FSM.
FSM_STATES (AI_CANDLE_FAR_SLEEPING,
AI_CANDLE_FAR_PUNCHING)
@@ -228,7 +228,7 @@ FSM_TRANS_TIMEOUT (AI_CANDLE_FAR_PUNCHING, 12, AI_CANDLE_FAR_SLEEPING) //TODO ti
robot->hardware.cake_push_far_in.set (true);
}
-/* Near puncher FSM */
+// Near puncher FSM.
FSM_STATES (AI_CANDLE_NEAR_SLEEPING,
AI_CANDLE_NEAR_PUNCHING)
@@ -248,7 +248,7 @@ FSM_TRANS_TIMEOUT (AI_CANDLE_NEAR_PUNCHING, 12, AI_CANDLE_NEAR_SLEEPING) //TODO
robot->hardware.cake_push_near_in.set (true);
}
-/* Far analyse FSM */
+// Far analyse FSM.
FSM_STATES (AI_CANDLE_FAR_ANALYSE_SLEEP,
AI_CANDLE_FAR_ANALYSING)
@@ -260,21 +260,21 @@ FSM_TRANS (AI_CANDLE_FAR_ANALYSE_SLEEP,
ai_candle_far_analyse,
AI_CANDLE_FAR_ANALYSING)
{
- /* TODO: launch color analyse */
+ // TODO: launch color analyse.
}
FSM_TRANS_TIMEOUT (AI_CANDLE_FAR_ANALYSING, 10, AI_CANDLE_FAR_ANALYSE_SLEEP) //TODO timeout value
{
- /* TODO Get color results and update table. */
- /* ... */
- /* Update color. */
+ // TODO Get color results and update table.
+ // ...
+ // Update color.
if (true) // TODO color analysise is ok
{
robot->candles.color[robot->candles.actual_pos[Candles::FAR]] =
Candles::RED; // TODO = color_result
- /* Update whole colors. */
+ // Update whole colors.
robot->candles.deduce ();
- /* Send blow event. */
+ // Send blow event.
FSM_HANDLE (AI, ai_candle_blow);
}
else
@@ -284,7 +284,7 @@ FSM_TRANS_TIMEOUT (AI_CANDLE_FAR_ANALYSING, 10, AI_CANDLE_FAR_ANALYSE_SLEEP) //T
}
}
-/* Near analyse FSM */
+// Near analyse FSM.
FSM_STATES (AI_CANDLE_NEAR_ANALYSE_SLEEP,
AI_CANDLE_NEAR_ANALYSING)
@@ -296,21 +296,21 @@ FSM_TRANS (AI_CANDLE_NEAR_ANALYSE_SLEEP,
ai_candle_near_analyse,
AI_CANDLE_NEAR_ANALYSING)
{
- /* TODO: Launch color analyse. */
+ // TODO: Launch color analyse.
}
FSM_TRANS_TIMEOUT (AI_CANDLE_NEAR_ANALYSING, 10, AI_CANDLE_NEAR_ANALYSE_SLEEP) //TODO timeout value
{
- /* TODO Get color results and update table. */
- /* ... */
- /* Update color. */
+ // TODO Get color results and update table.
+ // ...
+ // Update color.
if (true) // TODO color analysise is ok
{
robot->candles.color[robot->candles.actual_pos[Candles::NEAR]] =
Candles::RED; // TODO = color_result
- /* Update whole colors. */
+ // Update whole colors.
robot->candles.deduce ();
- /* Send blow event. */
+ // Send blow event.
FSM_HANDLE (AI, ai_candle_blow);
}
else