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authorNicolas Schodet2012-05-09 00:25:46 +0200
committerNicolas Schodet2012-05-09 00:40:35 +0200
commit826d0f9b1b2c1ef5b055fed0dd1734eb383a9384 (patch)
tree0db6d3da2c0f884cd790b760294668485f9408db /digital
parent5b15a3661fd83866aa0b1d11e97da88d6f45fb17 (diff)
digital/io-hub/src/guybrush: top should not post event, but directly handle it
Diffstat (limited to 'digital')
-rw-r--r--digital/io-hub/src/guybrush/top.c7
1 files changed, 3 insertions, 4 deletions
diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c
index f003e3f7..01b227b1 100644
--- a/digital/io-hub/src/guybrush/top.c
+++ b/digital/io-hub/src/guybrush/top.c
@@ -30,7 +30,6 @@
#define FSM_NAME AI
#include "fsm.h"
-#include "fsm_queue.h"
#include "move.h"
#include "chrono.h"
@@ -173,7 +172,7 @@ FSM_TRANS (TOP_START, init_start_round,
FSM_TRANS (TOP_TOTEM_GOING, move_success, TOP_TOTEM_CLAMP_DOWNING)
{
- fsm_queue_post_event (FSM_EVENT (AI, tree_detected));
+ FSM_HANDLE (AI, tree_detected);
return FSM_NEXT (TOP_TOTEM_GOING, move_success);
}
@@ -192,7 +191,7 @@ FSM_TRANS (TOP_TOTEM_APPROACHING, robot_move_success, TOP_TOTEM_PUSHING)
FSM_TRANS (TOP_TOTEM_PUSHING, robot_move_success, TOP_TOTEM_EMPTYING)
{
asserv_stop_motor ();
- fsm_queue_post_event (FSM_EVENT (AI, empty_tree));
+ FSM_HANDLE (AI, empty_tree);
return FSM_NEXT (TOP_TOTEM_PUSHING, robot_move_success);
}
@@ -205,7 +204,7 @@ FSM_TRANS (TOP_TOTEM_EMPTYING, clamps_ready, TOP_TOTEM_GOING_BACK)
FSM_TRANS (TOP_TOTEM_GOING_BACK, move_success, TOP_TOTEM_CLAMP_UPPING)
{
- fsm_queue_post_event (FSM_EVENT (AI, robot_is_back));
+ FSM_HANDLE (AI, robot_is_back);
return FSM_NEXT (TOP_TOTEM_GOING_BACK, move_success);
}