summaryrefslogtreecommitdiffhomepage
path: root/digital/ai/src
diff options
context:
space:
mode:
Diffstat (limited to 'digital/ai/src')
-rw-r--r--digital/ai/src/fsm/fsm_queue.c71
-rw-r--r--digital/ai/src/fsm/fsm_queue.h41
2 files changed, 112 insertions, 0 deletions
diff --git a/digital/ai/src/fsm/fsm_queue.c b/digital/ai/src/fsm/fsm_queue.c
new file mode 100644
index 00000000..357fc39e
--- /dev/null
+++ b/digital/ai/src/fsm/fsm_queue.c
@@ -0,0 +1,71 @@
+/* fsm_queue.c */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * 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_queue.h"
+
+/** Maximum number of events in post queue. */
+#define FSM_QUEUE_SIZE 8
+
+/** Module context. */
+struct fsm_queue_t
+{
+ /** Events to post to the FSM in next iteration. */
+ uint8_t events[FSM_QUEUE_SIZE];
+ /** First event in the queue. */
+ uint8_t head;
+ /** Number of events in the queue. */
+ uint8_t nb;
+};
+
+/** Global context. */
+static struct fsm_queue_t fsm_queue_global;
+# define ctx fsm_queue_global
+
+void
+fsm_queue_post_event (uint8_t event)
+{
+ assert (ctx.nb < FSM_QUEUE_SIZE);
+ uint8_t tail = (ctx.head + ctx.nb) % FSM_QUEUE_SIZE;
+ ctx.events[tail] = event;
+ ctx.nb++;
+}
+
+uint8_t
+fsm_queue_poll (void)
+{
+ return ctx.nb;
+}
+
+uint8_t
+fsm_queue_pop_event (void)
+{
+ uint8_t e;
+ assert (ctx.nb > 0);
+ e = ctx.events[ctx.head];
+ ctx.nb--;
+ ctx.head = (ctx.head + 1) % FSM_QUEUE_SIZE;
+ return e;
+}
+
diff --git a/digital/ai/src/fsm/fsm_queue.h b/digital/ai/src/fsm/fsm_queue.h
new file mode 100644
index 00000000..ce230bec
--- /dev/null
+++ b/digital/ai/src/fsm/fsm_queue.h
@@ -0,0 +1,41 @@
+#ifndef fsm_queue_h
+#define fsm_queue_h
+/* fsm_queue.h */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * 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.
+ *
+ * }}} */
+
+/** Post an event to be processed in the next main loop. */
+void
+fsm_queue_post_event (uint8_t event);
+
+/** Poll for event in the event queue (return non zero if there is an event
+ * pending). */
+uint8_t
+fsm_queue_poll (void);
+
+/** Pop one event from the event queue. */
+uint8_t
+fsm_queue_pop_event (void);
+
+#endif /* fsm_queue_h */