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-rw-r--r--digital/io/src/filterbridge.fsm58
1 files changed, 22 insertions, 36 deletions
diff --git a/digital/io/src/filterbridge.fsm b/digital/io/src/filterbridge.fsm
index d1495abe..13027069 100644
--- a/digital/io/src/filterbridge.fsm
+++ b/digital/io/src/filterbridge.fsm
@@ -7,40 +7,34 @@ States:
waiting the lift is ready to accept new puck
WAIT_A_PUCK
waiting for a new puck
- CLOSE_FIRST_DOOR
- isolating the firt puck on the bridge
WAIT_RGB_PROBE
waiting for RGB probe the first puck
EJECT_PUCK
eject a bad puck
RETURN_NORMAL_POS
move the bridge to his normal position
- OPEN_SECOND_DOOR
- open and free the puck to the lift
- CLOSE_SECOND_DOOR
- prepare for a new puck
- OPEN_FIRST_DOOR
- accept a puck for a new test
+ OPEN_DOOR
+ release puck to the lift and block a new puck on pos1
+ CLOSE_DOOR
+ release pos1 puck and close access to the lift
Events:
lift_ready
lift ready to accept new puck
puck_on_pos2
a puck has been detected on bridge's position 2
- first_door_closed
- the first door is closed
no_puck_on_pos2
there is no puck on position 2
bridge_in_position
bridge is in his normal position
- second_door_closed
- you shall not pass to the lift
- first_door_opened
- bridge ready to test a new puck
- puck_ejected
+ door_opened
+ puck 1 blocked and puck 2 release to the lift
+ ejection_done
the ejection procedure is completed
color_probed
the result of the investigation will be revealed (suspens!!)
+ door_closed
+ ready to test a new puck
IDLE:
@@ -48,37 +42,29 @@ IDLE:
the lift is ready to get pucks, we can begin testing procedure
WAIT_A_PUCK:
- puck_on_pos2 -> CLOSE_FIRST_DOOR
- close the first door after a puck is ready for filtering
-
-CLOSE_FIRST_DOOR:
- first_door_closed -> WAIT_RGB_PROBE
- get puck color
+ puck_on_pos2: too_much_puck -> EJECT_PUCK
+ we have too much puck, eject the puck quickly and whistle
+ puck_on_pos2: nb_puck_ok -> WAIT_RGB_PROBE
+ probe color of the new puck
WAIT_RGB_PROBE:
color_probed: bad_color -> EJECT_PUCK
- eject bad PUCK
- color_probed: good_color -> OPEN_SECOND_DOOR
+ eject bad puck
+ color_probed: good_color -> OPEN_DOOR
put puck to the lift
EJECT_PUCK:
- puck_ejected -> RETURN_NORMAL_POS
+ ejection_done -> RETURN_NORMAL_POS
put bridge on normal position after puck ejection
RETURN_NORMAL_POS:
- bridge_in_position: puck_still_here -> EJECT_PUCK
- re-eject this sticky puck, grml!
- bridge_in_position: no_puck_anymore -> OPEN_FIRST_DOOR
+ bridge_in_position -> CLOSE_DOOR
make bridge ready to test a new puck
-OPEN_SECOND_DOOR:
- no_puck_on_pos2 -> CLOSE_SECOND_DOOR
- close the lift access door and tell to lift it has a new puck
-
-CLOSE_SECOND_DOOR:
- second_door_closed -> OPEN_FIRST_DOOR
- filter bridge is ready to get a new puck
+OPEN_DOOR:
+ no_puck_on_pos2 -> CLOSE_DOOR
+ release puck to the lift
-OPEN_FIRST_DOOR:
- first_door_opened -> IDLE
+CLOSE_DOOR:
+ door_closed -> IDLE
filter bridge ready