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Diffstat (limited to 'digital/io/src/filterbridge_cb.c')
-rw-r--r--digital/io/src/filterbridge_cb.c80
1 files changed, 28 insertions, 52 deletions
diff --git a/digital/io/src/filterbridge_cb.c b/digital/io/src/filterbridge_cb.c
index 0864fa8d..7949f176 100644
--- a/digital/io/src/filterbridge_cb.c
+++ b/digital/io/src/filterbridge_cb.c
@@ -27,21 +27,24 @@
#include "filterbridge_cb.h"
/*
- * CLOSE_FIRST_DOOR =first_door_closed=>
- * => WAIT_RGB_PROBE
- * get puck color
+ * WAIT_A_PUCK =puck_on_pos2=>
+ * nb_puck_ok => WAIT_RGB_PROBE
+ * probe color of the new puck
+ * too_much_puck => EJECT_PUCK
+ * we have too much puck, eject the puck quickly and whistle
*/
fsm_branch_t
-filterbridge__CLOSE_FIRST_DOOR__first_door_closed (void)
+filterbridge__WAIT_A_PUCK__puck_on_pos2 (void)
{
- return filterbridge_next (CLOSE_FIRST_DOOR, first_door_closed);
+ return filterbridge_next_branch (WAIT_A_PUCK, puck_on_pos2, nb_puck_ok);
+ return filterbridge_next_branch (WAIT_A_PUCK, puck_on_pos2, too_much_puck);
}
/*
* WAIT_RGB_PROBE =color_probed=>
* bad_color => EJECT_PUCK
- * eject bad PUCK
- * good_color => OPEN_SECOND_DOOR
+ * eject bad puck
+ * good_color => OPEN_DOOR
* put puck to the lift
*/
fsm_branch_t
@@ -52,28 +55,6 @@ filterbridge__WAIT_RGB_PROBE__color_probed (void)
}
/*
- * WAIT_A_PUCK =puck_on_pos2=>
- * => CLOSE_FIRST_DOOR
- * close the first door after a puck is ready for filtering
- */
-fsm_branch_t
-filterbridge__WAIT_A_PUCK__puck_on_pos2 (void)
-{
- return filterbridge_next (WAIT_A_PUCK, puck_on_pos2);
-}
-
-/*
- * CLOSE_SECOND_DOOR =second_door_closed=>
- * => OPEN_FIRST_DOOR
- * filter bridge is ready to get a new puck
- */
-fsm_branch_t
-filterbridge__CLOSE_SECOND_DOOR__second_door_closed (void)
-{
- return filterbridge_next (CLOSE_SECOND_DOOR, second_door_closed);
-}
-
-/*
* IDLE =lift_ready=>
* => WAIT_A_PUCK
* the lift is ready to get pucks, we can begin testing procedure
@@ -85,50 +66,45 @@ filterbridge__IDLE__lift_ready (void)
}
/*
- * RETURN_NORMAL_POS =bridge_in_position=>
- * no_puck_anymore => OPEN_FIRST_DOOR
- * make bridge ready to test a new puck
- * puck_still_here => EJECT_PUCK
- * re-eject this sticky puck, grml!
+ * CLOSE_DOOR =door_closed=>
+ * => IDLE
+ * filter bridge ready
*/
fsm_branch_t
-filterbridge__RETURN_NORMAL_POS__bridge_in_position (void)
+filterbridge__CLOSE_DOOR__door_closed (void)
{
- return filterbridge_next_branch (RETURN_NORMAL_POS, bridge_in_position, no_puck_anymore);
- return filterbridge_next_branch (RETURN_NORMAL_POS, bridge_in_position, puck_still_here);
+ return filterbridge_next (CLOSE_DOOR, door_closed);
}
/*
- * OPEN_FIRST_DOOR =first_door_opened=>
- * => IDLE
- * filter bridge ready
+ * RETURN_NORMAL_POS =bridge_in_position=>
+ * => CLOSE_DOOR
+ * make bridge ready to test a new puck
*/
fsm_branch_t
-filterbridge__OPEN_FIRST_DOOR__first_door_opened (void)
+filterbridge__RETURN_NORMAL_POS__bridge_in_position (void)
{
- return filterbridge_next (OPEN_FIRST_DOOR, first_door_opened);
+ return filterbridge_next (RETURN_NORMAL_POS, bridge_in_position);
}
/*
- * OPEN_SECOND_DOOR =no_puck_on_pos2=>
- * => CLOSE_SECOND_DOOR
- * close the lift access door and tell to lift it has a new puck
+ * OPEN_DOOR =no_puck_on_pos2=>
+ * => CLOSE_DOOR
+ * release puck to the lift
*/
fsm_branch_t
-filterbridge__OPEN_SECOND_DOOR__no_puck_on_pos2 (void)
+filterbridge__OPEN_DOOR__no_puck_on_pos2 (void)
{
- return filterbridge_next (OPEN_SECOND_DOOR, no_puck_on_pos2);
+ return filterbridge_next (OPEN_DOOR, no_puck_on_pos2);
}
/*
- * EJECT_PUCK =puck_ejected=>
+ * EJECT_PUCK =ejection_done=>
* => RETURN_NORMAL_POS
* put bridge on normal position after puck ejection
*/
fsm_branch_t
-filterbridge__EJECT_PUCK__puck_ejected (void)
+filterbridge__EJECT_PUCK__ejection_done (void)
{
- return filterbridge_next (EJECT_PUCK, puck_ejected);
+ return filterbridge_next (EJECT_PUCK, ejection_done);
}
-
-