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-rw-r--r--digital/io/src/move.fsm13
1 files changed, 9 insertions, 4 deletions
diff --git a/digital/io/src/move.fsm b/digital/io/src/move.fsm
index 2812f686..abedd8dd 100644
--- a/digital/io/src/move.fsm
+++ b/digital/io/src/move.fsm
@@ -54,9 +54,12 @@ MOVE_MOVING:
bot_move_failed -> MOVE_MOVING_BACKWARD_TO_TURN_FREELY
reset final_move.
move backward to turn freely.
- obstacle_in_front -> MOVE_WAIT_FOR_CLEAR_PATH
+ obstacle_in_front: tryagain -> MOVE_WAIT_FOR_CLEAR_PATH
reset final_move.
stop the bot.
+ obstacle_in_front: tryout -> MOVE_IDLE
+ stop the bot.
+ post failure event.
loader_errored -> MOVE_LOADER_UNBLOCKING_UPING
move backward
loader up
@@ -72,17 +75,19 @@ MOVE_MOVING_BACKWARD_TO_TURN_FREELY:
rotate towards next position.
bot_move_failed: path_found -> MOVE_MOVING
move to next position.
- bot_move_failed: no_path_found -> MOVE_WAIT_FOR_CLEAR_PATH
+ bot_move_failed: no_path_found_tryagain -> MOVE_WAIT_FOR_CLEAR_PATH
nothing to do.
+ bot_move_failed: no_path_found_tryout -> MOVE_IDLE
+ post failure event.
MOVE_WAIT_FOR_CLEAR_PATH:
state_timeout: path_found_rotate -> MOVE_ROTATING
rotate towards next position.
state_timeout: path_found -> MOVE_MOVING
move to next position.
- state_timeout: no_path_found_and_try_again -> .
+ state_timeout: no_path_found_tryagain -> .
decrement counter.
- state_timeout: no_path_found_and_no_try_again -> MOVE_IDLE
+ state_timeout: no_path_found_tryout -> MOVE_IDLE
post failure.
MOVE_LOADER_UNBLOCKING_UPING: