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Diffstat (limited to 'digital/io/src/test/testgetsamples/main.c')
-rw-r--r--digital/io/src/test/testgetsamples/main.c80
1 files changed, 67 insertions, 13 deletions
diff --git a/digital/io/src/test/testgetsamples/main.c b/digital/io/src/test/testgetsamples/main.c
index 33a3fd80..4e156e05 100644
--- a/digital/io/src/test/testgetsamples/main.c
+++ b/digital/io/src/test/testgetsamples/main.c
@@ -22,33 +22,31 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* }}} */
-#define uint32_t (unsigned int)
-#define uint16_t (unsigned short)
-#define uint8_t (unsigned char)
+#include "common.h"
+#include "modules/proto/proto.h"
+#include "modules/utils/utils.h"
-#include "../getsamples.h"
-#include "../getsamples_robo.h"
-
-#include <stdio.h>
+#include "../../getsamples.h"
+#include "../../getsamples_robo.h"
void
getsamples_print_test (getsamples_t *getsamples)
{
- printf ("Machine state ");
-
+ printf ("STATE ");
switch (getsamples->fsm)
{
case GETSAMPLES_STATE_START:
printf ("START");
+ break;
case GETSAMPLES_STATE_PREPARE_ARM:
- printf ("PREPARE_ARM");
+ printf ("PREPEARE_ARM");
break;
case GETSAMPLES_STATE_END:
printf ("END");
break;
case GETSAMPLES_STATE_FORWARD_CONTROL:
- printf ("FORWARD CONTROL");
+ printf ("FORWARD_CONTROL");
break;
case GETSAMPLES_STATE_TAKE_SAMPLES:
printf ("TAKE_SAMPLES");
@@ -57,10 +55,10 @@ getsamples_print_test (getsamples_t *getsamples)
printf ("BACKWARD");
break;
case GETSAMPLES_STATE_GO_TO_POSITION:
- printf ("GO TO POSITION");
+ printf ("GO_TO_POSITION");
break;
case GETSAMPLES_STATE_NB:
- printf ("NB");
+ printf ("STATE_NB");
}
printf ("\n");
}
@@ -73,6 +71,15 @@ main (void)
getsamples_init (&getsamples_fsm);
getsamples_print_test (&getsamples_fsm);
+ getsamples_fsm.distributor_x = 700;
+ getsamples_fsm.distributor_y = 2100;
+ getsamples_fsm.samples = 3;
+
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_ok);
+
+ getsamples_print_test (&getsamples_fsm);
+
getsamples_handle_event (&getsamples_fsm,
GETSAMPLES_EVENT_position_failed);
@@ -84,5 +91,52 @@ main (void)
getsamples_print_test (&getsamples_fsm);
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_arm_moved);
+
+
+ getsamples_print_test (&getsamples_fsm);
+
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_position_reached);
+
+ getsamples_print_test (&getsamples_fsm);
+
+ for (getsamples_fsm.samples--; getsamples_fsm.samples; getsamples_fsm.samples --)
+ {
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_sample_took);
+
+ getsamples_print_test (&getsamples_fsm);
+ }
+
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_sample_took);
+
+ getsamples_print_test (&getsamples_fsm);
+
+ getsamples_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_position_reached);
+
+ getsamples_print_test (&getsamples_fsm);
+
return 0;
}
+
+void
+asserv_set_x_position (uint32_t position)
+{
+ printf ("X position : %d\n", position);
+}
+
+void
+asserv_move_arm (uint16_t position, uint8_t speed)
+{
+ printf ("Move arm, position : %d, speed : %d\n", position, speed);
+}
+
+void
+asserv_set_y_position (int32_t y)
+{
+ printf ("Y position : %d\n", y);
+}