From 5c7c8446d26ead0a3f1afe6396b0741a3b69dd66 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Wed, 19 Mar 2008 01:00:37 +0100 Subject: Added the dfagen file for the FSM loadsamples. This is a first shoot, it is not complete. --- digital/io/src/loadsamples/Makefile | 23 +++++++++++++++++++++++ digital/io/src/loadsamples/loadsamples.conf | 5 +++++ digital/io/src/loadsamples/loadsamples.fsm | 24 ++++++++++++++++++++++++ 3 files changed, 52 insertions(+) create mode 100644 digital/io/src/loadsamples/Makefile create mode 100644 digital/io/src/loadsamples/loadsamples.conf create mode 100644 digital/io/src/loadsamples/loadsamples.fsm diff --git a/digital/io/src/loadsamples/Makefile b/digital/io/src/loadsamples/Makefile new file mode 100644 index 00000000..8a2fba73 --- /dev/null +++ b/digital/io/src/loadsamples/Makefile @@ -0,0 +1,23 @@ +CFLAGS = -O2 -Wall + +all: loadsamples loadsamples.png + +loadsamples: loadsamples.o loadsamples.o + +loadsamples.c: loadsamples.fsm loadsamples.conf + python ../../../../tools/dfagen/dfagen.py -o c -d loadsamples.fsm -c loadsamples.conf -p loadsamples + +loadsamples.h loadsamples.cb_skel.c loadsamples.cb.h: loadsamples.c + +loadsamples.o: loadsamples.cb.h loadsamples.h +loadsamples_cb.o: loadsamples.cb.h loadsamples.h + +%.dot: %.fsm + python ../../../../tools/dfagen/dfagen.py -o dot -d $< -p $(@:%.dot=%) + +%.png: %.dot + dot -Tpng $< -o $@ + +clean: + rm -f loadsamples loadsamples.o loadballs_cb.o loadsamples.c loadsamples.h loadsamples_cb_skel.c loadsamples_cb.h loadsamples_cb.c + rm -f loadsamples.dot loadsamples.png diff --git a/digital/io/src/loadsamples/loadsamples.conf b/digital/io/src/loadsamples/loadsamples.conf new file mode 100644 index 00000000..74c0a579 --- /dev/null +++ b/digital/io/src/loadsamples/loadsamples.conf @@ -0,0 +1,5 @@ +[user] +type = loadsamples_t +type-forward-decl = typedef struct loadsamples_t loadsamples_t; +type-decl = struct loadsamples_t { loadsamples_state_t fsm; }; +field = fsm diff --git a/digital/io/src/loadsamples/loadsamples.fsm b/digital/io/src/loadsamples/loadsamples.fsm new file mode 100644 index 00000000..f7686bce --- /dev/null +++ b/digital/io/src/loadsamples/loadsamples.fsm @@ -0,0 +1,24 @@ +#The loadsamples state. +loadsamples + +States: + ROTATE_ARM + GO_BACKWARD + ARM_INIT + +Events: + arm_stopped + move_finished + move_blocked + +ROTATE_ARM: + arm_stopped -> GO_BACKWARD + Request the robot to go backward. + +GO_BACKWARD: + move_finished -> ARM_INIT + When the move is finished the ARM shall be reset to its init position. + +ARM_INIT: + move_finished -> . + This procedure is finish. -- cgit v1.2.3