From 7e43a04c49a0f7b5fc02fc25517d5e950a4e37cf Mon Sep 17 00:00:00 2001 From: Nicolas Haller Date: Sun, 19 Apr 2009 23:36:38 +0200 Subject: * digital/io/src/filterbridge{_cb.c,.fsm} - filterbridge fsm updated due to meca modifications --- digital/io/src/filterbridge.fsm | 58 ++++++++++++++++------------------------- 1 file changed, 22 insertions(+), 36 deletions(-) (limited to 'digital/io/src/filterbridge.fsm') 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 -- cgit v1.2.3