From 4a6a90cb512f1a43e1229ef0d13ef3e5abd25b9c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 4 May 2011 19:58:33 +0200 Subject: digital/{ai,io}: move fsm queue to ai --- digital/io/src/loader.c | 44 ++++++++++++++++++++++---------------------- 1 file changed, 22 insertions(+), 22 deletions(-) (limited to 'digital/io/src/loader.c') diff --git a/digital/io/src/loader.c b/digital/io/src/loader.c index 8dd557da..e8f8c139 100644 --- a/digital/io/src/loader.c +++ b/digital/io/src/loader.c @@ -30,7 +30,7 @@ #include "asserv.h" #include "mimot.h" #include "bot.h" -#include "main.h" +#include "fsm_queue.h" #include "food.h" uint8_t loader_elements; @@ -279,7 +279,7 @@ FSM_TRANS (LOADER_UPING, elevator_succeed, LOADER_UP) { - main_post_event (FSM_EVENT (AI,loader_uped)); + fsm_queue_post_event (FSM_EVENT (AI,loader_uped)); return FSM_NEXT (LOADER_UPING, elevator_succeed); } @@ -290,7 +290,7 @@ FSM_TRANS (LOADER_UPING, elevator_failed, LOADER_ERROR) { - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); return FSM_NEXT (LOADER_UPING, elevator_failed); } @@ -314,7 +314,7 @@ FSM_TRANS (LOADER_DOWNING, LOADER_DOWN) { asserv_motor0_free (); - main_post_event (FSM_EVENT (AI, loader_downed)); + fsm_queue_post_event (FSM_EVENT (AI, loader_downed)); return FSM_NEXT (LOADER_DOWNING, elevator_succeed); } @@ -325,7 +325,7 @@ FSM_TRANS (LOADER_DOWNING, elevator_failed, LOADER_ERROR) { - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); return FSM_NEXT (LOADER_DOWNING, elevator_failed); } @@ -338,7 +338,7 @@ FSM_TRANS (LOADER_DOWNING, LOADER_ERROR) { asserv_motor0_free (); - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); return FSM_NEXT (LOADER_DOWNING, loader_element); } @@ -396,7 +396,7 @@ FSM_TRANS (LOADER_ERROR_DOWNING, elevator_failed, LOADER_ERROR) { - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); return FSM_NEXT (LOADER_ERROR_DOWNING, elevator_failed); } @@ -406,7 +406,7 @@ FSM_TRANS (LOADER_ERROR_DOWNING, FSM_TRANS_TIMEOUT (LOADER_ERROR_DOWNING, 225, LOADER_ERROR) { - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); return FSM_NEXT_TIMEOUT (LOADER_ERROR_DOWNING); } @@ -417,7 +417,7 @@ FSM_TRANS (LOADER_ERROR_DOWNING_OPEN, clamp_succeed, LOADER_DOWN) { - main_post_event (FSM_EVENT (AI, loader_downed)); + fsm_queue_post_event (FSM_EVENT (AI, loader_downed)); return FSM_NEXT (LOADER_ERROR_DOWNING_OPEN, clamp_succeed); } @@ -428,7 +428,7 @@ FSM_TRANS (LOADER_ERROR_DOWNING_OPEN, clamp_failed, LOADER_ERROR) { - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); return FSM_NEXT (LOADER_ERROR_DOWNING_OPEN, clamp_failed); } @@ -438,7 +438,7 @@ FSM_TRANS (LOADER_ERROR_DOWNING_OPEN, FSM_TRANS_TIMEOUT (LOADER_ERROR_DOWNING_OPEN, 225, LOADER_ERROR) { - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); return FSM_NEXT_TIMEOUT (LOADER_ERROR_DOWNING_OPEN); } @@ -461,7 +461,7 @@ FSM_TRANS (LOADER_ERROR_UPING, elevator_failed, LOADER_ERROR) { - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); return FSM_NEXT (LOADER_ERROR_UPING, elevator_failed); } @@ -471,7 +471,7 @@ FSM_TRANS (LOADER_ERROR_UPING, FSM_TRANS_TIMEOUT (LOADER_ERROR_UPING, 225, LOADER_ERROR) { - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); return FSM_NEXT_TIMEOUT (LOADER_ERROR_UPING); } @@ -482,7 +482,7 @@ FSM_TRANS (LOADER_ERROR_UPING_OPEN, clamp_succeed, LOADER_UP) { - main_post_event (FSM_EVENT (AI, loader_uped)); + fsm_queue_post_event (FSM_EVENT (AI, loader_uped)); return FSM_NEXT (LOADER_ERROR_UPING_OPEN, clamp_succeed); } @@ -493,7 +493,7 @@ FSM_TRANS (LOADER_ERROR_UPING_OPEN, clamp_failed, LOADER_ERROR) { - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); return FSM_NEXT (LOADER_ERROR_UPING_OPEN, clamp_failed); } @@ -503,7 +503,7 @@ FSM_TRANS (LOADER_ERROR_UPING_OPEN, FSM_TRANS_TIMEOUT (LOADER_ERROR_UPING_OPEN, 225, LOADER_ERROR) { - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); return FSM_NEXT_TIMEOUT (LOADER_ERROR_UPING_OPEN); } @@ -561,10 +561,10 @@ FSM_TRANS (LOADER_LOAD_UPING, { if (loader_elements) loader_elements--; - main_post_event (FSM_EVENT (AI, loader_black)); + fsm_queue_post_event (FSM_EVENT (AI, loader_black)); } else - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); mimot_move_motor0_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED); mimot_move_motor1_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED); return FSM_NEXT (LOADER_LOAD_UPING, elevator_failed); @@ -585,7 +585,7 @@ FSM_TRANS (LOADER_LOAD_UNLOADING, elevator_failed, LOADER_ERROR) { - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); mimot_move_motor0_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED); mimot_move_motor1_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED); return FSM_NEXT (LOADER_LOAD_UNLOADING, elevator_failed); @@ -618,7 +618,7 @@ FSM_TRANS (LOADER_LOAD_UNLOADING_OPEN, clamp_failed, LOADER_ERROR) { - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); return FSM_NEXT (LOADER_LOAD_UNLOADING_OPEN, clamp_failed); } @@ -636,7 +636,7 @@ FSM_TRANS (LOADER_LOAD_EMPTY_OPEN, clamp_succeed, } else { - main_post_event (FSM_EVENT (AI, loader_downed)); + fsm_queue_post_event (FSM_EVENT (AI, loader_downed)); return FSM_NEXT (LOADER_LOAD_EMPTY_OPEN, clamp_succeed, down); } } @@ -648,6 +648,6 @@ FSM_TRANS (LOADER_LOAD_EMPTY_OPEN, clamp_failed, LOADER_ERROR) { - main_post_event (FSM_EVENT (AI, loader_errored)); + fsm_queue_post_event (FSM_EVENT (AI, loader_errored)); return FSM_NEXT (LOADER_LOAD_EMPTY_OPEN, clamp_failed); } -- cgit v1.2.3