From e138d020e6d594258146b975b057a32b09143af6 Mon Sep 17 00:00:00 2001 From: Nélio Laranjeiro Date: Sat, 5 Apr 2008 15:17:34 +0200 Subject: Added and test the move fsm. Only the machine sequence is tested. --- digital/io/src/test/move/main.c | 101 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 101 insertions(+) create mode 100644 digital/io/src/test/move/main.c (limited to 'digital/io/src/test/move/main.c') diff --git a/digital/io/src/test/move/main.c b/digital/io/src/test/move/main.c new file mode 100644 index 00000000..60f62aa3 --- /dev/null +++ b/digital/io/src/test/move/main.c @@ -0,0 +1,101 @@ +/* main.c */ +/* {{{ + * + * Copyright (C) 2008 Nélio Laranjeiro + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ +#include "common.h" +#include "../../fsm.h" + +#include + +void +move_print_test (fsm_t *move) +{ + printf ("Machine state "); + + switch (move->state_current) + { + case MOVE_STATE_END: + printf ("END"); + break; + case MOVE_STATE_DESIRED_POSITION: + printf ("DESIRED POSITION"); + break; + case MOVE_STATE_MOVE_ON_RIGHT: + printf ("MOVE ON RIGHT"); + break; + case MOVE_STATE_MOVE_ON_LEFT: + printf ("MOVE ON LEFT"); + break; + default: + printf ("STATE_NB"); + } + printf ("\n"); +} + +int +main (void) +{ + fsm_init (&move_fsm); + + fsm_handle_event (&move_fsm, MOVE_EVENT_ok); + + move_print_test (&move_fsm); + + fsm_handle_event (&move_fsm, MOVE_EVENT_failed_or_blocked); + move_print_test (&move_fsm); + + fsm_handle_event (&move_fsm, MOVE_EVENT_failed_or_blocked); + move_print_test (&move_fsm); + + fsm_handle_event (&move_fsm, MOVE_EVENT_near_border); + move_print_test (&move_fsm); + + fsm_handle_event (&move_fsm, MOVE_EVENT_failed_or_blocked); + move_print_test (&move_fsm); + + fsm_handle_event (&move_fsm, MOVE_EVENT_reached); + move_print_test (&move_fsm); + + fsm_handle_event (&move_fsm, MOVE_EVENT_failed_or_blocked); + move_print_test (&move_fsm); + + fsm_handle_event (&move_fsm, MOVE_EVENT_reached); + move_print_test (&move_fsm); + + fsm_handle_event (&move_fsm, MOVE_EVENT_reached); + move_print_test (&move_fsm); + + return 0; +} + +//void +//asserv_set_x_position (uint32_t position) +//{ +// printf ("X position : %d\n", position); +//} +// +//void +//asserv_set_y_position (int32_t y) +//{ +// printf ("Y position : %d\n", y); +//} -- cgit v1.2.3