From 53bcdb45a7d86ad589d245e3c39e8546f25b37ca Mon Sep 17 00:00:00 2001 From: Jerome Jutteau Date: Sun, 7 Apr 2013 23:07:12 +0200 Subject: digital/io-hub/src/apbirthday: add success events for candles Oncle Ben: it's always a success ! --- digital/io-hub/src/apbirthday/candles.cc | 10 ++++++++++ 1 file changed, 10 insertions(+) (limited to 'digital') diff --git a/digital/io-hub/src/apbirthday/candles.cc b/digital/io-hub/src/apbirthday/candles.cc index 966bdf17..cd2bf678 100644 --- a/digital/io-hub/src/apbirthday/candles.cc +++ b/digital/io-hub/src/apbirthday/candles.cc @@ -195,6 +195,11 @@ FSM_TRANS (AI_CANDLE_SLEEPING, ai_candle_deploy, AI_CANDLE_DEPLOYING) Candles::deploy_arm (); } +FSM_TRANS (AI_CANDLE_SLEEPING, ai_candle_undeploy, AI_CANDLE_SLEEPING) +{ + robot->fsm_queue.post (FSM_EVENT (ai_candle_success)); +} + FSM_TRANS_TIMEOUT (AI_CANDLE_DEPLOYING, 125, success, AI_CANDLE_READY, failure, AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED) @@ -249,6 +254,11 @@ FSM_TRANS (AI_CANDLE_READY, ai_candle_blow, AI_CANDLE_READY) } } +FSM_TRANS (AI_CANDLE_READY, ai_candle_deploy, AI_CANDLE_READY) +{ + robot->fsm_queue.post (FSM_EVENT (ai_candle_success)); +} + FSM_TRANS (AI_CANDLE_READY, ai_candle_undeploy, AI_CANDLE_UNDEPLOYING) { Candles::undeploy_arm_1 (); -- cgit v1.2.3