From 826d0f9b1b2c1ef5b055fed0dd1734eb383a9384 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 9 May 2012 00:25:46 +0200 Subject: digital/io-hub/src/guybrush: top should not post event, but directly handle it --- digital/io-hub/src/guybrush/top.c | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) (limited to 'digital') diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c index f003e3f7..01b227b1 100644 --- a/digital/io-hub/src/guybrush/top.c +++ b/digital/io-hub/src/guybrush/top.c @@ -30,7 +30,6 @@ #define FSM_NAME AI #include "fsm.h" -#include "fsm_queue.h" #include "move.h" #include "chrono.h" @@ -173,7 +172,7 @@ FSM_TRANS (TOP_START, init_start_round, FSM_TRANS (TOP_TOTEM_GOING, move_success, TOP_TOTEM_CLAMP_DOWNING) { - fsm_queue_post_event (FSM_EVENT (AI, tree_detected)); + FSM_HANDLE (AI, tree_detected); return FSM_NEXT (TOP_TOTEM_GOING, move_success); } @@ -192,7 +191,7 @@ FSM_TRANS (TOP_TOTEM_APPROACHING, robot_move_success, TOP_TOTEM_PUSHING) FSM_TRANS (TOP_TOTEM_PUSHING, robot_move_success, TOP_TOTEM_EMPTYING) { asserv_stop_motor (); - fsm_queue_post_event (FSM_EVENT (AI, empty_tree)); + FSM_HANDLE (AI, empty_tree); return FSM_NEXT (TOP_TOTEM_PUSHING, robot_move_success); } @@ -205,7 +204,7 @@ FSM_TRANS (TOP_TOTEM_EMPTYING, clamps_ready, TOP_TOTEM_GOING_BACK) FSM_TRANS (TOP_TOTEM_GOING_BACK, move_success, TOP_TOTEM_CLAMP_UPPING) { - fsm_queue_post_event (FSM_EVENT (AI, robot_is_back)); + FSM_HANDLE (AI, robot_is_back); return FSM_NEXT (TOP_TOTEM_GOING_BACK, move_success); } -- cgit v1.2.3