/* filterbridge_cb.c - filterbridge FSM callbacks. */ /* {{{ * * Copyright (C) 2009 Nicolas Haller * * 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 "filterbridge_cb.h" /* * WAIT_A_PUCK =puck_on_pos2=> * nb_puck_ok => WAIT_RGB_PROBE * probe color of the new puck * too_much_puck => EJECT_PUCK * we have too much puck, eject the puck quickly and whistle */ fsm_branch_t filterbridge__WAIT_A_PUCK__puck_on_pos2 (void) { return filterbridge_next_branch (WAIT_A_PUCK, puck_on_pos2, nb_puck_ok); return filterbridge_next_branch (WAIT_A_PUCK, puck_on_pos2, too_much_puck); } /* * WAIT_RGB_PROBE =color_probed=> * bad_color => EJECT_PUCK * eject bad puck * good_color => OPEN_DOOR * put puck to the lift */ fsm_branch_t filterbridge__WAIT_RGB_PROBE__color_probed (void) { return filterbridge_next_branch (WAIT_RGB_PROBE, color_probed, bad_color); return filterbridge_next_branch (WAIT_RGB_PROBE, color_probed, good_color); } /* * IDLE =lift_ready=> * => WAIT_A_PUCK * the lift is ready to get pucks, we can begin testing procedure */ fsm_branch_t filterbridge__IDLE__lift_ready (void) { return filterbridge_next (IDLE, lift_ready); } /* * CLOSE_DOOR =door_closed=> * => IDLE * filter bridge ready */ fsm_branch_t filterbridge__CLOSE_DOOR__door_closed (void) { return filterbridge_next (CLOSE_DOOR, door_closed); } /* * RETURN_NORMAL_POS =bridge_in_position=> * => CLOSE_DOOR * make bridge ready to test a new puck */ fsm_branch_t filterbridge__RETURN_NORMAL_POS__bridge_in_position (void) { return filterbridge_next (RETURN_NORMAL_POS, bridge_in_position); } /* * OPEN_DOOR =no_puck_on_pos2=> * => CLOSE_DOOR * release puck to the lift */ fsm_branch_t filterbridge__OPEN_DOOR__no_puck_on_pos2 (void) { return filterbridge_next (OPEN_DOOR, no_puck_on_pos2); } /* * EJECT_PUCK =ejection_done=> * => RETURN_NORMAL_POS * put bridge on normal position after puck ejection */ fsm_branch_t filterbridge__EJECT_PUCK__ejection_done (void) { return filterbridge_next (EJECT_PUCK, ejection_done); }