/* init_cb.c - init 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 "init_cb.h" #include "asserv.h" #include "init.h" #include "playground.h" #include "main.h" #include "bot.h" #include "switch.h" #include "chrono.h" #include "playground.h" #include "modules/trace/trace.h" #include "modules/path/path.h" /* * IDLE =start=> * => WAIT_FIRST_JACK_IN * do nothing. */ fsm_branch_t init__IDLE__start (void) { return init_next (IDLE, start); } /* * WAIT_FIRST_JACK_IN =jack_inserted_into_bot=> * => WAIT_FIRST_JACK_OUT * do nothing. */ fsm_branch_t init__WAIT_FIRST_JACK_IN__jack_inserted_into_bot (void) { return init_next (WAIT_FIRST_JACK_IN, jack_inserted_into_bot); } /* * WAIT_FIRST_JACK_OUT =jack_removed_from_bot=> * => WAIT_SECOND_JACK_IN * start trace module. * get and store the color of the bot. */ fsm_branch_t init__WAIT_FIRST_JACK_OUT__jack_removed_from_bot (void) { /* Initialize trace module (erase the flash). */ trace_init (); /* Get the color. */ bot_color = switch_get_color (); return init_next (WAIT_FIRST_JACK_OUT, jack_removed_from_bot); } /* * WAIT_SECOND_JACK_IN =jack_inserted_into_bot=> * => WAIT_FOR_HANDS_OUT * do nothing. */ fsm_branch_t init__WAIT_SECOND_JACK_IN__jack_inserted_into_bot (void) { return init_next (WAIT_SECOND_JACK_IN, jack_inserted_into_bot); } /* * WAIT_FOR_HANDS_OUT =state_timeout=> * => GO_TO_THE_WALL * fuck the wall in front. */ fsm_branch_t init__WAIT_FOR_HANDS_OUT__state_timeout (void) { /* Go to the wall, no backward. */ asserv_go_to_the_wall (0); return init_next (WAIT_FOR_HANDS_OUT, state_timeout); } /* * GO_TO_THE_WALL =bot_move_succeed=> * => SET_Y_POSITION * reset the Y position of the bot. */ fsm_branch_t init__GO_TO_THE_WALL__bot_move_succeed (void) { /* We are against the border of absys Y set to PG_LENGTH. */ asserv_set_y_position (PG_LENGTH - (BOT_LENGTH / 2)); return init_next (GO_TO_THE_WALL, bot_move_succeed); } /* * SET_Y_POSITION =asserv_last_cmd_ack=> * => SET_ANGULAR_POSITION * reset the angular position of the bot. */ fsm_branch_t init__SET_Y_POSITION__asserv_last_cmd_ack (void) { /* We are facing top border. */ asserv_set_angle_position (90 * BOT_ANGLE_DEGREE); return init_next (SET_Y_POSITION, asserv_last_cmd_ack); } /* * SET_ANGULAR_POSITION =asserv_last_cmd_ack=> * => GO_AWAY_FROM_THE_WALL * move away from the wall (linear move). */ fsm_branch_t init__SET_ANGULAR_POSITION__asserv_last_cmd_ack (void) { /* Move away from the border. */ asserv_move_linearly (- INIT_DIST); return init_next (SET_ANGULAR_POSITION, asserv_last_cmd_ack); } /* * GO_AWAY_FROM_THE_WALL =bot_move_succeed=> * => FACE_OTHER_WALL * turn to face the other wall. */ fsm_branch_t init__GO_AWAY_FROM_THE_WALL__bot_move_succeed (void) { /* Face the other wall. */ asserv_goto_angle (PG_A_VALUE_COMPUTING (180 * BOT_ANGLE_DEGREE)); return init_next (GO_AWAY_FROM_THE_WALL, bot_move_succeed); } /* * FACE_OTHER_WALL =bot_move_succeed=> * => WAIT_AFTER_ROTATION * nothing to do. */ fsm_branch_t init__FACE_OTHER_WALL__bot_move_succeed (void) { return init_next (FACE_OTHER_WALL, bot_move_succeed); } /* * WAIT_AFTER_ROTATION =state_timeout=> * => GO_TO_THE_WALL_AGAIN * fuck the wall in front. */ fsm_branch_t init__WAIT_AFTER_ROTATION__state_timeout (void) { /* Go to the wall, no backward. */ asserv_go_to_the_wall (0); return init_next (WAIT_AFTER_ROTATION, state_timeout); } /* * GO_TO_THE_WALL_AGAIN =bot_move_succeed=> * => SET_X_POSITION * reset the X position of the bot. */ fsm_branch_t init__GO_TO_THE_WALL_AGAIN__bot_move_succeed (void) { asserv_set_x_position (PG_X_VALUE_COMPUTING (BOT_LENGTH / 2)); return init_next (GO_TO_THE_WALL_AGAIN, bot_move_succeed); } /* * SET_X_POSITION =asserv_last_cmd_ack=> * => GO_AWAY_FROM_THE_WALL_AGAIN * move away from the wall (linear move). */ fsm_branch_t init__SET_X_POSITION__asserv_last_cmd_ack (void) { /* Move away from the border. */ asserv_move_linearly (- INIT_DIST); return init_next (SET_X_POSITION, asserv_last_cmd_ack); } /* * GO_AWAY_FROM_THE_WALL_AGAIN =bot_move_succeed=> * => GO_TO_START_POSITION * go to the start position with a go to movement. */ fsm_branch_t init__GO_AWAY_FROM_THE_WALL_AGAIN__bot_move_succeed (void) { /* Move away from the border. */ asserv_goto_xya (PG_X_VALUE_COMPUTING (PG_START_ZONE_WIDTH - BOT_WIDTH / 2 - 50), PG_LENGTH - PG_START_ZONE_LENGTH + BOT_LENGTH / 2 + 50, PG_A_VALUE_COMPUTING (0 * BOT_ANGLE_DEGREE), 0); return init_next (GO_AWAY_FROM_THE_WALL_AGAIN, bot_move_succeed); } /* * GO_TO_START_POSITION =bot_move_succeed=> * => WAIT_SECOND_JACK_OUT * nothing to do, the bot is at the start position. */ fsm_branch_t init__GO_TO_START_POSITION__bot_move_succeed (void) { return init_next (GO_TO_START_POSITION, bot_move_succeed); } /* * WAIT_SECOND_JACK_OUT =jack_removed_from_bot=> * => IDLE * tell other FSM the match begins. */ fsm_branch_t init__WAIT_SECOND_JACK_OUT__jack_removed_from_bot (void) { /* Set the flag to transmit to other FSM. */ init_match_is_started = 1; /* Start the chrono. */ chrono_init (); return init_next (WAIT_SECOND_JACK_OUT, jack_removed_from_bot); }