/* main.c */ /* {{{ * * Copyright (C) 2008 NĂ©lio 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 gutter_print_test (fsm_t *gutter) { printf ("Machine state "); switch (gutter->state_current) { case GUTTER_STATE_IDLE: printf ("IDLE"); break; case GUTTER_STATE_ROTATE_REAR_SIDE_TO_GUTTER: printf ("ROTATE_REAR_SIDE_TO_GUTTER"); break; case GUTTER_STATE_GO_TO_THE_GUTTER_WALL: printf ("GO_TO_THE_GUTTER_WALL"); break; case GUTTER_STATE_CLOSE_COLLECTOR: printf ("CLOSE COLLECTOR"); break; case GUTTER_STATE_OPEN_COLLECTOR: printf ("OPEN COLLECTOR"); break; default: printf ("STATE_NB"); } printf ("\n"); } int main (void) { fsm_init (&gutter_fsm); gutter_print_test (&gutter_fsm); fsm_handle_event (&gutter_fsm, GUTTER_EVENT_start); // Request the main_loop to go to next state because the angle had // been reached. fsm_handle_event (&gutter_fsm, GUTTER_EVENT_rotation_done); gutter_print_test (&gutter_fsm); // Request the main_loop to go to next state because the angle had // been reached. fsm_handle_event (&gutter_fsm, GUTTER_EVENT_ready); gutter_print_test (&gutter_fsm); fsm_handle_event (&gutter_fsm, GUTTER_EVENT_collector_opened); gutter_print_test (&gutter_fsm); fsm_handle_event (&gutter_fsm, GUTTER_EVENT_collector_closed); gutter_print_test (&gutter_fsm); return 0; } void trap_open_rear_panel (void) { printf ("\t Open rear panel\n"); } void trap_close_rear_panel(void) { printf ("\t Close rear panel\n"); } void asserv_goto_angle (int16_t angle) { printf ("\t Angle requested\n"); } /* Go to the wall (moving backward). */ void asserv_go_to_the_wall (void) { printf ("\t go to the wall\n"); }