/* 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. * * }}} */ #define uint32_t (unsigned int) #define uint16_t (unsigned short) #define uint8_t (unsigned char) #include "../getsamples.h" #include "../getsamples_robo.h" #include void getsamples_print_test (getsamples_t *getsamples) { printf ("Machine state "); switch (getsamples->fsm) { case GETSAMPLES_STATE_START: printf ("START"); case GETSAMPLES_STATE_PREPARE_ARM: printf ("PREPARE_ARM"); break; case GETSAMPLES_STATE_END: printf ("END"); break; case GETSAMPLES_STATE_FORWARD_CONTROL: printf ("FORWARD CONTROL"); break; case GETSAMPLES_STATE_TAKE_SAMPLES: printf ("TAKE_SAMPLES"); break; case GETSAMPLES_STATE_BACKWARD: printf ("BACKWARD"); break; case GETSAMPLES_STATE_GO_TO_POSITION: printf ("GO TO POSITION"); break; case GETSAMPLES_STATE_NB: printf ("NB"); } printf ("\n"); } int main (void) { getsamples_t getsamples_fsm; getsamples_init (&getsamples_fsm); getsamples_print_test (&getsamples_fsm); getsamples_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_position_failed); getsamples_print_test (&getsamples_fsm); getsamples_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_position_reached); getsamples_print_test (&getsamples_fsm); return 0; }