/* top_cb.c */ /* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ * * Copyright (C) 2009 Dufour Jérémy * * 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. * * }}} * Main FSM calling other FSM. */ #include "common.h" #include "fsm.h" #include "top_cb.h" #include "asserv.h" #include "playground.h" #include "move.h" /* move FSM */ /* * IDLE =start=> * => WAIT_INIT_TO_FINISH * nothing to do. */ fsm_branch_t top__IDLE__start (void) { return top_next (IDLE, start); } /* * WAIT_INIT_TO_FINISH =init_match_is_started=> * => GET_PUCK_FROM_THE_GROUND * the match start, try to get some puck from the ground. */ fsm_branch_t top__WAIT_INIT_TO_FINISH__init_match_is_started (void) { return top_next (WAIT_INIT_TO_FINISH, init_match_is_started); } /* * GET_PUCK_FROM_THE_GROUND =move_fsm_succeed=> * already_six_pucks_or_no_next_position => GET_PUCK_FROM_DISTRIBUTOR * get the next distributor position and launch move FSM to go there. * next_position_exists => GET_PUCK_FROM_THE_GROUND * go to the next position using move FSM. */ fsm_branch_t top__GET_PUCK_FROM_THE_GROUND__move_fsm_succeed (void) { return top_next_branch (GET_PUCK_FROM_THE_GROUND, move_fsm_succeed, already_six_pucks_or_no_next_position); return top_next_branch (GET_PUCK_FROM_THE_GROUND, move_fsm_succeed, next_position_exists); } /* * GET_PUCK_FROM_THE_GROUND =move_fsm_failed=> * => GET_PUCK_FROM_DISTRIBUTOR * we have failed to do a move, go the distributor. */ fsm_branch_t top__GET_PUCK_FROM_THE_GROUND__move_fsm_failed (void) { return top_next (GET_PUCK_FROM_THE_GROUND, move_fsm_failed); } /* * GET_PUCK_FROM_THE_GROUND =bot_is_full_of_puck=> * => STOP_TO_GO_TO_UNLOAD_AREA * stop move FSM. */ fsm_branch_t top__GET_PUCK_FROM_THE_GROUND__bot_is_full_of_puck (void) { return top_next (GET_PUCK_FROM_THE_GROUND, bot_is_full_of_puck); } /* * GET_PUCK_FROM_THE_GROUND =state_timeout=> * => STOP_TO_GET_PUCK_FROM_DISTRIBUTOR * too much time lost to get puck from the ground, stop move FSM. */ fsm_branch_t top__GET_PUCK_FROM_THE_GROUND__state_timeout (void) { return top_next (GET_PUCK_FROM_THE_GROUND, state_timeout); }