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/* main.c */
/*  {{{
 *
 * Copyright (C) 2008 Nélio 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 <stdio.h>

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");
}