summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/test/testgetsamples/main.c
blob: 4e156e05986f85a4c3e37a8085e0892c1cd69e75 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
/* 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 "modules/proto/proto.h"
#include "modules/utils/utils.h"

#include "../../getsamples.h"
#include "../../getsamples_robo.h"

void
getsamples_print_test (getsamples_t *getsamples)
{
    printf ("STATE ");
    switch (getsamples->fsm)
      {
      case GETSAMPLES_STATE_START:
	printf ("START");
	break;
      case GETSAMPLES_STATE_PREPARE_ARM:
	printf ("PREPEARE_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 ("STATE_NB");
      }
    printf ("\n");
}

int
main (void)
{
    getsamples_t getsamples_fsm;

    getsamples_init (&getsamples_fsm);
    getsamples_print_test (&getsamples_fsm);

    getsamples_fsm.distributor_x = 700;
    getsamples_fsm.distributor_y = 2100;
    getsamples_fsm.samples = 3;

    getsamples_handle_event (&getsamples_fsm,
			     GETSAMPLES_EVENT_ok);

    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);

    getsamples_handle_event (&getsamples_fsm,
			     GETSAMPLES_EVENT_arm_moved);


    getsamples_print_test (&getsamples_fsm);

    getsamples_handle_event (&getsamples_fsm,
			 GETSAMPLES_EVENT_position_reached);

    getsamples_print_test (&getsamples_fsm);

    for (getsamples_fsm.samples--; getsamples_fsm.samples; getsamples_fsm.samples --)
      {
	getsamples_handle_event (&getsamples_fsm,
			 GETSAMPLES_EVENT_sample_took);

	getsamples_print_test (&getsamples_fsm);
      }

    getsamples_handle_event (&getsamples_fsm,
		     GETSAMPLES_EVENT_sample_took);

    getsamples_print_test (&getsamples_fsm);

    getsamples_handle_event (&getsamples_fsm,
		     GETSAMPLES_EVENT_position_reached);

    getsamples_print_test (&getsamples_fsm);

    return 0;
}

void
asserv_set_x_position (uint32_t position)
{
    printf ("X position : %d\n", position);
}

void
asserv_move_arm (uint16_t position, uint8_t speed)
{
    printf ("Move arm, position : %d, speed : %d\n", position, speed);
}

void
asserv_set_y_position (int32_t y)
{
    printf ("Y position : %d\n", y);
}