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authorJerome Jutteau2013-04-07 23:07:12 +0200
committerJerome Jutteau2013-04-07 23:07:12 +0200
commit53bcdb45a7d86ad589d245e3c39e8546f25b37ca (patch)
tree976f6b99d8f2ddf37b5fdb0ebf355cad96ec3b3a /digital/io-hub/src/apbirthday
parent4654f5ce8140b371f5401ae40f90c2446e4d432e (diff)
digital/io-hub/src/apbirthday: add success events for candles
Oncle Ben: it's always a success !
Diffstat (limited to 'digital/io-hub/src/apbirthday')
-rw-r--r--digital/io-hub/src/apbirthday/candles.cc10
1 files changed, 10 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/candles.cc b/digital/io-hub/src/apbirthday/candles.cc
index 966bdf17..cd2bf678 100644
--- a/digital/io-hub/src/apbirthday/candles.cc
+++ b/digital/io-hub/src/apbirthday/candles.cc
@@ -195,6 +195,11 @@ FSM_TRANS (AI_CANDLE_SLEEPING, ai_candle_deploy, AI_CANDLE_DEPLOYING)
Candles::deploy_arm ();
}
+FSM_TRANS (AI_CANDLE_SLEEPING, ai_candle_undeploy, AI_CANDLE_SLEEPING)
+{
+ robot->fsm_queue.post (FSM_EVENT (ai_candle_success));
+}
+
FSM_TRANS_TIMEOUT (AI_CANDLE_DEPLOYING, 125,
success, AI_CANDLE_READY,
failure, AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED)
@@ -249,6 +254,11 @@ FSM_TRANS (AI_CANDLE_READY, ai_candle_blow, AI_CANDLE_READY)
}
}
+FSM_TRANS (AI_CANDLE_READY, ai_candle_deploy, AI_CANDLE_READY)
+{
+ robot->fsm_queue.post (FSM_EVENT (ai_candle_success));
+}
+
FSM_TRANS (AI_CANDLE_READY, ai_candle_undeploy, AI_CANDLE_UNDEPLOYING)
{
Candles::undeploy_arm_1 ();