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authorJérémy Dufour2008-04-23 13:31:14 +0200
committerJérémy Dufour2008-04-23 13:31:14 +0200
commitb37be4dc387ff573c5d6baca14472a56c682c537 (patch)
tree46914d3a7680e9b8a428bd8b7e7fac4ba79c8238 /digital/io/src/main.c
parent3e87ad74d0dabecee698f3acefa6f38b159484c3 (diff)
* digital/io/src
- integrate gutter FSM into the main loop.
Diffstat (limited to 'digital/io/src/main.c')
-rw-r--r--digital/io/src/main.c10
1 files changed, 10 insertions, 0 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index efcd9d4e..61dc77bb 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -44,6 +44,7 @@
#include "getsamples.h" /* getsamples_start */
#include "top.h" /* top_* */
#include "chrono.h" /* chrono_end_match */
+#include "gutter.h" /* gutter_generate_wait_finished_event */
#include "io.h"
@@ -136,12 +137,16 @@ main_loop (void)
/* Pass it to all the FSM that need it */
fsm_handle_event (&getsamples_fsm,
GETSAMPLES_EVENT_bot_move_succeed);
+ fsm_handle_event (&gutter_fsm,
+ GUTTER_EVENT_bot_move_succeed);
}
else if (move_status == failure)
{
/* Move failed */
fsm_handle_event (&getsamples_fsm,
GETSAMPLES_EVENT_bot_move_failed);
+ fsm_handle_event (&gutter_fsm,
+ GUTTER_EVENT_bot_move_failed);
}
asserv_status_e arm_status = asserv_last_cmd_ack ()
? asserv_arm_cmd_status () : none;
@@ -170,6 +175,11 @@ main_loop (void)
{
fsm_handle_event (&top_fsm, TOP_EVENT_settings_acknowledged);
}
+ /* Gutter wait_finished event */
+ if (gutter_generate_wait_finished_event ())
+ {
+ fsm_handle_event (&gutter_fsm, GUTTER_EVENT_wait_finished);
+ }
/* TODO: Check other sensors */
}
}