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-rw-r--r--digital/io/src/getsamples/test/main.c81
1 files changed, 81 insertions, 0 deletions
diff --git a/digital/io/src/getsamples/test/main.c b/digital/io/src/getsamples/test/main.c
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+++ b/digital/io/src/getsamples/test/main.c
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+/* main.c */
+/* {{{
+ *
+ * Copyright (C) 2008 NĂ©lio 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 "../getsamples.h"
+#include "../getsamples_robo.h"
+
+#include <stdio.h>
+
+void
+getsamples_print_test (getsamples_t *getsamples)
+{
+ printf ("Machine state ");
+
+ switch (getsamples->fsm)
+ {
+ case GETSAMPLES_STATE_PREPARE_ARM:
+ printf ("PREPARE_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 ("NB");
+ }
+ printf ("\n");
+}
+
+int
+main (void)
+{
+ getsamples_t getsamples_fsm;
+
+ getsamples_init (&getsamples_fsm);
+ 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);
+
+ return 0;
+}