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-rw-r--r--digital/io/src/getsamples/Makefile13
-rw-r--r--digital/io/src/getsamples/getSamplesFsm.conf2
-rw-r--r--digital/io/src/getsamples/getsamples_robo.h33
-rw-r--r--digital/io/src/getsamples/test/Makefile7
-rw-r--r--digital/io/src/getsamples/test/main.c81
5 files changed, 129 insertions, 7 deletions
diff --git a/digital/io/src/getsamples/Makefile b/digital/io/src/getsamples/Makefile
index 3cf5a03a..389adc71 100644
--- a/digital/io/src/getsamples/Makefile
+++ b/digital/io/src/getsamples/Makefile
@@ -1,10 +1,6 @@
CFLAGS = -O2 -Wall
-all: getSamplesFsm.fsm getSamplesFsm.conf
- make prgm
- make exe
- make dot
- make png
+all: prgm exe dot png
prgm: getSamplesFsm.fsm getSamplesFsm.conf
python ../../../../tools/dfagen/dfagen.py -o c -d $< -c getSamplesFsm.conf -p getsamples
@@ -20,4 +16,9 @@ png: getsamples.dot
dot -Tpng -o getsamples.png getsamples.dot
clean:
- rm -f getsamples*
+ rm -f getsamples.h
+ rm -f getsamples_cb.c
+ rm -f getsamples_cb.h
+ rm -f getsamples.dot
+ rm -f getsamples.png
+ rm -f getsamples.c
diff --git a/digital/io/src/getsamples/getSamplesFsm.conf b/digital/io/src/getsamples/getSamplesFsm.conf
index bae8f698..238c0f6f 100644
--- a/digital/io/src/getsamples/getSamplesFsm.conf
+++ b/digital/io/src/getsamples/getSamplesFsm.conf
@@ -1,5 +1,5 @@
[user]
type = getsamples_t
type-forward-decl = typedef struct getsamples_t getsamples_t;
-type-decl = struct getsamples_t { getsamples_state_t fsm; };
+type-decl = #include "getsamples_robo.h"
field = fsm
diff --git a/digital/io/src/getsamples/getsamples_robo.h b/digital/io/src/getsamples/getsamples_robo.h
new file mode 100644
index 00000000..d5ee6903
--- /dev/null
+++ b/digital/io/src/getsamples/getsamples_robo.h
@@ -0,0 +1,33 @@
+#ifndef getsamples_robo_h
+#define getsamples_robo_h
+/* getsamples_robo.h */
+/* {{{
+ *
+ * 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.
+ *
+ * }}} */
+
+struct getsamples_t
+{
+ getsamples_state_t fsm;
+};
+
+#endif /* getsamples_robo_h */
diff --git a/digital/io/src/getsamples/test/Makefile b/digital/io/src/getsamples/test/Makefile
new file mode 100644
index 00000000..ad659fdd
--- /dev/null
+++ b/digital/io/src/getsamples/test/Makefile
@@ -0,0 +1,7 @@
+BASE= ..
+
+all: main.c $(BASE)/getsamples.c $(BASE)/getsamples_cb.c
+ gcc -g -O2 -Wall main.c $(BASE)/getsamples.c $(BASE)/getsamples_cb.c -o fsm
+
+clean: fsm
+ rm -f fsm
diff --git a/digital/io/src/getsamples/test/main.c b/digital/io/src/getsamples/test/main.c
new file mode 100644
index 00000000..2bbfe6e6
--- /dev/null
+++ b/digital/io/src/getsamples/test/main.c
@@ -0,0 +1,81 @@
+/* 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 "../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;
+}