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-rw-r--r--digital/io/src/getsamples/Makefile.getsamples23
-rw-r--r--digital/io/src/getsamples/getSamplesFsm.conf5
-rw-r--r--digital/io/src/getsamples/getSamplesFsm.fsm47
-rw-r--r--digital/io/src/getsamples/getsamples_cb.c116
-rw-r--r--digital/io/src/getsamples/getsamples_robo.h40
-rw-r--r--digital/io/src/getsamples/test/Makefile7
-rw-r--r--digital/io/src/getsamples/test/main.c88
7 files changed, 0 insertions, 326 deletions
diff --git a/digital/io/src/getsamples/Makefile.getsamples b/digital/io/src/getsamples/Makefile.getsamples
deleted file mode 100644
index c59fdb64..00000000
--- a/digital/io/src/getsamples/Makefile.getsamples
+++ /dev/null
@@ -1,23 +0,0 @@
-CFLAGS = -O2 -Wall
-
-all: prgm exe dot png
-
-prgm: getSamplesFsm.fsm getSamplesFsm.conf
- python ../../../../tools/dfagen/dfagen.py -o c -d $< -c getSamplesFsm.conf -p getsamples
-
-exe: getSamplesFsm.fsm getSamplesFsm.conf
- make prgm
- #if [ -f getsamples_cb.c ]; then vimdiff getsamples_cb.c getsamples_cb_skel.c; else mv getsamples_cb_skel.c getsamples_cb.c; fi;
-
-dot: getSamplesFsm.fsm getSamplesFsm.conf
- python ../../../../tools/dfagen/dfagen.py -o dot -d $< -c getSamplesFsm.conf -p getsamples
-
-png: getsamples.dot
- dot -Tpng -o getsamples.png getsamples.dot
-
-clean:
- rm -f getsamples.h
- 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
deleted file mode 100644
index 238c0f6f..00000000
--- a/digital/io/src/getsamples/getSamplesFsm.conf
+++ /dev/null
@@ -1,5 +0,0 @@
-[user]
-type = getsamples_t
-type-forward-decl = typedef struct getsamples_t getsamples_t;
-type-decl = #include "getsamples_robo.h"
-field = fsm
diff --git a/digital/io/src/getsamples/getSamplesFsm.fsm b/digital/io/src/getsamples/getSamplesFsm.fsm
deleted file mode 100644
index 3f7266d0..00000000
--- a/digital/io/src/getsamples/getSamplesFsm.fsm
+++ /dev/null
@@ -1,47 +0,0 @@
-#FSM get samples
-get_samples
-
-States:
- START
- GO_TO_POSITION
- PREPARE_ARM
- FORWARD_CONTROL
- TAKE_SAMPLES
- BACKWARD
- END
-
-Events:
- ok
- position_reached
- position_failed
- arm_moved
- sample_took
- classifier_ready
-
-START:
- ok -> GO_TO_POSITION
- Go to the distributor. The distributor to reach shall be setted in the fsm structure.
-
-GO_TO_POSITION:
- position_reached -> PREPARE_ARM
- Go to the position desired, it is very near the position of the distributor in case it is a ice distributor or sample distributor.
- position_failed -> GO_TO_POSITION
- Go to another point before trying to go to this one again.
-
-PREPARE_ARM:
- arm_moved -> FORWARD_CONTROL
- Prepare the arm to the correct position.
-
-FORWARD_CONTROL:
- position_reached -> TAKE_SAMPLES
- End the position to the distributor.
-
-TAKE_SAMPLES:
- sample_took: more -> .
- Continue to take samples and classify the next sample.
- sample_took: no_more -> BACKWARD
- If the quantity of samples are tooked, then go backeward and conitnue classifying the samples.
-
-BACKWARD:
- position_reached -> END
- Ending this state machine.
diff --git a/digital/io/src/getsamples/getsamples_cb.c b/digital/io/src/getsamples/getsamples_cb.c
deleted file mode 100644
index de10ac53..00000000
--- a/digital/io/src/getsamples/getsamples_cb.c
+++ /dev/null
@@ -1,116 +0,0 @@
-/*
- * THIS IS AN AUTOMATICALLY GENERATED FILE, DO NOT EDIT!
- *
- * Skeleton for get_samples callbacks implementation.
- *
- *
- */
-#include "getsamples_cb.h"
-
-/*
- * PREPARE_ARM =arm_moved=>
- * => FORWARD_CONTROL
- * Prepare the arm to the correct position.
- */
-getsamples_branch_t
-getsamples__PREPARE_ARM__arm_moved (getsamples_t *user)
-{
- // Try to end the position to the distributor.
- asserv_set_x_position (user->distributor_x);
- // Go to the color distributor.
- asserv_set_y_position (user->distributor_y);
- return getsamples_next (PREPARE_ARM, arm_moved);
-}
-
-/*
- * FORWARD_CONTROL =position_reached=>
- * => TAKE_SAMPLES
- * End the position to the distributor.
- */
-getsamples_branch_t
-getsamples__FORWARD_CONTROL__position_reached (getsamples_t *user)
-{
- // Take as many samples as necessary. This shall be updated to verify the
- asserv_move_arm (1666, 100);
- return getsamples_next (FORWARD_CONTROL, position_reached);
-}
-
-/*
- * START =ok=>
- * => GO_TO_POSITION
- * Go to the distributor. The distributor to reach shall be setted in the fsm structure.
- */
-getsamples_branch_t
-getsamples__START__ok (getsamples_t *user)
-{
- asserv_set_x_position (user->distributor_x - 20);
- asserv_set_y_position (user->distributor_y - 20);
- return getsamples_next (START, ok);
-}
-
-/**
- * TAKE_SAMPLES =sample_took=>
- * no_more => BACKWARD
- * If the quantity of samples are tooked, then go backeward and conitnue classifying the samples.
- * more => TAKE_SAMPLES
- * Continue to take samples and classify the next sample.
- */
-getsamples_branch_t
-getsamples__TAKE_SAMPLES__sample_took (getsamples_t *user)
-{
- // Decrement the samples counter.
- if (user->samples)
- {
- asserv_move_arm (1666, 100);
- return getsamples_next_branch (TAKE_SAMPLES, sample_took, more);
- }
- else
- {
- asserv_move_arm (5000, 100);
- // Try to end the position to the distributor.
- asserv_set_x_position (user->distributor_x - 20);
- // Go to the color distributor.
- asserv_set_y_position (user->distributor_y - 20);
-
- return getsamples_next_branch (TAKE_SAMPLES, sample_took, no_more);
- }
-}
-
-/*
- * BACKWARD =position_reached=>
- * => END
- * Ending this state machine.
- */
-getsamples_branch_t
-getsamples__BACKWARD__position_reached (getsamples_t *user)
-{
- return getsamples_next (BACKWARD, position_reached);
-}
-
-/*
- * GO_TO_POSITION =position_failed=>
- * => GO_TO_POSITION
- * Go to another point before trying to go to this one again.
- */
-getsamples_branch_t
-getsamples__GO_TO_POSITION__position_failed (getsamples_t *user)
-{
- // TODO In this case i don't know what to do.
- return getsamples_next (GO_TO_POSITION, position_failed);
-}
-
-/*
- * GO_TO_POSITION =position_reached=>
- * => PREPARE_ARM
- * Go to the position desired, it is very near the position of the distributor in case it is a ice distributor or sample distributor.
- */
-getsamples_branch_t
-getsamples__GO_TO_POSITION__position_reached (getsamples_t *user)
-{
- // Put the ARM in the position to allow the robot to take samples from the
- // distributor.
- asserv_move_arm (625, 100);
- return getsamples_next (GO_TO_POSITION, position_reached);
-}
-
-
diff --git a/digital/io/src/getsamples/getsamples_robo.h b/digital/io/src/getsamples/getsamples_robo.h
deleted file mode 100644
index 11309a10..00000000
--- a/digital/io/src/getsamples/getsamples_robo.h
+++ /dev/null
@@ -1,40 +0,0 @@
-#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
-{
- /* The FSM. */
- getsamples_state_t fsm;
- /* Distributor x position to get samples. */
- uint32_t distributor_x;
- /* Distributor y position to get samples. */
- uint32_t distributor_y;
- /* Samples to take. */
- uint8_t samples;
-};
-
-#endif /* getsamples_robo_h */
diff --git a/digital/io/src/getsamples/test/Makefile b/digital/io/src/getsamples/test/Makefile
deleted file mode 100644
index ad659fdd..00000000
--- a/digital/io/src/getsamples/test/Makefile
+++ /dev/null
@@ -1,7 +0,0 @@
-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
deleted file mode 100644
index 33a3fd80..00000000
--- a/digital/io/src/getsamples/test/main.c
+++ /dev/null
@@ -1,88 +0,0 @@
-/* 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.
- *
- * }}} */
-#define uint32_t (unsigned int)
-#define uint16_t (unsigned short)
-#define uint8_t (unsigned char)
-
-
-#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_START:
- printf ("START");
- 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;
-}