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-rw-r--r--digital/io/src/gutter/test/Makefile7
-rw-r--r--digital/io/src/gutter/test/main.c84
2 files changed, 91 insertions, 0 deletions
diff --git a/digital/io/src/gutter/test/Makefile b/digital/io/src/gutter/test/Makefile
new file mode 100644
index 00000000..21470810
--- /dev/null
+++ b/digital/io/src/gutter/test/Makefile
@@ -0,0 +1,7 @@
+BASE= ..
+
+all: main.c $(BASE)/gutter.c $(BASE)/gutter_cb.c
+ gcc -g -O2 -Wall main.c $(BASE)/gutter.c $(BASE)/gutter_cb.c -o fsm
+
+clean: fsm
+ rm -f fsm
diff --git a/digital/io/src/gutter/test/main.c b/digital/io/src/gutter/test/main.c
new file mode 100644
index 00000000..08be3342
--- /dev/null
+++ b/digital/io/src/gutter/test/main.c
@@ -0,0 +1,84 @@
+/* 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 "../gutter.h"
+#include "../gutter_robo.h"
+
+#include <stdio.h>
+
+void
+gutter_print_test (gutter_t *gutter)
+{
+ printf ("Machine state ");
+
+ switch (gutter->fsm)
+ {
+ case GUTTER_STATE_END:
+ printf ("END");
+ break;
+ case GUTTER_STATE_CLOSE_COLLECTOR:
+ printf ("CLOSE COLLECTOR");
+ break;
+ case GUTTER_STATE_GO_TO_GUTTER:
+ printf ("GO_TO_GUTTER");
+ break;
+ case GUTTER_STATE_OPEN_COLLECTOR:
+ printf ("OPEN COLLECTOR");
+ break;
+ default:
+ printf ("STATE_NB");
+ }
+ printf ("\n");
+}
+
+int
+main (void)
+{
+ gutter_t gutter_fsm;
+
+ gutter_init (&gutter_fsm);
+ gutter_print_test (&gutter_fsm);
+
+ gutter_handle_event (&gutter_fsm,
+ GUTTER_EVENT_position_failed);
+
+ gutter_print_test (&gutter_fsm);
+
+ gutter_handle_event (&gutter_fsm,
+ GUTTER_EVENT_position_reached);
+
+ gutter_print_test (&gutter_fsm);
+
+ gutter_handle_event (&gutter_fsm,
+ GUTTER_EVENT_collector_opened);
+
+ gutter_print_test (&gutter_fsm);
+
+ gutter_handle_event (&gutter_fsm,
+ GUTTER_EVENT_collector_closed);
+
+ gutter_print_test (&gutter_fsm);
+
+ return 0;
+}