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-rw-r--r--digital/io/src/loader.fsm8
1 files changed, 8 insertions, 0 deletions
diff --git a/digital/io/src/loader.fsm b/digital/io/src/loader.fsm
index fb37dc81..7cc192b3 100644
--- a/digital/io/src/loader.fsm
+++ b/digital/io/src/loader.fsm
@@ -149,6 +149,8 @@ LOADER_ERROR_DOWNING:
LOADER_ERROR_DOWNING_OPEN:
clamp_succeed -> LOADER_DOWN
post loader_downed event
+ clamp_failed -> LOADER_ERROR
+ post loader_errored event
LOADER_ERROR_UPING:
elevator_succeed -> LOADER_ERROR_UPING_OPEN
@@ -159,6 +161,8 @@ LOADER_ERROR_UPING:
LOADER_ERROR_UPING_OPEN:
clamp_succeed -> LOADER_UP
post loader_uped event
+ clamp_failed -> LOADER_ERROR
+ post loader_errored event
LOADER_DOWNING:
elevator_succeed -> LOADER_DOWN
@@ -205,9 +209,13 @@ LOADER_LOAD_UNLOADING_OPEN:
move down
clamp_succeed: up -> LOADER_UPING
move up
+ clamp_failed -> LOADER_ERROR
+ post loader_errored event
LOADER_LOAD_EMPTY_OPEN:
clamp_succeed: down -> LOADER_DOWN
clamp_succeed: up -> LOADER_UPING
move up
+ clamp_failed -> LOADER_ERROR
+ post loader_errored event