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-rw-r--r--digital/io/src/loader.fsm16
1 files changed, 12 insertions, 4 deletions
diff --git a/digital/io/src/loader.fsm b/digital/io/src/loader.fsm
index 6a97681b..83972230 100644
--- a/digital/io/src/loader.fsm
+++ b/digital/io/src/loader.fsm
@@ -33,13 +33,13 @@ States:
moving to the down position
LOADER_ERROR
error while moving up, stop in an unknown state
- LOADER_ERROR_DOWNING
+ LOADER_ERROR_DOWNING [timeout=225]
error recovery moving down
- LOADER_ERROR_DOWNING_OPEN
+ LOADER_ERROR_DOWNING_OPEN [timeout=225]
error recovery moving down, open clamp
- LOADER_ERROR_UPING
+ LOADER_ERROR_UPING [timeout=225]
error recovery moving up
- LOADER_ERROR_UPING_OPEN
+ LOADER_ERROR_UPING_OPEN [timeout=225]
error recovery moving up, open clamp
LOADER_LOAD_CLOSING
close clamp
@@ -142,24 +142,32 @@ LOADER_ERROR_DOWNING:
open clamp
elevator_failed -> LOADER_ERROR
post loader_errored event
+ state_timeout -> LOADER_ERROR
+ post loader_errored event
LOADER_ERROR_DOWNING_OPEN:
clamp_succeed -> LOADER_DOWN
post loader_downed event
clamp_failed -> LOADER_ERROR
post loader_errored event
+ state_timeout -> LOADER_ERROR
+ post loader_errored event
LOADER_ERROR_UPING:
elevator_succeed -> LOADER_ERROR_UPING_OPEN
open clamp
elevator_failed -> LOADER_ERROR
post loader_errored event
+ state_timeout -> LOADER_ERROR
+ post loader_errored event
LOADER_ERROR_UPING_OPEN:
clamp_succeed -> LOADER_UP
post loader_uped event
clamp_failed -> LOADER_ERROR
post loader_errored event
+ state_timeout -> LOADER_ERROR
+ post loader_errored event
LOADER_DOWNING:
elevator_succeed -> LOADER_DOWN