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-rw-r--r--digital/io/src/test/gutter/Makefile15
-rw-r--r--digital/io/src/test/gutter/main.c74
2 files changed, 17 insertions, 72 deletions
diff --git a/digital/io/src/test/gutter/Makefile b/digital/io/src/test/gutter/Makefile
index 80f77d82..fb829dc8 100644
--- a/digital/io/src/test/gutter/Makefile
+++ b/digital/io/src/test/gutter/Makefile
@@ -1,10 +1,15 @@
BASE= ../../../../avr
-HOST_PROGS = fsm
+HOST_PROGS = gutter
IOBASE = ../..
-fsm_SOURCES = main.c $(IOBASE)/fsm.c \
- $(IOBASE)/gutter_cb.c $(IOBASE)/gutter_fsm.c
-MODULES = utils
-CONFIGFILE =
+gutter_SOURCES = main.c ../common.host.c $(IOBASE)/fsm.c \
+ $(IOBASE)/gutter_cb.c $(IOBASE)/gutter_fsm.c $(IOBASE)/gutter.c \
+ $(IOBASE)/getsamples_cb.c $(IOBASE)/getsamples_fsm.c $(IOBASE)/getsamples.c \
+ $(IOBASE)/top.c $(IOBASE)/top_cb.c $(IOBASE)/top_fsm.c \
+ $(IOBASE)/move.c $(IOBASE)/move_cb.c $(IOBASE)/move_fsm.c \
+ $(IOBASE)/simu.host.c
+
+MODULES =
+CONFIGFILE = $(IOBASE)/avrconfig.h
# -O2 : speed
# -Os : size
OPTIMIZE = -O2
diff --git a/digital/io/src/test/gutter/main.c b/digital/io/src/test/gutter/main.c
index 059f5f34..39acaf28 100644
--- a/digital/io/src/test/gutter/main.c
+++ b/digital/io/src/test/gutter/main.c
@@ -24,86 +24,26 @@
* }}} */
#include "common.h"
#include "../../fsm.h"
+#include "../../playground.h"
#include <stdio.h>
-void
-gutter_print_test (fsm_t *gutter)
-{
- printf ("Machine state ");
-
- switch (gutter->state_current)
- {
- case GUTTER_STATE_IDLE:
- printf ("IDLE");
- break;
- case GUTTER_STATE_ROTATE_REAR_SIDE_TO_GUTTER:
- printf ("ROTATE_REAR_SIDE_TO_GUTTER");
- break;
- case GUTTER_STATE_GO_TO_THE_GUTTER_WALL:
- printf ("GO_TO_THE_GUTTER_WALL");
- break;
- case GUTTER_STATE_CLOSE_COLLECTOR:
- printf ("CLOSE COLLECTOR");
- break;
- case GUTTER_STATE_OPEN_COLLECTOR:
- printf ("OPEN COLLECTOR");
- break;
- default:
- printf ("STATE_NB");
- }
- printf ("\n");
-}
-
int
main (void)
{
fsm_init (&gutter_fsm);
- gutter_print_test (&gutter_fsm);
fsm_handle_event (&gutter_fsm, GUTTER_EVENT_start);
- // Request the main_loop to go to next state because the angle had
- // been reached.
- fsm_handle_event (&gutter_fsm, GUTTER_EVENT_rotation_done);
- gutter_print_test (&gutter_fsm);
+ /* Move (angle here) command succeed */
+ fsm_handle_event (&gutter_fsm, GUTTER_EVENT_bot_move_succeed);
- // Request the main_loop to go to next state because the angle had
- // been reached.
- fsm_handle_event (&gutter_fsm, GUTTER_EVENT_ready);
- gutter_print_test (&gutter_fsm);
+ /* Move (go to the wall) command succeed */
+ fsm_handle_event (&gutter_fsm, GUTTER_EVENT_bot_move_succeed);
- fsm_handle_event (&gutter_fsm, GUTTER_EVENT_collector_opened);
- gutter_print_test (&gutter_fsm);
-
- fsm_handle_event (&gutter_fsm, GUTTER_EVENT_collector_closed);
- gutter_print_test (&gutter_fsm);
+ /* We have wait enough time for the all the balls to falls */
+ fsm_handle_event (&gutter_fsm, GUTTER_EVENT_wait_finished);
return 0;
}
-void
-trap_open_rear_panel (void)
-{
- printf ("\t Open rear panel\n");
-}
-
-void
-trap_close_rear_panel(void)
-{
- printf ("\t Close rear panel\n");
-}
-
-void
-asserv_goto_angle (int16_t angle)
-{
- printf ("\t Angle requested\n");
-}
-
-/* Go to the wall (moving backward). */
-void
-asserv_go_to_the_wall (void)
-{
- printf ("\t go to the wall\n");
-}
-