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Diffstat (limited to 'digital/io/src/test/testgetsamples/main.c')
-rw-r--r--digital/io/src/test/testgetsamples/main.c48
1 files changed, 19 insertions, 29 deletions
diff --git a/digital/io/src/test/testgetsamples/main.c b/digital/io/src/test/testgetsamples/main.c
index 4e156e05..4479b053 100644
--- a/digital/io/src/test/testgetsamples/main.c
+++ b/digital/io/src/test/testgetsamples/main.c
@@ -24,17 +24,16 @@
* }}} */
#include "common.h"
-#include "modules/proto/proto.h"
-#include "modules/utils/utils.h"
-
+#include "../../fsm.h"
#include "../../getsamples.h"
-#include "../../getsamples_robo.h"
+
+#include <stdio.h>
void
-getsamples_print_test (getsamples_t *getsamples)
+getsamples_print_test (fsm_t *getsamples)
{
printf ("STATE ");
- switch (getsamples->fsm)
+ switch (getsamples->state_current)
{
case GETSAMPLES_STATE_START:
printf ("START");
@@ -66,57 +65,48 @@ getsamples_print_test (getsamples_t *getsamples)
int
main (void)
{
- getsamples_t getsamples_fsm;
-
- getsamples_init (&getsamples_fsm);
+ fsm_init (&getsamples_fsm);
getsamples_print_test (&getsamples_fsm);
- getsamples_fsm.distributor_x = 700;
- getsamples_fsm.distributor_y = 2100;
- getsamples_fsm.samples = 3;
+ getsamples_start (700, 2100, 3);
- getsamples_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_ok);
+ /* Implicit:
+ fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_ok); */
getsamples_print_test (&getsamples_fsm);
- getsamples_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_position_failed);
+ fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_position_failed);
getsamples_print_test (&getsamples_fsm);
- getsamples_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_position_reached);
+ fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_position_reached);
getsamples_print_test (&getsamples_fsm);
- getsamples_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_arm_moved);
+ fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_arm_moved);
getsamples_print_test (&getsamples_fsm);
- getsamples_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_position_reached);
+ fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_position_reached);
getsamples_print_test (&getsamples_fsm);
- for (getsamples_fsm.samples--; getsamples_fsm.samples; getsamples_fsm.samples --)
+ //TODO: samples should be decremented by the FSM transitions.
+ for (getsamples_data.samples--; getsamples_data.samples;
+ getsamples_data.samples--)
{
- getsamples_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_sample_took);
+ fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_sample_took);
getsamples_print_test (&getsamples_fsm);
}
- getsamples_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_sample_took);
+ fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_sample_took);
getsamples_print_test (&getsamples_fsm);
- getsamples_handle_event (&getsamples_fsm,
- GETSAMPLES_EVENT_position_reached);
+ fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_position_reached);
getsamples_print_test (&getsamples_fsm);