From 7e43a04c49a0f7b5fc02fc25517d5e950a4e37cf Mon Sep 17 00:00:00 2001 From: Nicolas Haller Date: Sun, 19 Apr 2009 23:36:38 +0200 Subject: * digital/io/src/filterbridge{_cb.c,.fsm} - filterbridge fsm updated due to meca modifications --- digital/io/src/filterbridge.fsm | 58 +++++++++++------------------ digital/io/src/filterbridge_cb.c | 80 ++++++++++++++-------------------------- 2 files changed, 50 insertions(+), 88 deletions(-) diff --git a/digital/io/src/filterbridge.fsm b/digital/io/src/filterbridge.fsm index d1495abe..13027069 100644 --- a/digital/io/src/filterbridge.fsm +++ b/digital/io/src/filterbridge.fsm @@ -7,40 +7,34 @@ States: waiting the lift is ready to accept new puck WAIT_A_PUCK waiting for a new puck - CLOSE_FIRST_DOOR - isolating the firt puck on the bridge WAIT_RGB_PROBE waiting for RGB probe the first puck EJECT_PUCK eject a bad puck RETURN_NORMAL_POS move the bridge to his normal position - OPEN_SECOND_DOOR - open and free the puck to the lift - CLOSE_SECOND_DOOR - prepare for a new puck - OPEN_FIRST_DOOR - accept a puck for a new test + OPEN_DOOR + release puck to the lift and block a new puck on pos1 + CLOSE_DOOR + release pos1 puck and close access to the lift Events: lift_ready lift ready to accept new puck puck_on_pos2 a puck has been detected on bridge's position 2 - first_door_closed - the first door is closed no_puck_on_pos2 there is no puck on position 2 bridge_in_position bridge is in his normal position - second_door_closed - you shall not pass to the lift - first_door_opened - bridge ready to test a new puck - puck_ejected + door_opened + puck 1 blocked and puck 2 release to the lift + ejection_done the ejection procedure is completed color_probed the result of the investigation will be revealed (suspens!!) + door_closed + ready to test a new puck IDLE: @@ -48,37 +42,29 @@ IDLE: the lift is ready to get pucks, we can begin testing procedure WAIT_A_PUCK: - puck_on_pos2 -> CLOSE_FIRST_DOOR - close the first door after a puck is ready for filtering - -CLOSE_FIRST_DOOR: - first_door_closed -> WAIT_RGB_PROBE - get puck color + puck_on_pos2: too_much_puck -> EJECT_PUCK + we have too much puck, eject the puck quickly and whistle + puck_on_pos2: nb_puck_ok -> WAIT_RGB_PROBE + probe color of the new puck WAIT_RGB_PROBE: color_probed: bad_color -> EJECT_PUCK - eject bad PUCK - color_probed: good_color -> OPEN_SECOND_DOOR + eject bad puck + color_probed: good_color -> OPEN_DOOR put puck to the lift EJECT_PUCK: - puck_ejected -> RETURN_NORMAL_POS + ejection_done -> RETURN_NORMAL_POS put bridge on normal position after puck ejection RETURN_NORMAL_POS: - bridge_in_position: puck_still_here -> EJECT_PUCK - re-eject this sticky puck, grml! - bridge_in_position: no_puck_anymore -> OPEN_FIRST_DOOR + bridge_in_position -> CLOSE_DOOR make bridge ready to test a new puck -OPEN_SECOND_DOOR: - no_puck_on_pos2 -> CLOSE_SECOND_DOOR - close the lift access door and tell to lift it has a new puck - -CLOSE_SECOND_DOOR: - second_door_closed -> OPEN_FIRST_DOOR - filter bridge is ready to get a new puck +OPEN_DOOR: + no_puck_on_pos2 -> CLOSE_DOOR + release puck to the lift -OPEN_FIRST_DOOR: - first_door_opened -> IDLE +CLOSE_DOOR: + door_closed -> IDLE filter bridge ready diff --git a/digital/io/src/filterbridge_cb.c b/digital/io/src/filterbridge_cb.c index 0864fa8d..7949f176 100644 --- a/digital/io/src/filterbridge_cb.c +++ b/digital/io/src/filterbridge_cb.c @@ -27,21 +27,24 @@ #include "filterbridge_cb.h" /* - * CLOSE_FIRST_DOOR =first_door_closed=> - * => WAIT_RGB_PROBE - * get puck color + * WAIT_A_PUCK =puck_on_pos2=> + * nb_puck_ok => WAIT_RGB_PROBE + * probe color of the new puck + * too_much_puck => EJECT_PUCK + * we have too much puck, eject the puck quickly and whistle */ fsm_branch_t -filterbridge__CLOSE_FIRST_DOOR__first_door_closed (void) +filterbridge__WAIT_A_PUCK__puck_on_pos2 (void) { - return filterbridge_next (CLOSE_FIRST_DOOR, first_door_closed); + return filterbridge_next_branch (WAIT_A_PUCK, puck_on_pos2, nb_puck_ok); + return filterbridge_next_branch (WAIT_A_PUCK, puck_on_pos2, too_much_puck); } /* * WAIT_RGB_PROBE =color_probed=> * bad_color => EJECT_PUCK - * eject bad PUCK - * good_color => OPEN_SECOND_DOOR + * eject bad puck + * good_color => OPEN_DOOR * put puck to the lift */ fsm_branch_t @@ -51,28 +54,6 @@ filterbridge__WAIT_RGB_PROBE__color_probed (void) return filterbridge_next_branch (WAIT_RGB_PROBE, color_probed, good_color); } -/* - * WAIT_A_PUCK =puck_on_pos2=> - * => CLOSE_FIRST_DOOR - * close the first door after a puck is ready for filtering - */ -fsm_branch_t -filterbridge__WAIT_A_PUCK__puck_on_pos2 (void) -{ - return filterbridge_next (WAIT_A_PUCK, puck_on_pos2); -} - -/* - * CLOSE_SECOND_DOOR =second_door_closed=> - * => OPEN_FIRST_DOOR - * filter bridge is ready to get a new puck - */ -fsm_branch_t -filterbridge__CLOSE_SECOND_DOOR__second_door_closed (void) -{ - return filterbridge_next (CLOSE_SECOND_DOOR, second_door_closed); -} - /* * IDLE =lift_ready=> * => WAIT_A_PUCK @@ -85,50 +66,45 @@ filterbridge__IDLE__lift_ready (void) } /* - * RETURN_NORMAL_POS =bridge_in_position=> - * no_puck_anymore => OPEN_FIRST_DOOR - * make bridge ready to test a new puck - * puck_still_here => EJECT_PUCK - * re-eject this sticky puck, grml! + * CLOSE_DOOR =door_closed=> + * => IDLE + * filter bridge ready */ fsm_branch_t -filterbridge__RETURN_NORMAL_POS__bridge_in_position (void) +filterbridge__CLOSE_DOOR__door_closed (void) { - return filterbridge_next_branch (RETURN_NORMAL_POS, bridge_in_position, no_puck_anymore); - return filterbridge_next_branch (RETURN_NORMAL_POS, bridge_in_position, puck_still_here); + return filterbridge_next (CLOSE_DOOR, door_closed); } /* - * OPEN_FIRST_DOOR =first_door_opened=> - * => IDLE - * filter bridge ready + * RETURN_NORMAL_POS =bridge_in_position=> + * => CLOSE_DOOR + * make bridge ready to test a new puck */ fsm_branch_t -filterbridge__OPEN_FIRST_DOOR__first_door_opened (void) +filterbridge__RETURN_NORMAL_POS__bridge_in_position (void) { - return filterbridge_next (OPEN_FIRST_DOOR, first_door_opened); + return filterbridge_next (RETURN_NORMAL_POS, bridge_in_position); } /* - * OPEN_SECOND_DOOR =no_puck_on_pos2=> - * => CLOSE_SECOND_DOOR - * close the lift access door and tell to lift it has a new puck + * OPEN_DOOR =no_puck_on_pos2=> + * => CLOSE_DOOR + * release puck to the lift */ fsm_branch_t -filterbridge__OPEN_SECOND_DOOR__no_puck_on_pos2 (void) +filterbridge__OPEN_DOOR__no_puck_on_pos2 (void) { - return filterbridge_next (OPEN_SECOND_DOOR, no_puck_on_pos2); + return filterbridge_next (OPEN_DOOR, no_puck_on_pos2); } /* - * EJECT_PUCK =puck_ejected=> + * EJECT_PUCK =ejection_done=> * => RETURN_NORMAL_POS * put bridge on normal position after puck ejection */ fsm_branch_t -filterbridge__EJECT_PUCK__puck_ejected (void) +filterbridge__EJECT_PUCK__ejection_done (void) { - return filterbridge_next (EJECT_PUCK, puck_ejected); + return filterbridge_next (EJECT_PUCK, ejection_done); } - - -- cgit v1.2.3