From 2376aeb614d69d7050209f858818bfa7d36be398 Mon Sep 17 00:00:00 2001 From: Jérôme Jutteau Date: Mon, 2 May 2011 23:32:51 +0200 Subject: digital/io: adapt FSM to new FSM system (AngFSM) --- digital/io/src/ai_top_cb.c | 434 --------------------------------------------- 1 file changed, 434 deletions(-) delete mode 100644 digital/io/src/ai_top_cb.c (limited to 'digital/io/src/ai_top_cb.c') diff --git a/digital/io/src/ai_top_cb.c b/digital/io/src/ai_top_cb.c deleted file mode 100644 index ed1ae038..00000000 --- a/digital/io/src/ai_top_cb.c +++ /dev/null @@ -1,434 +0,0 @@ -/* ai_top_cb.c */ -/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ - * - * Copyright (C) 2010 Nicolas Schodet - * - * APBTeam: - * Web: http://apbteam.org/ - * Email: team AT apbteam DOT org - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * }}} - * Main FSM calling other FSM. - */ -#include "common.h" -#include "fsm.h" -#include "ai_cb.h" -#include "top.h" -#include "move.h" -#include "chrono.h" -#include "playground.h" -#include "asserv.h" -#include "loader.h" -#include "food.h" - -/* - * IDLE =start=> - * => WAIT_INIT_TO_FINISH - * nothing to do. - */ -fsm_branch_t -ai__IDLE__start (void) -{ - return ai_next (IDLE, start); -} - -/* - * WAIT_INIT_TO_FINISH =init_match_is_started=> - * => FIRST_GO_BEGIN_OF_LINE_FAST - * the match start - * set fast speed - * go to first sequence begin of line - */ -fsm_branch_t -ai__WAIT_INIT_TO_FINISH__init_match_is_started (void) -{ - asserv_set_speed (BOT_MOVE_FAST); - move_start_noangle (PG_VECT (375, 1503), 0, 0); - return ai_next (WAIT_INIT_TO_FINISH, init_match_is_started); -} - -/* - * FIRST_GO_BEGIN_OF_LINE_FAST =move_fsm_succeed=> - * => FIRST_GO_END_OF_LINE_FAST - * go to end of line - * loader down - */ -fsm_branch_t -ai__FIRST_GO_BEGIN_OF_LINE_FAST__move_fsm_succeed (void) -{ - move_start_noangle (PG_VECT (2625, 253), 0, 0); - loader_down (); - return ai_next (FIRST_GO_BEGIN_OF_LINE_FAST, move_fsm_succeed); -} - -/* - * FIRST_GO_BEGIN_OF_LINE_FAST =move_fsm_failed=> - * => FIRST_GO_BEGIN_OF_LINE_FAST - * set slow speed - * retry - */ -fsm_branch_t -ai__FIRST_GO_BEGIN_OF_LINE_FAST__move_fsm_failed (void) -{ - asserv_set_speed (BOT_MOVE_SLOW); - move_start_noangle (PG_VECT (375, 1503), 0, 0); - return ai_next (FIRST_GO_BEGIN_OF_LINE_FAST, move_fsm_failed); -} - -/* - * FIRST_GO_END_OF_LINE_FAST =in_field=> - * => FIRST_GO_END_OF_LINE_SLOW - * set slow speed - */ -fsm_branch_t -ai__FIRST_GO_END_OF_LINE_FAST__in_field (void) -{ - asserv_set_speed (BOT_MOVE_SLOW); - return ai_next (FIRST_GO_END_OF_LINE_FAST, in_field); -} - -/* - * FIRST_GO_END_OF_LINE_FAST =move_fsm_succeed=> - * => UNLOAD_LOADER_UP - * set slow speed - * move loader up - */ -fsm_branch_t -ai__FIRST_GO_END_OF_LINE_FAST__move_fsm_succeed (void) -{ - asserv_set_speed (BOT_MOVE_SLOW); - ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_succeed (); - return ai_next (FIRST_GO_END_OF_LINE_FAST, move_fsm_succeed); -} - -/* - * FIRST_GO_END_OF_LINE_FAST =move_fsm_failed=> - * => FIRST_GO_END_OF_LINE_SLOW - * set slow speed - * retry - */ -fsm_branch_t -ai__FIRST_GO_END_OF_LINE_FAST__move_fsm_failed (void) -{ - asserv_set_speed (BOT_MOVE_SLOW); - ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_failed (); - return ai_next (FIRST_GO_END_OF_LINE_FAST, move_fsm_failed); -} - -/* - * FIRST_GO_END_OF_LINE_SLOW =move_fsm_succeed=> - * => UNLOAD_LOADER_UP - * move loader up - */ -fsm_branch_t -ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_succeed (void) -{ - loader_up (); - return ai_next (FIRST_GO_END_OF_LINE_SLOW, move_fsm_succeed); -} - -/* - * FIRST_GO_END_OF_LINE_SLOW =move_fsm_failed=> - * => FIRST_GO_END_OF_LINE_SLOW - * retry - */ -fsm_branch_t -ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_failed (void) -{ - move_start_noangle (PG_VECT (2625, 253), 0, 0); - return ai_next (FIRST_GO_END_OF_LINE_SLOW, move_fsm_failed); -} - -/* - * UNLOAD =move_fsm_succeed=> - * => UNLOAD_LOADER_UP - * move loader up - */ -fsm_branch_t -ai__UNLOAD__move_fsm_succeed (void) -{ - loader_up (); - return ai_next (UNLOAD, move_fsm_succeed); -} - -/* - * UNLOAD =move_fsm_failed=> - * => UNLOAD - * retry - */ -fsm_branch_t -ai__UNLOAD__move_fsm_failed (void) -{ - move_start_noangle (PG_VECT (2625, 253), 0, 0); - return ai_next (UNLOAD, move_fsm_failed); -} - -/* - * UNLOAD_LOADER_UP =loader_uped=> - * => UNLOAD_FACE_BIN - * turn toward bin - */ -fsm_branch_t -ai__UNLOAD_LOADER_UP__loader_uped (void) -{ - asserv_goto_angle (PG_A_DEG (90)); - return ai_next (UNLOAD_LOADER_UP, loader_uped); -} - -/* - * UNLOAD_LOADER_UP =loader_errored=> - * => UNLOAD_FACE_BIN - * turn toward bin - */ -fsm_branch_t -ai__UNLOAD_LOADER_UP__loader_errored (void) -{ - asserv_goto_angle (PG_A_DEG (90)); - return ai_next (UNLOAD_LOADER_UP, loader_errored); -} - -/* - * UNLOAD_FACE_BIN =bot_move_succeed=> - * => UNLOAD_BACK_BIN - * go backward to bin - */ -fsm_branch_t -ai__UNLOAD_FACE_BIN__bot_move_succeed (void) -{ - asserv_move_linearly (-(128 + 250 / 2 - BOT_SIZE_BACK - 50)); - return ai_next (UNLOAD_FACE_BIN, bot_move_succeed); -} - -/* - * UNLOAD_FACE_BIN =bot_move_failed=> - * => UNLOAD_FACE_BIN_UNBLOCK - * move backward - */ -fsm_branch_t -ai__UNLOAD_FACE_BIN__bot_move_failed (void) -{ - asserv_move_linearly (-40); - return ai_next (UNLOAD_FACE_BIN, bot_move_failed); -} - -/* - * UNLOAD_FACE_BIN_UNBLOCK =bot_move_succeed=> - * => UNLOAD_FACE_BIN - * turn toward bin - */ -fsm_branch_t -ai__UNLOAD_FACE_BIN_UNBLOCK__bot_move_succeed (void) -{ - asserv_goto_angle (PG_A_DEG (90)); - return ai_next (UNLOAD_FACE_BIN_UNBLOCK, bot_move_succeed); -} - -/* - * UNLOAD_FACE_BIN_UNBLOCK =bot_move_failed=> - * => UNLOAD_FACE_BIN - * turn toward bin - */ -fsm_branch_t -ai__UNLOAD_FACE_BIN_UNBLOCK__bot_move_failed (void) -{ - asserv_goto_angle (PG_A_DEG (90)); - return ai_next (UNLOAD_FACE_BIN_UNBLOCK, bot_move_failed); -} - -/* - * UNLOAD_BACK_BIN =bot_move_succeed=> - * => UNLOAD_UNLOAD - * unload - */ -fsm_branch_t -ai__UNLOAD_BACK_BIN__bot_move_succeed (void) -{ - asserv_move_motor1_absolute (0, BOT_GATE_SPEED); - return ai_next (UNLOAD_BACK_BIN, bot_move_succeed); -} - -/* - * UNLOAD_BACK_BIN =bot_move_failed=> - * => UNLOAD_UNLOAD - * unload - */ -fsm_branch_t -ai__UNLOAD_BACK_BIN__bot_move_failed (void) -{ - ai__UNLOAD_BACK_BIN__bot_move_succeed (); - return ai_next (UNLOAD_BACK_BIN, bot_move_failed); -} - -/* - * UNLOAD_UNLOAD =state_timeout=> - * => COLLECT - * close gate - * loader down - * choose best food to collect - */ -fsm_branch_t -ai__UNLOAD_UNLOAD__state_timeout (void) -{ - loader_elements = 0; - asserv_move_motor1_absolute (BOT_GATE_STROKE_STEP, BOT_GATE_SPEED); - loader_down (); - top_collect (1); - return ai_next (UNLOAD_UNLOAD, state_timeout); -} - -/* - * COLLECT =move_fsm_succeed=> - * unload => UNLOAD - * collect => COLLECT - * slow_motion => COLLECT_SLOW_MOTION - * post loader_element event - */ -fsm_branch_t -ai__COLLECT__move_fsm_succeed (void) -{ - int16_t slow_motion = food_slow_motion (top_food); - if (slow_motion) - { - fsm_handle_event (&ai_fsm, AI_EVENT_loader_element); - return ai_next_branch (COLLECT, move_fsm_succeed, slow_motion); - } - else if (top_collect (0)) - return ai_next_branch (COLLECT, move_fsm_succeed, collect); - else - return ai_next_branch (COLLECT, move_fsm_succeed, unload); -} - -/* - * COLLECT =move_fsm_failed=> - * unload => UNLOAD - * collect => COLLECT - * cancel this element - */ -fsm_branch_t -ai__COLLECT__move_fsm_failed (void) -{ - if (top_collect (0)) - { - food_cancel (top_food); - return ai_next_branch (COLLECT, move_fsm_failed, collect); - } - else - return ai_next_branch (COLLECT, move_fsm_failed, unload); -} - -/* - * COLLECT =loader_black=> - * => COLLECT_BLACK - * move backward - * mark as black - */ -fsm_branch_t -ai__COLLECT__loader_black (void) -{ - asserv_move_linearly (-90); - food_black (top_food); - return ai_next (COLLECT, loader_black); -} - -/* - * COLLECT_SLOW_MOTION =loader_downed=> - * unload => UNLOAD - * collect => COLLECT - * collect - */ -fsm_branch_t -ai__COLLECT_SLOW_MOTION__loader_downed (void) -{ - if (top_collect (0)) - return ai_next_branch (COLLECT_SLOW_MOTION, loader_downed, collect); - else - return ai_next_branch (COLLECT_SLOW_MOTION, loader_downed, unload); -} - -/* - * COLLECT_SLOW_MOTION =loader_errored=> - * unload => UNLOAD - * collect => COLLECT - * same as above - */ -fsm_branch_t -ai__COLLECT_SLOW_MOTION__loader_errored (void) -{ - if (top_collect (0)) - return ai_next_branch (COLLECT_SLOW_MOTION, loader_errored, collect); - else - return ai_next_branch (COLLECT_SLOW_MOTION, loader_errored, unload); -} - -/* - * COLLECT_SLOW_MOTION =state_timeout=> - * unload => UNLOAD - * collect => COLLECT - * same as above - */ -fsm_branch_t -ai__COLLECT_SLOW_MOTION__state_timeout (void) -{ - if (top_collect (0)) - return ai_next_branch (COLLECT_SLOW_MOTION, state_timeout, collect); - else - return ai_next_branch (COLLECT_SLOW_MOTION, state_timeout, unload); -} - -/* - * COLLECT_SLOW_MOTION =loader_black=> - * => COLLECT_BLACK - * move backward - * mark as black - */ -fsm_branch_t -ai__COLLECT_SLOW_MOTION__loader_black (void) -{ - asserv_move_linearly (-90); - food_black (top_food); - return ai_next (COLLECT_SLOW_MOTION, loader_black); -} - -/* - * COLLECT_BLACK =bot_move_succeed=> - * unload => UNLOAD - * collect => COLLECT - */ -fsm_branch_t -ai__COLLECT_BLACK__bot_move_succeed (void) -{ - if (top_collect (0)) - return ai_next_branch (COLLECT_BLACK, bot_move_succeed, collect); - else - return ai_next_branch (COLLECT_BLACK, bot_move_succeed, unload); -} - -/* - * COLLECT_BLACK =bot_move_failed=> - * unload => UNLOAD - * collect => COLLECT - */ -fsm_branch_t -ai__COLLECT_BLACK__bot_move_failed (void) -{ - if (top_collect (0)) - return ai_next_branch (COLLECT_BLACK, bot_move_failed, collect); - else - return ai_next_branch (COLLECT_BLACK, bot_move_failed, unload); -} - - -- cgit v1.2.3