From 4a6a90cb512f1a43e1229ef0d13ef3e5abd25b9c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 4 May 2011 19:58:33 +0200 Subject: digital/{ai,io}: move fsm queue to ai --- digital/io/src/move.c | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) (limited to 'digital/io/src/move.c') diff --git a/digital/io/src/move.c b/digital/io/src/move.c index fa65418d..60db0272 100644 --- a/digital/io/src/move.c +++ b/digital/io/src/move.c @@ -37,7 +37,7 @@ #include "loader.h" #include "modules/path/path.h" #include "modules/utils/utils.h" -#include "main.h" /* main_post_event_for_top_fsm */ +#include "fsm_queue.h" #include "modules/math/fixed/fixed.h" /* fixed_* */ #include "modules/trace/trace.h" #include "debug.host.h" @@ -305,7 +305,7 @@ FSM_TRANS (MOVE_IDLE, move_start, } else { - main_post_event (FSM_EVENT (AI, move_fsm_failed)); + fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed)); return FSM_NEXT (MOVE_IDLE, move_start, no_path_found); } } @@ -370,7 +370,7 @@ FSM_TRANS (MOVE_MOVING, bot_move_succeed, { if (move_data.final_move) { - main_post_event (FSM_EVENT (AI, move_fsm_succeed)); + fsm_queue_post_event (FSM_EVENT (AI, move_fsm_succeed)); return FSM_NEXT (MOVE_MOVING, bot_move_succeed, done); } else @@ -440,7 +440,7 @@ FSM_TRANS (MOVE_MOVING, obstacle_in_front, asserv_stop_motor (); if (--move_data.try_again_counter == 0) { - main_post_event (FSM_EVENT (AI, move_fsm_failed)); + fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed)); return FSM_NEXT (MOVE_MOVING, obstacle_in_front, tryout); } else @@ -472,7 +472,7 @@ FSM_TRANS (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_succeed, { if (--move_data.try_again_counter == 0) { - main_post_event (FSM_EVENT (AI, move_fsm_failed)); + fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed)); return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_succeed, tryout); } else @@ -487,7 +487,7 @@ FSM_TRANS (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_succeed, } else { - main_post_event (FSM_EVENT (AI, move_fsm_failed)); + fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed)); return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_succeed, no_path_found); } } @@ -507,7 +507,7 @@ FSM_TRANS (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_failed, { if (--move_data.try_again_counter == 0) { - main_post_event (FSM_EVENT (AI, move_fsm_failed)); + fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed)); return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_failed, tryout); } else @@ -524,7 +524,7 @@ FSM_TRANS (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_failed, { if (--move_data.try_again_counter == 0) { - main_post_event (FSM_EVENT (AI, move_fsm_failed)); + fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed)); return FSM_NEXT (MOVE_MOVING_BACKWARD_TO_TURN_FREELY, bot_move_failed, no_path_found_tryout); } else @@ -557,7 +557,7 @@ FSM_TRANS_TIMEOUT (MOVE_WAIT_FOR_CLEAR_PATH, 255, /* Error, no new position, should we try again? */ if (--move_data.try_again_counter == 0) { - main_post_event (FSM_EVENT (AI, move_fsm_failed)); + fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed)); return FSM_NEXT_TIMEOUT (MOVE_WAIT_FOR_CLEAR_PATH, no_path_found_tryout); } else @@ -610,7 +610,7 @@ FSM_TRANS (MOVE_LOADER_UNBLOCKING_DOWNING, loader_downed, } else { - main_post_event (FSM_EVENT (AI, move_fsm_failed)); + fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed)); return FSM_NEXT (MOVE_LOADER_UNBLOCKING_DOWNING, loader_downed, no_path_found); } } @@ -645,7 +645,7 @@ FSM_TRANS (MOVE_LOADER_UNBLOCKING_DOWNING, loader_errored, } else { - main_post_event (FSM_EVENT (AI, move_fsm_failed)); + fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed)); return FSM_NEXT (MOVE_LOADER_UNBLOCKING_DOWNING, loader_errored, tryout_no_path_found); } } @@ -681,7 +681,7 @@ FSM_TRANS_TIMEOUT (MOVE_LOADER_UNBLOCKING_DOWNING, 450, } else { - main_post_event (FSM_EVENT (AI, move_fsm_failed)); + fsm_queue_post_event (FSM_EVENT (AI, move_fsm_failed)); return FSM_NEXT_TIMEOUT (MOVE_LOADER_UNBLOCKING_DOWNING, tryout_no_path_found); } } -- cgit v1.2.3