From 666bccd44d3061f6e8a140b96f68e25d444357de Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Wed, 23 Apr 2008 13:31:54 +0200 Subject: * digital/io/src/test - add common file to put all the functions for host (yerk) ; - update gutter test program to make it work. --- digital/io/src/test/gutter/Makefile | 15 +++++--- digital/io/src/test/gutter/main.c | 74 ++++--------------------------------- 2 files changed, 17 insertions(+), 72 deletions(-) (limited to 'digital/io/src/test/gutter') 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 -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"); -} - -- cgit v1.2.3