From d33d50de945f17027ca4164eff05c089b264d7d6 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Sat, 22 Mar 2008 16:10:29 +0100 Subject: Removed the loadsample fsm, it is integretated with the getsamples FSM. --- digital/io/src/getsamples/getSamplesFsm.fsm | 44 +++++++++++++++++------------ digital/io/src/loadsamples/Makefile | 23 --------------- digital/io/src/loadsamples/loadsamples.conf | 5 ---- digital/io/src/loadsamples/loadsamples.fsm | 24 ---------------- 4 files changed, 26 insertions(+), 70 deletions(-) delete mode 100644 digital/io/src/loadsamples/Makefile delete mode 100644 digital/io/src/loadsamples/loadsamples.conf delete mode 100644 digital/io/src/loadsamples/loadsamples.fsm (limited to 'digital') diff --git a/digital/io/src/getsamples/getSamplesFsm.fsm b/digital/io/src/getsamples/getSamplesFsm.fsm index 3ffc8377..e0862263 100644 --- a/digital/io/src/getsamples/getSamplesFsm.fsm +++ b/digital/io/src/getsamples/getSamplesFsm.fsm @@ -5,30 +5,38 @@ States: GO_TO_POSITION PREPARE_ARM FORWARD_CONTROL - PREPARE_CLASSIFIER - LOAD_SAMPLES + TAKE_SAMPLES + CLASSIFY + BACKWARD + END Events: - move_finished - move_blocked - arm_prepared - ready_to_load - classifer_prepared - sample_loaded + position_reached + position_failed + arm_moved + sample_took + classifier_ready GO_TO_POSITION: - move_finished -> FORWARD_CONTROL + position_reached -> PREPARE_ARM Go to the position desired, it is very near the position of the distributor in case it is a ice distributor or sample distributor. - move_blocked -> . + position_failed -> GO_TO_POSITION + Go to another point before trying to go to this one again. + +PREPARE_ARM: + arm_moved -> FORWARD_CONTROL + Prepare the arm to the correct position. FORWARD_CONTROL: - move_finished -> PREPARE_ARM - The position is reached the arm shall be seted to the position disired. + position_reached -> TAKE_SAMPLES + End the position to the distributor. -PREPARE_ARM: - arm_prepared -> PREPARE_CLASSIFIER - Prepare the arm to load the samples. +TAKE_SAMPLES: + sample_took: nb_samples < quantity -> . + Continue to take samples and classify the next sample. + sample_took: nb_samples == quantity -> BACKWARD + If the quantity of samples are tooked, then go backeward and conitnue classifying the samples. -PREPARE_CLASSIFIER: - classifer_prepared -> LOAD_SAMPLES - Load some samples. +BACKWARD: + position_reached -> END + Ending this state machine. diff --git a/digital/io/src/loadsamples/Makefile b/digital/io/src/loadsamples/Makefile deleted file mode 100644 index 8a2fba73..00000000 --- a/digital/io/src/loadsamples/Makefile +++ /dev/null @@ -1,23 +0,0 @@ -CFLAGS = -O2 -Wall - -all: loadsamples loadsamples.png - -loadsamples: loadsamples.o loadsamples.o - -loadsamples.c: loadsamples.fsm loadsamples.conf - python ../../../../tools/dfagen/dfagen.py -o c -d loadsamples.fsm -c loadsamples.conf -p loadsamples - -loadsamples.h loadsamples.cb_skel.c loadsamples.cb.h: loadsamples.c - -loadsamples.o: loadsamples.cb.h loadsamples.h -loadsamples_cb.o: loadsamples.cb.h loadsamples.h - -%.dot: %.fsm - python ../../../../tools/dfagen/dfagen.py -o dot -d $< -p $(@:%.dot=%) - -%.png: %.dot - dot -Tpng $< -o $@ - -clean: - rm -f loadsamples loadsamples.o loadballs_cb.o loadsamples.c loadsamples.h loadsamples_cb_skel.c loadsamples_cb.h loadsamples_cb.c - rm -f loadsamples.dot loadsamples.png diff --git a/digital/io/src/loadsamples/loadsamples.conf b/digital/io/src/loadsamples/loadsamples.conf deleted file mode 100644 index 74c0a579..00000000 --- a/digital/io/src/loadsamples/loadsamples.conf +++ /dev/null @@ -1,5 +0,0 @@ -[user] -type = loadsamples_t -type-forward-decl = typedef struct loadsamples_t loadsamples_t; -type-decl = struct loadsamples_t { loadsamples_state_t fsm; }; -field = fsm diff --git a/digital/io/src/loadsamples/loadsamples.fsm b/digital/io/src/loadsamples/loadsamples.fsm deleted file mode 100644 index f7686bce..00000000 --- a/digital/io/src/loadsamples/loadsamples.fsm +++ /dev/null @@ -1,24 +0,0 @@ -#The loadsamples state. -loadsamples - -States: - ROTATE_ARM - GO_BACKWARD - ARM_INIT - -Events: - arm_stopped - move_finished - move_blocked - -ROTATE_ARM: - arm_stopped -> GO_BACKWARD - Request the robot to go backward. - -GO_BACKWARD: - move_finished -> ARM_INIT - When the move is finished the ARM shall be reset to its init position. - -ARM_INIT: - move_finished -> . - This procedure is finish. -- cgit v1.2.3