/* filterbridge_cb.c - filterbridge FSM callbacks. */ /* {{{ * * Copyright (C) 2009 Nicolas Haller * * 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. * * }}} */ #include "common.h" #include "fsm.h" #include "filterbridge_cb.h" /* * CLOSE_FIRST_DOOR =first_door_closed=> * => WAIT_RGB_PROBE * get puck color */ fsm_branch_t filterbridge__CLOSE_FIRST_DOOR__first_door_closed (void) { return filterbridge_next (CLOSE_FIRST_DOOR, first_door_closed); } /* * WAIT_RGB_PROBE =color_probed=> * bad_color => EJECT_PUCK * eject bad PUCK * good_color => OPEN_SECOND_DOOR * put puck to the lift */ fsm_branch_t filterbridge__WAIT_RGB_PROBE__color_probed (void) { return filterbridge_next_branch (WAIT_RGB_PROBE, color_probed, bad_color); 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 * the lift is ready to get pucks, we can begin testing procedure */ fsm_branch_t filterbridge__IDLE__lift_ready (void) { return filterbridge_next (IDLE, lift_ready); } /* * 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! */ fsm_branch_t filterbridge__RETURN_NORMAL_POS__bridge_in_position (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); } /* * OPEN_FIRST_DOOR =first_door_opened=> * => IDLE * filter bridge ready */ fsm_branch_t filterbridge__OPEN_FIRST_DOOR__first_door_opened (void) { return filterbridge_next (OPEN_FIRST_DOOR, first_door_opened); } /* * OPEN_SECOND_DOOR =no_puck_on_pos2=> * => CLOSE_SECOND_DOOR * close the lift access door and tell to lift it has a new puck */ fsm_branch_t filterbridge__OPEN_SECOND_DOOR__no_puck_on_pos2 (void) { return filterbridge_next (OPEN_SECOND_DOOR, no_puck_on_pos2); } /* * EJECT_PUCK =puck_ejected=> * => RETURN_NORMAL_POS * put bridge on normal position after puck ejection */ fsm_branch_t filterbridge__EJECT_PUCK__puck_ejected (void) { return filterbridge_next (EJECT_PUCK, puck_ejected); }