src/robofsm/strategy_six_oranges.cc

   1 #include "common-states.h"
   2 #include "robot.h"
   3 #include "eb2010misc.h"
   4
   5 static FSM_STATE_DECL(pick_our_oranges);
   6
   7 FSM_STATE(start_six_oranges)
   8 {
   9         switch (FSM_EVENT) {
  10                 case EV_ENTRY:
  11                         start_entry();
  12 #ifdef COMPETITION
  13                         printf("waiting for start\n");
  14                         FSM_TIMER(1000);
  15                         break;
  16 #endif
  17                 case EV_START:
  18                         start_go();
  19                         FSM_TRANSITION(pick_our_oranges);
  20                         break;
  21                 case EV_TIMER:
  22                         FSM_TIMER(1000);
  23                         start_timer();
  24                         break;
  25                 case EV_EXIT:
  26                         start_exit();
  27                         break;
  28                 case EV_SWITCH_STRATEGY:
  29                         FSM_TRANSITION(start_12_oranges);
  30                         break;
  31                 default:;
  32         }
  33 }
  34
  35
  36 #undef FSM_STATE_VISIBILITY
  37 #define FSM_STATE_VISIBILITY static
  38
  39 FSM_STATE_DECL(pick_rest_of_our_oranges);
  40 FSM_STATE_DECL(unload_oranges);
  41 FSM_STATE_DECL(opp_corns);
  42
  43 FSM_STATE(pick_our_oranges)
  44 {
  45         switch (FSM_EVENT) {
  46         case EV_ENTRY:  SUBFSM_TRANSITION(approach_the_slope, new slope_approach_style(MINE, NEAR_PLAYGROUND_BOUNDARY)); break;
  47         case EV_RETURN: FSM_TRANSITION(pick_rest_of_our_oranges); break;
  48         default: break;
  49         }
  50 }
  51
  52 FSM_STATE(pick_rest_of_our_oranges)
  53 {
  54         switch (FSM_EVENT) {
  55         case EV_ENTRY:  SUBFSM_TRANSITION(approach_the_slope, new slope_approach_style(MINE, NEAR_PLAYGROUND_CENTER)); break;
  56         case EV_RETURN: FSM_TRANSITION(unload_oranges); break;
  57         default: break;
  58         }
  59 }
  60
  61 FSM_STATE(unload_oranges)
  62 {
  63         switch (FSM_EVENT) {
  64         case EV_ENTRY:  SUBFSM_TRANSITION(to_cntainer_and_unld, NULL); break;
  65         case EV_RETURN: FSM_TRANSITION(opp_corns); break;
  66         default: break;
  67         }
  68 }
  69
  70 FSM_STATE(opp_corns)
  71 {
  72         switch (FSM_EVENT) {
  73         case EV_ENTRY:  SUBFSM_TRANSITION(approach_next_corn, NULL); break;
  74         case EV_RETURN: FSM_TRANSITION(opp_corns); break;
  75         default: break;
  76         }
  77 }