src/robofsm/strategy_pick_center_figure.cc

   1 #include "common-states.h"
   2 #include "robot.h"
   3 #include <ul_log.h>
   4
   5 UL_LOG_CUST(ulogd_strategy_pick_center_figure); /* Log domain name = ulogd + name of the file */
   6
   7 static FSM_STATE_DECL(pick_center_figure);
   8
   9 FSM_STATE(start_pick_center_figure)
  10 {
  11         switch (FSM_EVENT) {
  12                 case EV_ENTRY:
  13                         start_entry();
  14 //#ifdef COMPETITION
  15                         ul_logmsg("waiting for start\n");
  16                         FSM_TIMER(1000);
  17                         break;
  18 //#endif
  19                 case EV_START:
  20                         start_go();
  21                         FSM_TRANSITION(pick_center_figure);
  22                         break;
  23                 case EV_TIMER:
  24                         FSM_TIMER(1000);
  25                         start_timer();
  26                         break;
  27                 case EV_EXIT:
  28                         start_exit();
  29                         break;
  30                 case EV_SWITCH_STRATEGY:
  31                         FSM_TRANSITION(start_bonus_tower);
  32                         break;
  33                 default:;
  34         }
  35 }
  36
  37
  38 #undef FSM_STATE_VISIBILITY
  39 #define FSM_STATE_VISIBILITY static
  40
  41 FSM_STATE_DECL(pick_center_figure);
  42 FSM_STATE_DECL(move_around_opp_squares);
  43 FSM_STATE_DECL(pick_opp_bonus_figure);
  44
  45 FSM_STATE(pick_center_figure)
  46 {
  47         switch (FSM_EVENT) {
  48         case EV_ENTRY:
  49                 SUBFSM_TRANSITION(approach_center_figure, NULL);
  50                 break;
  51         case EV_RETURN:
  52                 FSM_TRANSITION(move_around_opp_squares);
  53         default: break;
  54         }
  55 }
  56
  57 FSM_STATE(move_around_opp_squares)
  58 {
  59         switch (FSM_EVENT) {
  60         case EV_ENTRY:
  61                 SUBFSM_TRANSITION(move_around, NULL);
  62                 break;
  63         case EV_RETURN:
  64                 FSM_TRANSITION(pick_opp_bonus_figure);
  65                 break;
  66         default: break;
  67         }
  68 }
  69
  70 FSM_STATE(pick_opp_bonus_figure)
  71 {
  72         switch (FSM_EVENT) {
  73         case EV_ENTRY:
  74                 SUBFSM_TRANSITION(approach_opp_bonus_figure, NULL);
  75                 break;
  76         case EV_RETURN:
  77                 break;
  78         default: break;
  79         }
  80 }