src/robofsm/strategy_homologation.cc

   1 #include "common-states.h"
   2 #include "robot.h"
   3 #include <ul_log.h>
   4
   5
   6 UL_LOG_CUST(ulogd_strategy_homologation); /* Log domain name = ulogd + name of the file */
   7
   8
   9 FSM_STATE(homolog_wait_for_start)
  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                         SUBFSM_TRANSITION(homolog_approach_buillon, NULL);
  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(calibrate);
  32                         break;
  33                 case EV_RETURN:
  34                         break;
  35                 default:;
  36         }
  37 }