src/robofsm/strategy_get_central_buillon.cc

   1 #include "common-states.h"
   2 #include "robot.h"
   3 #include <ul_log.h>
   4
   5
   6 UL_LOG_CUST(ulogd_strategy_get_central_buillon); /* Log domain name = ulogd + name of the file */
   7 static FSM_STATE_DECL(pick_central_buillon);
   8
   9
  10 FSM_STATE(get_central_buillon_first)
  11 {
  12         switch (FSM_EVENT) {
  13                 case EV_ENTRY:
  14                         start_entry();
  15 #ifdef COMPETITION
  16                         ul_logmsg("waiting for start\n");
  17                         FSM_TIMER(1000);
  18                         break;
  19 #endif
  20                 case EV_START:
  21                         start_go();
  22                         FSM_TRANSITION(pick_central_buillon);
  23                         break;
  24                 case EV_TIMER:
  25                         FSM_TIMER(1000);
  26                         start_timer();
  27                         break;
  28                 case EV_EXIT:
  29                         start_exit();
  30                         break;
  31                 case EV_SWITCH_STRATEGY:
  32                         FSM_TRANSITION(calibrate);
  33                         break;
  34                 default:;
  35         }
  36 }
  37 #undef FSM_STATE_VISIBILITY
  38 #define FSM_STATE_VISIBILITY static
  39
  40 FSM_STATE_DECL(bottle_bw);
  41 FSM_STATE_DECL(pick_buillon_from_totem1);
  42 FSM_STATE_DECL(pick_buillon_from_totem2);
  43
  44
  45 FSM_STATE(pick_central_buillon)
  46 {
  47         switch (FSM_EVENT) {
  48                 case EV_ENTRY:
  49                         SUBFSM_TRANSITION(approach_central_buillon,NULL);
  50                         break;
  51                 case EV_RETURN:
  52                         FSM_TRANSITION(bottle_bw);
  53                         break;
  54                 default:
  55                         break;
  56         }
  57 }
  58
  59 FSM_STATE(bottle_bw)
  60 {
  61         switch (FSM_EVENT) {
  62                 case EV_ENTRY:
  63                         SUBFSM_TRANSITION(push_bottle_bw,NULL);
  64                         up = false;
  65                         break;
  66                 case EV_RETURN:
  67                         FSM_TRANSITION(pick_buillon_from_totem1);
  68                         break;
  69                 default:
  70                         break;
  71         }
  72 }
  73
  74 FSM_STATE(pick_buillon_from_totem1)
  75 {
  76         switch (FSM_EVENT) {
  77                 case EV_ENTRY:
  78                         totem_x = 1.1;
  79                         totem_y = 0.875;
  80                         SUBFSM_TRANSITION(leave_home,NULL);
  81                         break;
  82                 case EV_RETURN:
  83                         FSM_TRANSITION(pick_buillon_from_totem2);
  84                         break;
  85                 default:
  86                         break;
  87         }
  88 }
  89
  90 FSM_STATE(pick_buillon_from_totem2)
  91 {
  92         switch (FSM_EVENT) {
  93                 case EV_ENTRY:
  94                         up = true;
  95                         totem_x = 1.1;
  96                         totem_y = 1.125;
  97                         SUBFSM_TRANSITION(leave_home,NULL);
  98                         break;
  99                 default:
 100                         break;
 101         }
 102 }