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(ignore_central_buillon);
  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
  42 FSM_STATE(pick_central_buillon)
  43 {
  44         switch (FSM_EVENT) {
  45                 case EV_ENTRY:
  46                         SUBFSM_TRANSITION(approach_central_buillon,NULL);
  47                         break;
  48                 case EV_RETURN:
  49                         FSM_TRANSITION(bottle_bw);
  50                         break;
  51                 default:;
  52         }
  53 }
  54
  55 FSM_STATE(bottle_bw)
  56 {
  57         switch (FSM_EVENT) {
  58                 case EV_ENTRY:
  59                         SUBFSM_TRANSITION(push_bottle_bw,NULL);
  60                         break;
  61                 case EV_RETURN:
  62                         //FSM_TRANSITION(approach_totem_dowm)
  63                 default:;
  64         }
  65 }