src/robofsm/strategy_pick_all_our_figures.cc

   1 #include "common-states.h"
   2 #include "robot.h"
   3 #include <ul_log.h>
   4
   5 UL_LOG_CUST(ulogd_strategy_pick_all_our_figures); /* Log domain name = ulogd + name of the file */
   6
   7 static FSM_STATE_DECL(bypass_figure);
   8
   9 FSM_STATE(start_all_our_figures)
  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(bypass_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_12_oranges);
  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_our_green_figures);
  42 // FSM_STATE_DECL(unload_oranges);
  43 // FSM_STATE_DECL(opp_corns);
  44
  45 FSM_STATE(bypass_figure)
  46 {
  47         switch (FSM_EVENT) {
  48         case EV_ENTRY:
  49                 SUBFSM_TRANSITION(bypass_figure_in_front_of_start, NULL);
  50                 break;
  51         case EV_RETURN:
  52                 FSM_TRANSITION(pick_our_green_figures);
  53                 break;
  54         default: break;
  55         }
  56 }
  57
  58 FSM_STATE(pick_our_green_figures)
  59 {
  60         switch (FSM_EVENT) {
  61         case EV_ENTRY:
  62                 SUBFSM_TRANSITION(approach_second_green_figure, NULL);
  63                 break;
  64         case EV_RETURN:
  65                 //FSM_TRANSITION(unload_oranges);
  66                 break;
  67         default: break;
  68         }
  69 }
  70
  71 // FSM_STATE(unload_oranges)
  72 // {
  73 //      switch (FSM_EVENT) {
  74 //      case EV_ENTRY:  SUBFSM_TRANSITION(to_cntainer_and_unld, NULL); break;
  75 //      case EV_RETURN: FSM_TRANSITION(opp_corns); break;
  76 //      default: break;
  77 //      }
  78 // }
  79 //
  80 // FSM_STATE(opp_corns)
  81 // {
  82 //      switch (FSM_EVENT) {
  83 //      case EV_ENTRY:  SUBFSM_TRANSITION(approach_next_corn, NULL); break;
  84 //      case EV_RETURN: FSM_TRANSITION(opp_corns); break;
  85 //      default: break;
  86 //      }
  87 // }