MAIN FSM: empty decide_what_next and deposit_at_acropolis states created

and obsolete states removed from switch statements

diff --git a/src/robofsm/competition.cc b/src/robofsm/competition.cc
index 58b07b5cf91dd85fcfe5ef58b2557987bffa4a1c..0b9f61889973a0a27f5060b15894d30d1654b214 100644 (file)
--- a/src/robofsm/competition.cc
+++ b/src/robofsm/competition.cc
@@ -262,7 +262,9 @@ void robot_goto_puck_in_grid(int nx, int ny, int phi)
 FSM_STATE_DECL(init);
 FSM_STATE_DECL(wait_for_start);
 /* strategies related states */
+FSM_STATE_DECL(decide_what_next);
 FSM_STATE_DECL(collect_free_pucks);
+FSM_STATE_DECL(deposit_at_acropolis);
 /* movement states */
 FSM_STATE_DECL(simple_construction_zone_approach);
 FSM_STATE_DECL(approach_our_static_dispenser);
@@ -356,6 +358,59 @@ FSM_STATE(wait_for_start)
  * STRATEGIES RELATED STATES
  ************************************************************************/
 
+FSM_STATE(decide_what_next)
+{
+       switch (FSM_EVENT) {
+               case EV_ENTRY:
+                       if(robot.pucks_inside == pucks_at_once) {
+                               ; //
+                       } else {
+                               if(robot.pucks_inside < pucks_at_once && free_puck_to_try_to_get_next < 6) {
+                                       FSM_TRANSITION(collect_free_pucks);
+                               }
+                       }
+                       break;
+               case EV_MOTION_DONE:
+               case EV_ACTION_DONE:
+               case EV_RETURN:
+               case EV_TIMER:
+               case EV_LASER_POWER:
+               case EV_GOAL_NOT_REACHABLE:
+               case EV_SHORT_TIME_TO_END:
+               case EV_STACK_FULL:
+               case EV_ACTION_ERROR:
+               case EV_PUCK_REACHABLE:
+               case EV_START:
+                       DBG_PRINT_EVENT("unhandled event");
+                       break;
+               case EV_EXIT:
+                       break;
+       }
+}
+
+FSM_STATE(deposit_at_acropolis)
+{
+       switch (FSM_EVENT) {
+               case EV_ENTRY:
+                       break;
+               case EV_MOTION_DONE:
+               case EV_ACTION_DONE:
+               case EV_RETURN:
+               case EV_TIMER:
+               case EV_LASER_POWER:
+               case EV_GOAL_NOT_REACHABLE:
+               case EV_SHORT_TIME_TO_END:
+               case EV_STACK_FULL:
+               case EV_ACTION_ERROR:
+               case EV_PUCK_REACHABLE:
+               case EV_START:
+                       DBG_PRINT_EVENT("unhandled event");
+                       break;
+               case EV_EXIT:
+                       break;
+       }
+}
+
 static void robot_goto_next_puck_in_sequence(int lot, int puck_number)
 {
        robot_goto_puck_in_grid(
@@ -379,28 +434,15 @@ FSM_STATE(collect_free_pucks)
                case EV_RETURN:
                        switch(FSM_EVENT_RET_VAL) {
                        case LOAD_SUCCESS:
+                               free_puck_to_try_to_get_next++;
                                printf(">>>>>> Loading the puck succeeded\n");
-                               if(free_puck_to_try_to_get_next<4) {
-                                       free_puck_to_try_to_get_next++;
-                                       robot_goto_next_puck_in_sequence(lot, free_puck_to_try_to_get_next);
-                               }
                                break;
                        case LOAD_FAIL:
                                printf(">>>>>> Loading the puck FAILED\n");
-                               if(free_puck_to_try_to_get_next<6) { // FIXME: test number of pucks loaded!!
-                                       free_puck_to_try_to_get_next++;
-                                       robot_goto_next_puck_in_sequence(lot, free_puck_to_try_to_get_next);
-                               } else { 
-                                       // FIXME (TODO): transition to next strategy state
-                               }
                                break;
                        }
                        break;
                case EV_PUCK_REACHABLE:
-                       robot_stop();
-                       printf("-----reached some free puck, hopefully no. %d\n", free_puck_to_try_to_get_next);
-                       SUBFSM_TRANSITION(load_the_puck, NULL);
-                       break;
                case EV_ACTION_DONE:
                case EV_TIMER:
                case EV_LASER_POWER:
@@ -636,11 +678,9 @@ FSM_STATE()
                case EV_ACTION_DONE:
                case EV_RETURN:
                case EV_TIMER:
-               case EV_OBSTRUCTION_AHEAD:
                case EV_LASER_POWER:
                case EV_GOAL_NOT_REACHABLE:
                case EV_SHORT_TIME_TO_END:
-               case EV_ENEMY_AHEAD:
                case EV_STACK_FULL:
                case EV_ACTION_ERROR:
                case EV_PUCK_REACHABLE: