Merge branch 'master' of sojka@rtime.felk.cvut.cz:/var/git/eurobot

Conflicts:

	src/robofsm/eb2008/robot_orte.c

diff --cc src/robofsm/eb2008/fsmdisplay.cc
Simple merge

diff --cc src/robofsm/eb2008/fsmmain.cc
index bf148b7c25da365937bc708583138ce4ce57f328,085a5e503fde44bb477862f32c09fcdf403780aa..efe5720ed921a0b420604b5b8ea71f58e3ebd567
--- 1/src/robofsm/eb2008/fsmmain.cc
--- 2/src/robofsm/eb2008/fsmmain.cc
+++ b/src/robofsm/eb2008/fsmmain.cc
@@@ -217,9 -217,11 +217,11 @@@ void robot_go_backward_to_point(struct 
        robot_trajectory_add_final_point_notrans(des_pos.x, des_pos.y, NO_TURN());
  }
  
 -FSM_STATE_DECL(main_init);
 +FSM_STATE_DECL(init);
  FSM_STATE_DECL(go_to_our_white_dispenser);
+ FSM_STATE_DECL(go_to_our_white_dispenser2);
  FSM_STATE_DECL(get_balls);
+ FSM_STATE_DECL(next_carousel_position);
  FSM_STATE_DECL(wait_for_start);
  FSM_STATE_DECL(go_to_container);
  FSM_STATE_DECL(deposite_balls);

diff --cc src/robofsm/eb2008/roboevent_eb2008.py
index f9304e84c27f6cf88b46ad759e8e6c80718b78ca,c52af6e7e3d9329630bea75ea832e3f9a147f12e..851162384cc70a7f6446097caf58ca086523b4d2
--- 1/src/robofsm/eb2008/roboevent_eb2008.py
--- 2/src/robofsm/eb2008/roboevent_eb2008.py
+++ b/src/robofsm/eb2008/roboevent_eb2008.py
@@@ -5,9 -5,11 +5,8 @@@ events = 
        "EV_DEPOSITE_DONE" : "",
        "EV_STACK_FULL" : "",
        "EV_BALL_INSIDE" : "",
-       "EV_CAROUSEL_POS_ACHIEVED" : "",
  
        "EV_MOTION_DONE" : "Previously submitted motion is finished",
 -      "EV_LOST_DURING_MOTION" : "Actual position of the robot is too far from reference",
 -      "EV_TRAJECTORY_ERROR" : "The trajectory submitted by ::EV_NEW_TRAJECTORY can't be prepared for execution.",
 -
        "EV_GOAL_NOT_REACHABLE" : "Path planner can't calculate a path to the goal. Probably obstacles are on the way.",
  
        "EV_OBSTRUCTION_AHEAD" : "",

diff --cc src/robofsm/eb2008/robot_orte.c
index 0beacbbfdb0c62a0bf88902751c2dbc754bf63dc,817d749fb8e4bf87e3db61ad4942bac0885392c7..e7fc7b0354b909daa8c8f6ad71e9b608bbefb799
--- 1/src/robofsm/eb2008/robot_orte.c
--- 2/src/robofsm/eb2008/robot_orte.c
+++ b/src/robofsm/eb2008/robot_orte.c
@@@ -182,16 -182,12 +182,12 @@@ void rcv_drives_cb(const ORTERecvInfo *
  
        switch (info->status) {
                case NEW_DATA:
-                       ROBOT_LOCK(drives);
+                       ROBOT_LOCK(carousel);
                        robot.drives = *instance;
-                       ROBOT_UNLOCK(drives);
- /*                    struct drives_type *drives =  */
- /*                                    malloc(sizeof(struct drives_type)); */
- /*                    *drives = *instance; */
- /*                    FSM_SIGNAL(MAIN, EV_CAROUSEL_POS_ACHIEVED, drives); */
+                       ROBOT_UNLOCK(carousel);
                        break;
                case DEADLINE:
 -                      printf("ORTE deadline occurred - drives receive\n");
 +                      DBG("ORTE deadline occurred - drives receive\n");
                        break;
        }
  }