From: Petr Silhavik <silhavik.p@gmail.com>
Date: Wed, 27 Mar 2013 16:28:01 +0000 (+0100)
Subject: robofsm: fsmmove - logging
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/20587b6790e135eb3b394568717f2d9f8ce49a7a

robofsm: fsmmove - logging

Prepare logging of states on terminal.
---

diff --git a/src/robofsm/fsmmove.cc b/src/robofsm/fsmmove.cc
index b4a48317..a06b21b6 100644
--- a/src/robofsm/fsmmove.cc
+++ b/src/robofsm/fsmmove.cc
@@ -257,7 +257,7 @@ target_status recalculate_trajectory(void) {
 	return ret;
 }
 
-bool back_bumpers() {
+inline bool back_bumpers() {
 	return robot.moves_backward && robot.use_back_bumpers &&
 		    (robot.orte.robot_bumpers.bumper_left_across ||
 		    robot.orte.robot_bumpers.bumper_right_across ||
@@ -266,7 +266,7 @@ bool back_bumpers() {
 }
 
 
-bool side_bumpers() { 
+inline bool side_bumpers() { 
 	return (robot.use_left_bumper && robot.orte.robot_bumpers.bumper_left) ||
 		    (robot.use_right_bumper && robot.orte.robot_bumpers.bumper_right);
 }
@@ -295,6 +295,7 @@ struct MotionBase : sc::simple_state< MotionBase, FSMMotion, wait_for_command >
 struct wait_for_command : TimedSimpleState< wait_for_command, MotionBase > {
 	target_status ret;
 	wait_for_command() {
+		printf("FSMMotion - wait_for_command\n");
 		stop();
 	}
 	sc::result react(const evNewTarget &event) {
@@ -313,6 +314,9 @@ struct wait_for_command : TimedSimpleState< wait_for_command, MotionBase > {
 };
 
 struct movement : TimedSimpleState< movement, MotionBase > {
+	movement() {
+		printf("FSMMotion - movement\n");
+	}
 	sc::result react(const evTrajectoryDone &) {
 		robot.sched.queue_event(robot.MAIN, new evMotionDone());
 		return transit<wait_for_command>();
@@ -355,6 +359,7 @@ struct movement : TimedSimpleState< movement, MotionBase > {
 struct lost : TimedState< lost, MotionBase > {
 	Timer lost_tout;
 	lost(my_context ctx) : base_state(ctx) {
+		printf("FSMMotion - lost\n");
 		stop();
 		runTimer(lost_tout, 1000, new evTimer());
 	}
@@ -376,6 +381,7 @@ struct lost : TimedState< lost, MotionBase > {
 struct wait_and_try_again : TimedState< wait_and_try_again, MotionBase > {
 	Timer wait_tout;
 	wait_and_try_again(my_context ctx) : base_state(ctx) {
+		printf("FSMMotion - wait_and_try_again\n");
 		stop();
 		runTimer(wait_tout, 1000, new evTimer());
 	}