From: Filip Jares <filipjares@post.cz>
Date: Fri, 24 Apr 2009 20:57:21 +0000 (+0200)
Subject: MAIN FSM: empty decide_what_next and deposit_at_acropolis states created
X-Git-Tag: eb2009~19^2~10
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/88ec56d2f9fabc6a99e0b360d667be9fcd3f08c4

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 58b07b5c..0b9f6188 100644
--- 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: