src/robofsm/common-states.h

   1 #ifndef COMMON_STATES_H
   2 #define COMMON_STATES_H
   3
   4 #define FSM_MAIN
   5
   6 #include "roboevent.h"
   7 #include <fsm.h>
   8
   9 extern struct TrajectoryConstraints tcFast, tcVeryFast, tcSlow, tcVerySlow;
  10 extern bool build_tower, tower, bonus_placed;
  11
  12 /* strategy FSM */
  13 FSM_STATE_DECL(start_pick_all_our_figures);
  14 FSM_STATE_DECL(start_pick_two_our_figures);
  15 FSM_STATE_DECL(start_pick_third_figure);
  16 FSM_STATE_DECL(start_pick_fourth_figure);
  17 FSM_STATE_DECL(start_pick_center_figure);
  18
  19 /* common FSM states */
  20 FSM_STATE_DECL(bypass_figure_in_front_of_start);
  21 FSM_STATE_DECL(move_around);
  22 FSM_STATE_DECL(place_figure_to_near_area);
  23 FSM_STATE_DECL(leave_near_figure);
  24
  25 /* pick opponent bonus figure states */
  26 FSM_STATE_DECL(approach_opp_bonus_figure);
  27 FSM_STATE_DECL(load_opp_bonus_figure);
  28 FSM_STATE_DECL(place_opp_bonus_figure);
  29 FSM_STATE_DECL(leave_opp_bonus_figure);
  30
  31 /* pick second green figure FSM */
  32 FSM_STATE_DECL(approach_second_green_figure);
  33 FSM_STATE_DECL(load_second_green_figure);
  34 FSM_STATE_DECL(go_out_second_green_figure);
  35 FSM_STATE_DECL(place_figure_to_protected_block);
  36 FSM_STATE_DECL(leave_protected_figure);
  37
  38 /* pick third green figure FSM */
  39 FSM_STATE_DECL(approach_third_green_figure);
  40 FSM_STATE_DECL(load_third_green_figure);
  41 FSM_STATE_DECL(go_out_third_green_figure);
  42 FSM_STATE_DECL(place_figure_to_bonus_area);
  43 FSM_STATE_DECL(leave_bonus_figure);
  44
  45 /* pick fourth green figure FSM */
  46 FSM_STATE_DECL(approach_fourth_green_figure);
  47 FSM_STATE_DECL(load_fourth_green_figure);
  48 FSM_STATE_DECL(go_out_fourth_green_figure);
  49 FSM_STATE_DECL(place_figure_to_red_square);
  50 FSM_STATE_DECL(leave_red_square_figure);
  51
  52 /* pick fifth green figure FSM */
  53 FSM_STATE_DECL(approach_fifth_green_figure);
  54 FSM_STATE_DECL(load_fifth_green_figure);
  55 FSM_STATE_DECL(go_out_fifth_green_figure);
  56
  57 /* pick center figure FSM */
  58 FSM_STATE_DECL(approach_center_figure);
  59 FSM_STATE_DECL(load_center_figure);
  60
  61 void start_entry();
  62 void start_timer();
  63 void start_go();
  64 void start_exit();
  65 bool read_sharp();
  66
  67 #endif