src/robofsm/obsolete/2010/strategy_12_oranges.cc

   1 #include "common-states.h"
   2 #include "robot.h"
   3 #include "eb2010misc.h"
   4 #include <ul_log.h>
   5
   6 UL_LOG_CUST(ulogd_strategy_12_oranges); /* Log domain name = ulogd + name of the file */
   7
   8 static FSM_STATE_DECL(pick_our_oranges);
   9
  10 FSM_STATE(start_12_oranges)
  11 {
  12         switch (FSM_EVENT) {
  13                 case EV_ENTRY:
  14                         start_entry();
  15 #ifdef COMPETITION
  16                         ul_logmsg("waiting for start\n");
  17                         FSM_TIMER(1000);
  18                         break;
  19 #endif
  20                 case EV_START:
  21                         start_go();
  22                         FSM_TRANSITION(pick_our_oranges);
  23                         break;
  24                 case EV_TIMER:
  25                         FSM_TIMER(1000);
  26                         start_timer();
  27                         break;
  28                 case EV_EXIT:
  29                         start_exit();
  30                         break;
  31                 case EV_SWITCH_STRATEGY:
  32                         FSM_TRANSITION(start_opp_corn);
  33                         break;
  34                 default:;
  35         }
  36 }
  37
  38
  39 #undef FSM_STATE_VISIBILITY
  40 #define FSM_STATE_VISIBILITY static
  41
  42 FSM_STATE_DECL(pick_rest_of_our_oranges);
  43 FSM_STATE_DECL(unload_oranges);
  44 FSM_STATE_DECL(pick_opp_oranges);
  45 FSM_STATE_DECL(opp_corns);
  46
  47 FSM_STATE(pick_our_oranges)
  48 {
  49         switch (FSM_EVENT) {
  50         case EV_ENTRY:  SUBFSM_TRANSITION(approach_the_slope, new slope_approach_style(MINE, NEAR_PLAYGROUND_BOUNDARY)); break;
  51         case EV_RETURN: FSM_TRANSITION(pick_rest_of_our_oranges); break;
  52         default: break;
  53         }
  54 }
  55
  56 FSM_STATE(pick_rest_of_our_oranges)
  57 {
  58         switch (FSM_EVENT) {
  59         case EV_ENTRY:  SUBFSM_TRANSITION(approach_the_slope, new slope_approach_style(MINE, NEAR_PLAYGROUND_CENTER)); break;
  60         case EV_RETURN: FSM_TRANSITION(unload_oranges); break;
  61         default: break;
  62         }
  63 }
  64
  65 FSM_STATE(unload_oranges)
  66 {
  67         switch (FSM_EVENT) {
  68         case EV_ENTRY:  SUBFSM_TRANSITION(to_cntainer_and_unld, NULL); break;
  69         case EV_RETURN: FSM_TRANSITION(pick_opp_oranges); break;
  70         default: break;
  71         }
  72 }
  73
  74 FSM_STATE_DECL(pick_rest_of_opp_oranges);
  75 FSM_STATE(pick_opp_oranges)
  76 {
  77         switch (FSM_EVENT) {
  78         case EV_ENTRY:  SUBFSM_TRANSITION(approach_the_slope, new slope_approach_style(OPPONENTS, NEAR_PLAYGROUND_BOUNDARY)); break;
  79         case EV_RETURN: FSM_TRANSITION(pick_rest_of_opp_oranges); break;
  80         default: break;
  81         }
  82 }
  83
  84 FSM_STATE_DECL(unload_opp_oranges);
  85 FSM_STATE(pick_rest_of_opp_oranges)
  86 {
  87         switch (FSM_EVENT) {
  88         case EV_ENTRY:  SUBFSM_TRANSITION(approach_the_slope, new slope_approach_style(OPPONENTS, NEAR_PLAYGROUND_CENTER)); break;
  89         case EV_RETURN: FSM_TRANSITION(unload_opp_oranges); break;
  90         default: break;
  91         }
  92 }
  93
  94 FSM_STATE(unload_opp_oranges)
  95 {
  96         switch (FSM_EVENT) {
  97         case EV_ENTRY:  SUBFSM_TRANSITION(to_cntainer_and_unld, NULL); break;
  98         case EV_RETURN: FSM_TRANSITION(opp_corns); break;
  99         default: break;
 100         }
 101 }
 102
 103 FSM_STATE(opp_corns)
 104 {
 105         switch (FSM_EVENT) {
 106         case EV_ENTRY:  SUBFSM_TRANSITION(approach_next_corn, NULL); break;
 107         case EV_RETURN: FSM_TRANSITION(opp_corns); break;
 108         default: break;
 109         }
 110 }