robofsm: Clear state events in MAIN FSM.

[eurobot/public.git] / src / robofsm / common-states.cc

diff --git a/src/robofsm/common-states.cc b/src/robofsm/common-states.cc
index af50ec12df395037ed11073fac32633d138b5184..e3f2c167d6483ecd92b785fac846fb39673a01e9 100644 (file)
--- a/src/robofsm/common-states.cc
+++ b/src/robofsm/common-states.cc
@@ -294,15 +294,11 @@ FSM_STATE(approach_target)
 
 FSM_STATE(move_around)
 {
-        double goalx, goaly, phi;
+        double goalx, goaly;
         static int survey_cnt = 0;
 
         switch (FSM_EVENT) {
                 case EV_ENTRY:
-                        /* TODO upravit generovani nahodne pozice tak aby se lepe filtrovaly
-                         uz prozkomane body a prekazky i body mimo hriste.
-                         Oznacit v mape vsechny oblasti prozkoumane pomoci hokuya na kterych nedoslo k detekci??
-                         */
                         do {;
                                 goalx = ((rand()%PLAYGROUND_HEIGHT_MM)/1000.0);
                                 goaly += ((rand()%PLAYGROUND_WIDTH_MM)/1000.0);
@@ -322,14 +318,10 @@ FSM_STATE(move_around)
                         FSM_TRANSITION(move_around);
                         break;
                 case EV_RETURN:
-                        break;
                 case EV_START:
-                        /* do nothing */
+                        DBG_PRINT_EVENT("unhandled event");
                         break;
                 case EV_EXIT:
-                        //ShmapFree();
-                        break;
-                default:
                         break;
         }
 }
@@ -344,18 +336,16 @@ FSM_STATE(go_home)
                         ul_logdeb("Goal is not reachable\n");
                         FSM_TIMER(1000);
                         break;
-                case EV_MOTION_DONE:
-                        break;
                 case EV_TIMER:
                         FSM_TRANSITION(go_home);
                         break;
                 case EV_START:
-                        /* do nothing */
+                        DBG_PRINT_EVENT("unhandled event");
                         break;
+                case EV_MOTION_DONE:
                 case EV_EXIT:
-                        //ShmapFree();
-                        break;
-                default:
+                        robot_exit();
+                        DBG_PRINT_EVENT("Mission competed!");
                         break;
         }
 }