robofsm/competition: correcting EV_SHORT_TIME_TO_END handling added in hurry by Michal

- EV_SHORT_TIME_TO_END: absence of 'break' statements was ignored
- EV_GOAL_NOT_REACHABLE: comment added (this event is currently not used
			 and not sent from anywhere)

diff --git a/src/robofsm/competition.cc b/src/robofsm/competition.cc
index b226a47b64f971a50ca2d3db8baea44b27a8242d..89004a00e8b1db0b95f18d11b4507dc80961ab76 100644 (file)
--- a/src/robofsm/competition.cc
+++ b/src/robofsm/competition.cc
@@ -323,7 +323,7 @@ FSM_STATE(wait_for_start)
                case EV_TIMER:
                case EV_RETURN:
                case EV_LASER_POWER:
-               case EV_GOAL_NOT_REACHABLE:
+               case EV_GOAL_NOT_REACHABLE: // currently not used
                case EV_SHORT_TIME_TO_END:
                case EV_STACK_FULL:
                case EV_ACTION_DONE:
@@ -358,10 +358,10 @@ FSM_STATE(decide_what_next)
                case EV_RETURN:
                case EV_TIMER:
                case EV_LASER_POWER:
-               case EV_GOAL_NOT_REACHABLE:
+               case EV_GOAL_NOT_REACHABLE: // currently not used
                case EV_SHORT_TIME_TO_END:
-                       FSM_TRANSITION(deposit_at_acropolis);
-                       break;
+                       FSM_TRANSITION(deposit_at_acropolis); //FIXME fsm transition to decide_what_next
+                       break;                                  // everywhere and ...
                case EV_STACK_FULL:
                case EV_ACTION_ERROR:
                case EV_PUCK_REACHABLE:
@@ -418,12 +418,12 @@ FSM_STATE(deposit_at_acropolis)
                                deposit_status++;
                        }
                        break;
-               case EV_TIMER:
-               case EV_LASER_POWER:
-               case EV_GOAL_NOT_REACHABLE:
                case EV_SHORT_TIME_TO_END:
-                       FSM_TRANSITION(deposit_at_acropolis);
+                       //FSM_TRANSITION(deposit_at_acropolis);
                        break;
+               case EV_TIMER:
+               case EV_LASER_POWER:
+               case EV_GOAL_NOT_REACHABLE: // currently not used
                case EV_STACK_FULL:
                case EV_ACTION_ERROR:
                case EV_PUCK_REACHABLE:
@@ -459,14 +459,14 @@ FSM_STATE(collect_free_pucks)
                        free_puck_to_try_to_get_next++;
                        FSM_TRANSITION(decide_what_next);
                        break;
+               case EV_SHORT_TIME_TO_END:
+                       FSM_TRANSITION(deposit_at_acropolis);
+                       break;
                case EV_PUCK_REACHABLE:
                case EV_ACTION_DONE:
                case EV_TIMER:
                case EV_LASER_POWER:
-               case EV_GOAL_NOT_REACHABLE:
-               case EV_SHORT_TIME_TO_END:
-                       FSM_TRANSITION(deposit_at_acropolis);
-                       break;
+               case EV_GOAL_NOT_REACHABLE: // currently not used
                case EV_STACK_FULL:
                case EV_ACTION_ERROR:
                case EV_START:
@@ -491,15 +491,14 @@ FSM_STATE(approach_acropolis)
                        SUBFSM_RET(NULL);
                        // FIXME SUBFSM_RET((void*)true);
                        break;
-               case EV_GOAL_NOT_REACHABLE: // FIXME...
+               case EV_GOAL_NOT_REACHABLE: // currently not used
+                       break;
+               case EV_SHORT_TIME_TO_END:
                        break;
                case EV_ACTION_DONE:
                case EV_RETURN:
                case EV_TIMER:
                case EV_LASER_POWER:
-               case EV_SHORT_TIME_TO_END:
-                       FSM_TRANSITION(deposit_at_acropolis);
-                       break;
                case EV_STACK_FULL:
                case EV_ACTION_ERROR:
                case EV_PUCK_REACHABLE:
@@ -522,14 +521,14 @@ FSM_STATE(simple_construction_zone_approach)
                case EV_MOTION_DONE:
                        //FSM_SIGNAL(ACT, EV_UNLOAD_THE_PUCK, NULL);
                        break;
+               case EV_SHORT_TIME_TO_END:
+                       FSM_TRANSITION(deposit_at_acropolis);
+                       break;
                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:
-                       FSM_TRANSITION(deposit_at_acropolis);
-                       break;
+               case EV_GOAL_NOT_REACHABLE: // currently not used
                case EV_STACK_FULL:
                case EV_ACTION_ERROR:
                case EV_PUCK_REACHABLE:
@@ -563,14 +562,13 @@ FSM_STATE(approach_our_static_dispenser)
                case EV_ACTION_DONE:
                        printf("A Puck picked up\n");
                        break;
-               case EV_RETURN:
-               case EV_TIMER:
-               case EV_LASER_POWER:
-               case EV_GOAL_NOT_REACHABLE:
                case EV_SHORT_TIME_TO_END:
                        FSM_TRANSITION(deposit_at_acropolis);
                        break;
-               //case EV_PUCK_REACHABLE: // FIXME: handle this
+               case EV_RETURN:
+               case EV_TIMER:
+               case EV_LASER_POWER:
+               case EV_GOAL_NOT_REACHABLE: // currently not used
                case EV_STACK_FULL:
                case EV_ACTION_ERROR:
                case EV_PUCK_REACHABLE:
@@ -604,14 +602,13 @@ FSM_STATE(approach_opponents_static_dispenser)
                case EV_ACTION_DONE:
                        printf("A Puck picked up\n");
                        break;
-               case EV_RETURN:
-               case EV_TIMER:
-               case EV_LASER_POWER:
-               case EV_GOAL_NOT_REACHABLE:
                case EV_SHORT_TIME_TO_END:
                        FSM_TRANSITION(deposit_at_acropolis);
                        break;
-               //case EV_PUCK_REACHABLE: // FIXME: handle this
+               case EV_RETURN:
+               case EV_TIMER:
+               case EV_LASER_POWER:
+               case EV_GOAL_NOT_REACHABLE: // currently not used
                case EV_STACK_FULL:
                case EV_ACTION_ERROR:
                case EV_PUCK_REACHABLE:
@@ -653,12 +650,12 @@ FSM_STATE(load_the_puck)
                                robot_move_by(0.02, NO_TURN(), &tcSlow);
                        }
                        break;
-               case EV_RETURN:
-               case EV_LASER_POWER:
-               case EV_GOAL_NOT_REACHABLE:
                case EV_SHORT_TIME_TO_END:
                        FSM_TRANSITION(deposit_at_acropolis);
                        break;
+               case EV_RETURN:
+               case EV_LASER_POWER:
+               case EV_GOAL_NOT_REACHABLE: // currently not used
                case EV_STACK_FULL:
                case EV_PUCK_REACHABLE:
                case EV_START:
@@ -712,7 +709,7 @@ FSM_STATE(look_around_for_puck)
                case EV_RETURN:
                case EV_TIMER:
                case EV_LASER_POWER:
-               case EV_GOAL_NOT_REACHABLE:
+               case EV_GOAL_NOT_REACHABLE: // currently not used
                case EV_SHORT_TIME_TO_END:
                case EV_STACK_FULL:
                case EV_START:
@@ -731,13 +728,13 @@ FSM_STATE()
        switch (FSM_EVENT) {
                case EV_ENTRY:
                        break;
+               case EV_SHORT_TIME_TO_END:
                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_GOAL_NOT_REACHABLE: // currently not used
                case EV_STACK_FULL:
                case EV_ACTION_ERROR:
                case EV_PUCK_REACHABLE: