From: Filip Jares <filipjares@post.cz>
Date: Wed, 26 May 2010 15:01:03 +0000 (+0200)
Subject: robofsm: add forgotten strategy_six_oranges.cc file
X-Git-Tag: start2011~39^2~4^2
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/1470458cc740c7440818e785dd9c0d3acb8d70f3

robofsm: add forgotten strategy_six_oranges.cc file

i forgot it in previous commit
---

diff --git a/src/robofsm/strategy_six_oranges.cc b/src/robofsm/strategy_six_oranges.cc
new file mode 100644
index 00000000..7edbdf31
--- /dev/null
+++ b/src/robofsm/strategy_six_oranges.cc
@@ -0,0 +1,88 @@
+#include "common-states.h"
+#include "robot.h"
+#include "eb2010misc.h"
+
+static FSM_STATE_DECL(pick_our_oranges);
+
+FSM_STATE(start_six_oranges)
+{
+	switch (FSM_EVENT) {
+		case EV_ENTRY:
+			start_entry();
+#ifdef COMPETITION
+			printf("waiting for start\n");
+			FSM_TIMER(1000);
+			break;
+#endif
+		case EV_START:
+			start_go();
+			FSM_TRANSITION(pick_our_oranges);
+			break;
+		case EV_TIMER:
+			FSM_TIMER(1000);
+			start_timer();
+			break;
+		case EV_EXIT:
+			start_exit();
+			break;
+		case EV_SWITCH_STRATEGY:
+			FSM_TRANSITION(start_opp_corn);
+			break;
+		default:;
+	}
+}
+
+
+#undef FSM_STATE_VISIBILITY
+#define FSM_STATE_VISIBILITY static
+
+FSM_STATE_DECL(pick_rest_of_our_oranges);
+FSM_STATE_DECL(unload_oranges);
+FSM_STATE_DECL(pick_opp_oranges);
+FSM_STATE_DECL(opp_corns);
+
+FSM_STATE(pick_our_oranges)
+{
+	switch (FSM_EVENT) {
+	case EV_ENTRY:  SUBFSM_TRANSITION(approach_the_slope, new slope_approach_style(MINE, NEAR_PLAYGROUND_BOUNDARY)); break;
+	case EV_RETURN: FSM_TRANSITION(pick_rest_of_our_oranges); break;
+	default: break;
+	}
+}
+
+FSM_STATE(pick_rest_of_our_oranges)
+{
+	switch (FSM_EVENT) {
+	case EV_ENTRY:  SUBFSM_TRANSITION(approach_the_slope, new slope_approach_style(MINE, NEAR_PLAYGROUND_CENTER)); break;
+	case EV_RETURN: FSM_TRANSITION(unload_oranges); break;
+	default: break;
+	}
+}
+
+FSM_STATE(unload_oranges)
+{
+	switch (FSM_EVENT) {
+	case EV_ENTRY:  SUBFSM_TRANSITION(to_cntainer_and_unld, NULL); break;
+	/* FIXME: do something more meaningfull the next time */
+	case EV_RETURN: FSM_TRANSITION(pick_opp_oranges); break;
+	default: break;
+	}
+}
+
+FSM_STATE(pick_opp_oranges)
+{
+	switch (FSM_EVENT) {
+	case EV_ENTRY:  SUBFSM_TRANSITION(approach_the_slope, new slope_approach_style(OPPONENTS, NEAR_PLAYGROUND_BOUNDARY)); break;
+	case EV_RETURN: FSM_TRANSITION(unload_oranges); break;
+	default: break;
+	}
+}
+
+FSM_STATE(opp_corns)
+{
+	switch (FSM_EVENT) {
+	case EV_ENTRY:  SUBFSM_TRANSITION(approach_next_corn, NULL); break;
+	case EV_RETURN: FSM_TRANSITION(opp_corns); break;
+	default: break;
+	}
+}