From: Filip Jares <filipjares@post.cz>
Date: Thu, 14 May 2009 12:34:33 +0000 (+0200)
Subject: robofsm/competition: correcting EV_SHORT_TIME_TO_END handling added in hurry by Michal
X-Git-Tag: start2011~282
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/1b914411f5a165abd65b92ec01f169cc049084e2

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 b226a47b..89004a00 100644
--- 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: