robot-main.cc

#include "robot.h"
#include <fsm.h>
#include "fsmloc.h"
#include "fsmmain.h"
#include "fsmmove.h"

/* main loop */
int main()
{
        /* robot initialization */
        robot_init();

        FSM(MAIN)->debug_states = 1;
//      FSM(PICKUP)->debug_states = 1;

        robot.fsm[FSM_ID_MAIN].state = &fsm_state_main_init;
        robot.fsm[FSM_ID_MOTION].state = &fsm_state_move_init;
        robot.fsm[FSM_ID_LOC].state = &fsm_state_loc_init;
        robot.fsm[FSM_ID_DET].state = &fsm_state_det_start;
        robot.fsm[FSM_ID_PICKUP].state = &fsm_state_start_pickup;

        /* Start threads and wait */
        robot_start();

        robot_wait();

        /* clean up */
        robot_destroy();

        return 0;
}

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