fsm tron

#define INTERVAL 100

typedef enum { INIT, RUN, LEFT, RIGHT, PAUSE, STOP } State ;
bool line_l, line_r; // ligne sur la gauche/droite (capteur infrarouge)
bool obstacle_f; // obstacle devant (capteur ultrason)
bool turn, turn_l; // y a une proba de tourner au cours de la course (marche aléatoire), et une proba pour savoir si on tourne à gauche ou droite
bool setting_up, fatal_error, success, start;

State state;

void setup() {
  // put your setup code here, to run once:

}

void detect_IR()
{
  // capteurs infrarouges
}

void detect_US()
{
  // capteurs ultrasons
}

void refresh()
{
  // met à jour les globals (conditions)
  detect_IR();
  detect_US();
}

void transition()
{
  if (fatal_error || success)
    {
      state = STOP;
      return;
    }
  switch (state)
  {
    case INIT:
      if (setting_up)
      {
        state = INIT;
      }
      else
      {
        if (!obstacle_f && !line_l && !line_r && !turn)
        {
          state = RUN;
        }
        else if (turn && turn_l)
        {
          state = LEFT;
        }
        else if (turn && !turn_l)
        {
          state = RIGHT;
        }
        else
        {
          state = STOP;
        }
      }
      break;
    case RUN:
      if (!line_l && !line_r && !turn && !obstacle_f)
      {
        state = RUN;
      }
      else if (line_r || (!line_l && !line_r && turn && turn_l) && !obstacle_f)
      {
        state = LEFT;
      }
      else if (line_l || (!line_l && !line_r && turn && !turn_l) && !obstacle_f)
      {
        state = RIGHT;
      }
      else if (obstacle_f)
      {
        state = PAUSE;
      }
      else
      {
        state = STOP;
      }
      break;
    case LEFT:
      if (!line_l && !line_r && !obstacle_f)
      {
        state = RUN;
      }
      else if (line_l || line_r && !obstacle_f)
      {
        state = LEFT;
      }
      else if (obstacle_f)
      {
        state = PAUSE;
      }
      else
      {
        state = STOP;
      }
      break;
    case RIGHT:
      if (!line_l && !line_r && !obstacle_f)
      {
        state = RUN;
      }
      else if (line_l || line_r && !obstacle_f)
      {
        state = RIGHT;
      }
      else if (obstacle_f)
      {
        state = PAUSE;
      }
      else
      {
        state = STOP;
      }
      break;
    case PAUSE:
      if (!line_l && !line_r && !obstacle_f)
      {
        state = RUN;
      }
      else if (line_r && !obstacle_f)
      {
        state = LEFT;
      }
      else if (line_l && !obstacle_f)
      {
        state = RIGHT;
      }
      else if (obstacle_f)
      {
        state = PAUSE;
      }
      break;
    case STOP:
      if (start)
      {
        state = INIT;
      }
      else
      {
        state = STOP;
      }
      break;
    default:
      state = STOP;
      break;
  }

}

void loop() {
  // put your main code here, to run repeatedly:
  unsigned long t0=millis();
  refresh();
  transition();

  switch (state)
  {
    case INIT:
      break;
    case RUN:
      break;
    case LEFT:
      break;
    case RIGHT:
      break;
    case PAUSE:
      break;
    case STOP:
      break;
    default:
      break;
  }

  unsigned long elapsed=millis()-t0;
  if (elapsed>INTERVAL) printf("Excessive execution time\n");
  else delay(INTERVAL-elapsed);

}