/****************************************************************************
 Module
   Angels_MasterMachine.c

 Description
   This is the master state machine for the Charlie's Angels ME218B project.
****************************************************************************/

/*---------------------------- Module Variables ---------------------------*/

static uint8_t MyPriority;

/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
 Function InitMasterSM
 	Saves away the priority, and starts the top level SM
 	Takes uint8_t : the priority of this service
 	Returns false if error in initialization, True otherwise
****************************************************************************/
Create an event with type ES_Entry
Set MyPriority = Priority
Send the event to StartMasterSM() to start the master SM
Return True

End of function

/****************************************************************************
 Function PostMasterSM
 	Posts an event to this state machine's queue
 	Takes an event ThisEvent to post to the queue
 	Returns False if the Enqueue operation failed, True otherwise
****************************************************************************/
Call ES_PostToService( MyPriority, ThisEvent) and return what it returns

/****************************************************************************
 Function RunMasterSM
	Runs the master state machine for the 'bot.
	Takes an event to process, CurrentEvent.
	Returns an event
****************************************************************************/
Call DuringMaster with parameter CurrentEvent
in the absence of an error,
	return ES_NO_EVENT
End of function

/****************************************************************************
 Function StartMasterSM
	Starts the master state machine for the 'bot.
	Takes an event to process, CurrentEvent.
	Returns an event
****************************************************************************/
Initialize an event LocalEvent = CurrentEvent
Call RunMasterSM(LocalEvent)
End of function


/***************************************************************************
 'During'  functions
 ***************************************************************************/
DuringMaster
	Entry functions:
		Start Robot SM
		Start Turret SM (eliminated with Turret)
	Exit functions: none
		Run Robot SM with Exit event
		Run Turret SM with Exit event (eliminated with Turret)
	During functions: none
		Run Robot SM
		Run Turret SM (eliminated)
End of function