// This file contains three example floor FSMs, then a couple wall FSMs
//   then finally a landmark FSM or two...  (Aug8)
// Some of the color numbers and action numbers are greater than 15 (4 bits);
//   it is expected that these will be set at merge time to parameters determined
//   by whatever (posterized) colors are actually needed there.


5  <--- this number on the first line tells the reader max # states coming.
// PSU EB 88-03 floor FSM..

1.0 = 2          -- black might be bottom of wall, or large speckle
1.1 = 2          -- ditto very dark gray
1.2 = 1          -- ditto dark gray
1.3 = 1          -- ditto medium dark
1.4 = 1          -- medium light: bottom not yet seen
1.5 = 1          -- light gray: ditto
1.6 = 1          -- very light gray: ditto
1.7 = 0          -- white: not floor
1.12 = 1         -- carpet has some red
1.11 = 1         -- carpet has some yellow
1.13 = 1         -- carpet has some tan

2.0 = 3          -- start sequence of black/dk.gray
2.1 = 3
2.2 = 1
2.3 = 1
2.4 = 1          -- too soon for light: go back to floor
2.5 = 1
2.6 = 1
2.7 = 0
2.12 = 1
2.11 = 1
2.13 = 1

3.0 = 4          -- 2nd in sequence of black/dk.gray
3.1 = 4
3.2 = 4
3.3 = 1          -- too soon for light: go back to floor
3.4 = 1
3.5 = 1
3.6 = 1
3.7 = 0
3.12 = 1
3.11 = 1
3.13 = 1

4.0 = 0          -- too much black/dk.gray, not valid floor
4.1 = 0
4.2 = 0
4.3 = 1
4.4 = 1
4.5 = 1
4.6 = 1
4.7 = 0
4.12 = 1
4.11 = 1
4.13 = 1

... <--- end of FSM


2  <--- this number on the first line tells the reader max # states coming.
// Generic FSM for 3-color floor (like Montreal)..

1.0 = 0          -- no black
1.1 = 0          -- ditto very dark gray
1.2 = 0          -- ditto dark gray
1.3 = 1          -- medium dark gray allowed
1.4 = 1          -- ditto medium light
1.5 = 1          -- light gray: ditto
1.6 = 0          -- very light gray: not floor
1.7 = 0          -- white: not floor
1.16 = 1         -- replace '16' with 1st non-gray color
1.17 = 1         -- replace '17' with 2nd non-gray color (or omit)

... <--- end of FSM


2  <--- this number on the first line tells the reader max # states coming.
// FSM for concrete floor..

1.0 = 0          -- no black
1.1 = 0          -- ditto very dark gray
1.2 = 1          -- dark gray allowed
1.3 = 1          -- medium dark gray allowed
1.4 = 1          -- ditto medium light
1.5 = 1          -- light gray: ditto
1.6 = 0          -- very light gray: not floor
1.7 = 0          -- white: not floor

... <--- end of FSM


6  <--- this number on the first line tells the reader max # states coming.
// Generic FSM for solid-color panel..

1.0 = 2          -- black might be shadow under wall
1.1 = 2          -- ditto very dark gray
1.2 = 0          -- dark gray: not floor
1.3 = 0          -- ditto medium dark
1.4 = 0          -- ditto medium light
1.5 = 0          -- light gray: ditto
1.6 = 0          -- very light gray: ditto
1.7 = 0          -- white: not floor
1.18 = 4 + 11    -- replace '18' with actual panel color

2.0 = 3          -- shadow might be more than one pixel
2.1 = 3
2.2 = 1
2.3 = 1
2.4 = 1
2.5 = 1
2.6 = 1
2.7 = 0
2.18 = 4 + 11    -- replace '18' with actual panel color

3.0 = 0          -- too much black/dk.gray, not valid wall
3.1 = 0
3.2 = 0
3.3 = 1
3.4 = 1
3.5 = 1
3.6 = 1
3.7 = 0
3.18 = 4 + 11    -- replace '18' with actual panel color

4.0 = 0          -- too much black/dk.gray, not valid wall
4.1 = 0
4.2 = 0
4.3 = 0
4.4 = 0
4.5 = 0
4.6 = 0
4.7 = 0
4.18 = 5 + 11    -- confirm actual panel color

5.0 = 0 + 32      -- top of wall (replace '32' with '2'-'7' actual)
5.1 = 0 + 32
5.2 = 0 + 32
5.3 = 0 + 32
5.4 = 0 + 32
5.5 = 0 + 32
5.6 = 0 + 32
5.7 = 0 + 32
5.8 = 0 + 32      -- (remove whichever color is '18')
5.9 = 0 + 32
5.10 = 0 + 32
5.11 = 0 + 32
5.12 = 0 + 32
5.13 = 0 + 32
5.14 = 0 + 32
5.15 = 0 + 32
5.18 = 5         -- wait for end of panel color

... <--- end of FSM


10  <--- this number on the first line tells the reader max # states coming.
// Generic FSM for solid-color wall with dark baseboard..

1.0 = 2          -- black baseboard under wall
1.1 = 2          -- ditto very dark gray
1.2 = 2          -- ditto dark gray
1.3 = 0          -- ditto medium dark
1.4 = 0          -- medium light: not wall
1.5 = 0          -- light gray: ditto
1.6 = 0          -- very light gray: ditto
1.7 = 0          -- white: not wall
1.18 = 0

2.0 = 3          -- minimum 8 pixels baseboard height
2.1 = 3
2.2 = 3
2.3 = 3
2.4 = 1          -- otherwise assume a floor blip
2.5 = 1
2.6 = 1
2.7 = 0
2.18 = 0

3.0 = 4          -- still counting baseboard
3.1 = 4
3.2 = 4
3.3 = 4
3.4 = 0
3.5 = 0
3.6 = 0
3.7 = 0
3.18 = 0

4.0 = 5          -- still counting baseboard
4.1 = 5
4.2 = 5
4.3 = 5
4.4 = 0
4.5 = 0
4.6 = 0
4.7 = 0
4.18 = 0

4.0 = 5          -- still counting baseboard
4.1 = 5
4.2 = 5
4.3 = 5
4.4 = 0
4.5 = 0
4.6 = 0
4.7 = 0
4.18 = 0

5.0 = 6          -- still counting baseboard
5.1 = 6
5.2 = 6
5.3 = 6
5.4 = 0
5.5 = 0
5.6 = 0
5.7 = 0
5.18 = 0

6.0 = 7          -- still counting baseboard
6.1 = 7
6.2 = 7
6.3 = 7
6.4 = 0
6.5 = 0
6.6 = 0
6.7 = 0
6.18 = 0

7.0 = 8          -- baseboard confirmed
7.1 = 8
7.2 = 8
7.3 = 8
7.4 = 0
7.5 = 0
7.6 = 0
7.7 = 0
7.18 = 0

8.0 = 8          -- baseboard is good, but there may be more
8.1 = 8
8.2 = 8
8.3 = 8
8.4 = 0
8.5 = 0
8.6 = 0
8.7 = 0          --      (replace '33' with actual '2'-'7')
8.19 = 9 + 33    -- saw wall color (replace '19' with actual color)

9.19 = 9         -- wait for non-wall (replace '19' with actual)
9.0 = 0          --  (got it)
9.1 = 0
9.2 = 0
9.3 = 0
9.4 = 0
9.5 = 0
9.6 = 0
9.7 = 0

... <--- end of FSM

1115  <--- this number on the first line tells the reader max state # coming.
// Generic FSM for single-color landmark on solid-color wall..
// replace state #s 1111+n with actual top of wall state # (+n)..

1111.0 = 0       -- gotta start in wall color, not black
1111.1 = 0       -- ditto very dark gray
1111.2 = 0       -- dark gray: not floor
1111.3 = 0       -- ditto medium dark
1111.4 = 0       -- ditto medium light
1111.5 = 0       -- light gray: ditto
1111.6 = 0       -- very light gray: ditto
1111.7 = 0       -- white: not wall
1111.21 = 1112   -- replace '21' with actual wall color

1112.0 = 0       -- stay in wall color, error if black
1112.1 = 0       -- ditto very dark gray
1112.2 = 0       -- dark gray: not floor
1112.3 = 0       -- ditto medium dark
1112.4 = 0       -- ditto medium light
1112.5 = 0       -- light gray: ditto
1112.6 = 0       -- very light gray: ditto
1112.7 = 0       -- white: not wall
1112.21 = 1112   -- replace '21' with actual wall color
1112.22 = 1113   -- replace '22' with actual landmark color

1113.0 = 0       -- stay in wall color, error if black
1113.1 = 0       -- ditto very dark gray
1113.2 = 0       -- dark gray: not floor
1113.3 = 0       -- ditto medium dark
1113.4 = 0       -- ditto medium light
1113.5 = 0       -- light gray: ditto
1113.6 = 0       -- very light gray: ditto
1113.7 = 0       --        replace '44' with actual '7'-'3'...
1113.21 = 1114 + 44 -- replace '21' with actual wall color
1113.22 = 1113   -- replace '22' with actual landmark color

1114.0 = 0       -- stay in wall color, error if black
1114.1 = 0       -- ditto very dark gray
1114.2 = 0       -- dark gray: not floor
1114.3 = 0       -- ditto medium dark
1114.4 = 0       -- ditto medium light
1114.5 = 0       -- light gray: ditto
1114.6 = 0       -- very light gray: ditto
1114.7 = 0       --        replace '44' with actual '7'-'3'...
1114.21 = 1114   -- replace '21' with actual wall color
1114.22 = 0      -- replace '22' with actual landmark color

... <--- end of FSM


1114  <--- this number on the first line tells the reader max state # coming.
// Generic FSM for solid single-color landmark (like a wooden door)..
// replace state #s 1111+n with actual top of wall state # (+n)..

1111.0 = 0       -- gotta start in landmark color, not black
1111.1 = 0       -- ditto very dark gray
1111.2 = 0       -- dark gray: not floor
1111.3 = 0       -- ditto medium dark
1111.4 = 0       -- ditto medium light
1111.5 = 0       -- light gray: ditto
1111.6 = 0       -- very light gray: ditto
1111.7 = 0       -- white: not wall
1111.23 = 1112   -- replace '23' with actual landmark color, frex 13 for wood

1112.0 = 0       -- stay in landmark color, error if black
1112.1 = 0       -- ditto very dark gray
1112.2 = 0       -- dark gray: not floor
1112.3 = 0       -- ditto medium dark
1112.4 = 0       -- ditto medium light
1112.5 = 0       -- light gray: ditto
1112.6 = 0       -- very light gray: ditto
1112.7 = 0       -- white: not wall
1112.23 = 1113   -- replace '23' with actual landmark color

1113.0 = 0 + 45  -- confirmed landmark, accept if any other color
1113.1 = 0 + 45  --        replace '45' with actual '7'-'3'...
1113.2 = 0 + 45  -- dark gray: accept
1113.3 = 0 + 45  -- ditto medium dark
1113.4 = 0 + 45  -- ditto medium light
1113.5 = 0 + 45  -- light gray: ditto
1113.6 = 0 + 45  -- very light gray: ditto
1113.7 = 0 + 45  --        replace '45' with actual '7'-'3'...
1113.8 = 0 + 45  -- (omit actual landmark color)
1113.9 = 0 + 45
1113.10 = 0 + 45
1113.11 = 0 + 45
1113.12 = 0 + 45
1113.13 = 0 + 45
1113.14 = 0 + 45
1113.15 = 0 + 45
1113.23 = 1113   -- replace '23' with actual landmark color

... <--- end of FSM