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authorNicolas Haller2009-05-22 08:09:08 +0200
committerNicolas Haller2009-05-22 08:09:08 +0200
commit758fa17894937e750b61641f1bae821dd6a8262a (patch)
tree154f3de85e18481746bce807711b6c81cabad7b1
parent26eefb1fce0bb06b14802c90a5ece2378d561914 (diff)
* digital/io/src:
- add *_nb_puck in trace system
-rw-r--r--digital/io/src/cylinder_cb.c12
-rw-r--r--digital/io/src/elevator_cb.c7
-rw-r--r--digital/io/src/filterbridge_cb.c4
-rw-r--r--digital/io/src/trace.trc1
4 files changed, 24 insertions, 0 deletions
diff --git a/digital/io/src/cylinder_cb.c b/digital/io/src/cylinder_cb.c
index 3506b83c..9e7ecdda 100644
--- a/digital/io/src/cylinder_cb.c
+++ b/digital/io/src/cylinder_cb.c
@@ -30,6 +30,8 @@
#include "filterbridge.h"
#include "elevator.h"
#include "top.h"
+#include "modules/trace/trace.h"
+#include "trace_event.h"
/* locales variables */
/* is there a puck on pos 2 or 3 */
@@ -169,6 +171,8 @@ cylinder__TURN_PLUS_1_AND_OFO__move_done (void)
++top_puck_inside_bot;
++cylinder_nb_puck;
}
+ TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot,
+ cylinder_nb_puck, fb_nb_puck, elvt_nb_puck);
if(top_puck_inside_bot < 4)
{
of_offset_enabled = 0;
@@ -313,6 +317,8 @@ cylinder__TURN_PLUS_3_FLUSH__move_done (void)
++fb_nb_puck;
puck_on_cylinder = 0;
}
+ TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot,
+ cylinder_nb_puck, fb_nb_puck, elvt_nb_puck);
return cylinder_next (TURN_PLUS_3_FLUSH, move_done);
}
@@ -330,6 +336,8 @@ cylinder__TURN_PLUS_1_CLOSE__move_done (void)
++fb_nb_puck;
puck_on_cylinder = 0;
}
+ TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot,
+ cylinder_nb_puck, fb_nb_puck, elvt_nb_puck);
return cylinder_next (TURN_PLUS_1_CLOSE, move_done);
}
@@ -361,6 +369,8 @@ cylinder__TURN_PLUS_1_AND_OFO_DISTRIB__move_done (void)
++fb_nb_puck;
puck_on_cylinder = 0;
}
+ TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot,
+ cylinder_nb_puck, fb_nb_puck, elvt_nb_puck);
return cylinder_next (TURN_PLUS_1_AND_OFO_DISTRIB, move_done);
}
@@ -410,6 +420,8 @@ cylinder__PROBE_OF__of_puck (void)
return cylinder_next_branch (PROBE_OF, of_puck, bot_not_full);
}
cylinder_distributor_fucked = 0;
+ TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot,
+ cylinder_nb_puck, fb_nb_puck, elvt_nb_puck);
return cylinder_next_branch (PROBE_OF, of_puck, bot_full);
}
diff --git a/digital/io/src/elevator_cb.c b/digital/io/src/elevator_cb.c
index c0cf26c3..deea0d0c 100644
--- a/digital/io/src/elevator_cb.c
+++ b/digital/io/src/elevator_cb.c
@@ -31,6 +31,9 @@
#include "chrono.h"
#include "filterbridge.h"
#include "top.h"
+#include "modules/trace/trace.h"
+#include "trace_event.h"
+#include "cylinder.h"
/* Positions when waiting a puck*/
uint16_t posx[4] =
@@ -181,6 +184,8 @@ elevator__WAIT_BRIDGE_EMPTY__state_timeout (void)
fb_nb_puck = 0;
asserv_move_elevator_absolute(posy[elvt_order - 1] - MAJ_POSY,
ASSERV_ELVT_SPEED_DEFAULT);
+ TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot,
+ cylinder_nb_puck, fb_nb_puck, elvt_nb_puck);
return elevator_next (WAIT_BRIDGE_EMPTY, state_timeout);
}
@@ -269,6 +274,8 @@ elevator__OPEN_DOORS__doors_opened (void)
elvt_nb_puck = 0;
pwm_set(0,0);
elvt_order = 0;
+ TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot,
+ cylinder_nb_puck, fb_nb_puck, elvt_nb_puck);
return elevator_next (OPEN_DOORS, doors_opened);
}
diff --git a/digital/io/src/filterbridge_cb.c b/digital/io/src/filterbridge_cb.c
index a94260a1..0c29e495 100644
--- a/digital/io/src/filterbridge_cb.c
+++ b/digital/io/src/filterbridge_cb.c
@@ -31,6 +31,8 @@
#include "filterbridge.h"
#include "top.h"
#include "cylinder.h"
+#include "modules/trace/trace.h"
+#include "trace_event.h"
/*
* IDLE =start=>
@@ -135,6 +137,8 @@ filterbridge__TEMPO_ELVETATOR_COMMUNICATION__state_timeout (void)
elvt_new_puck = 1;
servo_pos_move_to(SERVO_FINGER_ID, SERVO_FINGER_IDLE);
servo_pos_move_to(SERVO_DOOR_ID, SERVO_DOOR_CLOSE);
+ TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot,
+ cylinder_nb_puck, fb_nb_puck, elvt_nb_puck);
return filterbridge_next (TEMPO_ELVETATOR_COMMUNICATION, state_timeout);
}
diff --git a/digital/io/src/trace.trc b/digital/io/src/trace.trc
index 226c388b..e210be40 100644
--- a/digital/io/src/trace.trc
+++ b/digital/io/src/trace.trc
@@ -7,3 +7,4 @@ EVENT fsm__handle_timeout fsm 1 "FSM[%c]: handle timeout."
EVENT move__go_to xs 2 ys 2 as 2 xd 2 yd 2 ad 2 "Move: (%d, %d, %x) -> (%d, %d, %x)."
EVENT move__obstacle x 2 y 2 "Move: obstacle a (%d, %d)."
EVENT move__sharp s 2 s 2 s 2 s 2 s 2 "Sharps values: %x %x %x %x %x."
+EVENT fsm__nbpucks s 2 s 2 s 2 s 2 s 2 "nb_pucks: top_all:%d top_inside:%d cylinder:%d filterbridge:%d elevator %d"