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-rw-r--r--digital/io-hub/src/common-cc/obstacles.cc9
1 files changed, 6 insertions, 3 deletions
diff --git a/digital/io-hub/src/common-cc/obstacles.cc b/digital/io-hub/src/common-cc/obstacles.cc
index 3a778141..26945137 100644
--- a/digital/io-hub/src/common-cc/obstacles.cc
+++ b/digital/io-hub/src/common-cc/obstacles.cc
@@ -24,6 +24,8 @@
#include "obstacles.hh"
#include "bot.hh"
+#include "robot.hh"
+
extern "C" {
#include "modules/math/geometry/distance.h"
}
@@ -51,10 +53,8 @@ Obstacles::update ()
changed_ = true;
}
}
-#ifdef TARGET_host
if (changed_)
{
- SimuReport &r = robot->hardware.simu_report;
vect_t o[obstacles_nb_];
int o_nb = 0;
for (int i = 0; i < obstacles_nb_; i++)
@@ -62,9 +62,12 @@ Obstacles::update ()
if (obstacles_[i].valid)
o[o_nb++] = obstacles_[i].pos;
}
+#ifdef TARGET_host
+ SimuReport &r = robot->hardware.simu_report;
r.pos (o, o_nb, 0);
- }
#endif
+ robot->lcd.obstacles (o, o_nb);
+ }
changed_ = false;
}