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-rw-r--r--digital/io/src/path.c13
1 files changed, 13 insertions, 0 deletions
diff --git a/digital/io/src/path.c b/digital/io/src/path.c
index 959f299e..50724f59 100644
--- a/digital/io/src/path.c
+++ b/digital/io/src/path.c
@@ -26,9 +26,11 @@
#include "path.h"
#include "playground.h"
+#include "simu.host.h"
#include "modules/math/fixed/fixed.h"
#include "modules/utils/utils.h"
+#include "modules/host/mex.h"
/** Number of possible obstacles. */
#define PATH_OBSTACLES_NB 2
@@ -288,6 +290,17 @@ path_update (void)
path_compute_points ();
path_compute_arcs ();
path_dijkstra ();
+#if defined (HOST)
+ uint8_t len, i;
+ uint16_t points[PATH_POINTS_NB * 2];
+ len = 0;
+ for (i = 1; i != 0xff; i = path.points[i].next)
+ {
+ points[len++] = path.points[i].x;
+ points[len++] = path.points[i].y;
+ }
+ simu_send_path (len, points);
+#endif
}
/** Retrieve first path point coordinates. Return 0 on failure. */