From 04c1d913e30605715d37fadf83e500ef769296f6 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Fri, 22 May 2009 05:59:34 +0200 Subject: * digital/io/src: - fix trace for position, - add computed obstacle position. --- digital/io/src/move_cb.c | 6 +++++- digital/io/src/trace.trc | 2 ++ 2 files changed, 7 insertions(+), 1 deletion(-) (limited to 'digital/io/src') diff --git a/digital/io/src/move_cb.c b/digital/io/src/move_cb.c index 15af0235..f34e441b 100644 --- a/digital/io/src/move_cb.c +++ b/digital/io/src/move_cb.c @@ -151,7 +151,7 @@ move_get_next_position (move_position_t *dst) move_data.backward_movement_allowed); } TRACE (TRACE_MOVE__GO_TO, (u16) current_pos.x, (u16) current_pos.y, - current_pos.a, dst->y, dst->y, move_data.final.a); + current_pos.a, dst->x, dst->y, move_data.final.a); /* Reset try counter. */ move_data.try_again_counter = 3; return 1; @@ -214,6 +214,10 @@ move_obstacle_here (void) MOVE_OBSTACLE_RADIUS, MOVE_OBSTACLE_VALIDITY); DPRINTF ("Obstacle pos x : %d, pos y : %d\n", move_data.obstacle.x, move_data.obstacle.y); + TRACE (TRACE_MOVE__OBSTACLE, move_data.obstacle.x, + move_data.obstacle.y); + TRACE (TRACE_MOVE__SHARP, sharp_get_raw (0), sharp_get_raw (1), + sharp_get_raw (2), sharp_get_raw (3), sharp_get_raw (4)); } else { diff --git a/digital/io/src/trace.trc b/digital/io/src/trace.trc index ac788d92..226c388b 100644 --- a/digital/io/src/trace.trc +++ b/digital/io/src/trace.trc @@ -5,3 +5,5 @@ EVENT main_timer__late "MainTimer: we are late." EVENT fsm__handle_event fsm 1 event 1 "FSM[%c]: handle event %i." 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." -- cgit v1.2.3