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authorJérémy Dufour2009-05-22 04:53:50 +0200
committerJérémy Dufour2009-05-22 04:53:50 +0200
commitc7fd6ddee848841984e3022ad16d0657c2e7275a (patch)
tree0025721fbc44ffda28d121b485eccb4df7132292
parent1077ff92aeb2d76aa667d9d0ddb72bbacfdc169c (diff)
* digital/io/src, digital/avr/modules/trace:
- add trace for the position of the bot, - remove path update trace, - add support for trace with 7 parameters.
-rw-r--r--digital/avr/modules/trace/trace.h9
-rw-r--r--digital/io/src/move_cb.c3
-rw-r--r--digital/io/src/trace.trc2
3 files changed, 12 insertions, 2 deletions
diff --git a/digital/avr/modules/trace/trace.h b/digital/avr/modules/trace/trace.h
index 72c7c9ef..ce83bdaa 100644
--- a/digital/avr/modules/trace/trace.h
+++ b/digital/avr/modules/trace/trace.h
@@ -76,6 +76,15 @@
TRACE_PRINT_ARG_TYPE(arg4);\
TRACE_PRINT_ARG_TYPE(arg5);})
+#define TRACE_PRINT7(arg0, arg1, arg2, arg3, arg4, arg5, arg6)\
+ ({ TRACE_PRINT_ARG_TYPE(arg0);\
+ TRACE_PRINT_ARG_TYPE(arg1);\
+ TRACE_PRINT_ARG_TYPE(arg2);\
+ TRACE_PRINT_ARG_TYPE(arg3);\
+ TRACE_PRINT_ARG_TYPE(arg4);\
+ TRACE_PRINT_ARG_TYPE(arg5);\
+ TRACE_PRINT_ARG_TYPE(arg6);})
+
#define TRACE_PRINT_ARG_TYPE(arg)\
do\
{\
diff --git a/digital/io/src/move_cb.c b/digital/io/src/move_cb.c
index 51883dad..15af0235 100644
--- a/digital/io/src/move_cb.c
+++ b/digital/io/src/move_cb.c
@@ -127,7 +127,6 @@ move_get_next_position (move_position_t *dst)
/* Give the current position of the bot to the path module */
path_endpoints (current_pos.x, current_pos.y,
move_data.final.x, move_data.final.y);
- TRACE (TRACE_MOVE__PATH_UPDATE);
/* Update the path module */
path_update ();
@@ -151,6 +150,8 @@ move_get_next_position (move_position_t *dst)
asserv_goto_xya (dst->x, dst->y, move_data.final.a,
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);
/* Reset try counter. */
move_data.try_again_counter = 3;
return 1;
diff --git a/digital/io/src/trace.trc b/digital/io/src/trace.trc
index aa556602..ac788d92 100644
--- a/digital/io/src/trace.trc
+++ b/digital/io/src/trace.trc
@@ -4,4 +4,4 @@ EVENT asserv__last_status_ack seq 1 status 1 "Asserv[0x%02x]: status: %x."
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__path_update "Path: update."
+EVENT move__go_to xs 2 ys 2 as 2 xd 2 yd 2 ad 2 "Move: (%d, %d, %x) -> (%d, %d, %x)."