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authorNicolas Schodet2012-05-12 02:02:03 +0200
committerNicolas Schodet2012-05-12 11:15:57 +0200
commit382b99e11c033f1952cbe2b9e082cd35812a13e3 (patch)
tree008571474836ee5913085089a0835911239c13cb /digital/io-hub/src/guybrush
parentfb73dbae0dc7d6b9f117c74bb8de2a073ab4253b (diff)
digital/ui-hub: add debug draw module to debug path finding
Diffstat (limited to 'digital/io-hub/src/guybrush')
-rw-r--r--digital/io-hub/src/guybrush/Makefile2
-rw-r--r--digital/io-hub/src/guybrush/path.c23
-rw-r--r--digital/io-hub/src/guybrush/simu.host.c3
3 files changed, 27 insertions, 1 deletions
diff --git a/digital/io-hub/src/guybrush/Makefile b/digital/io-hub/src/guybrush/Makefile
index ecb7ff28..a26a05a4 100644
--- a/digital/io-hub/src/guybrush/Makefile
+++ b/digital/io-hub/src/guybrush/Makefile
@@ -10,7 +10,7 @@ io_hub_SOURCES = main.c top.c strat.c \
contact.avr.c contact.host.c \
output.c output.host.c \
twi_master.c asserv.c mimot.c beacon.c \
- chrono.c timer.avr.c simu.host.c \
+ chrono.c timer.avr.c simu.host.c debug_draw.host.c \
bottom_clamp.c
# Modules needed for IO.
MODULES = proto uart twi utils \
diff --git a/digital/io-hub/src/guybrush/path.c b/digital/io-hub/src/guybrush/path.c
index 5696a2f8..47427a93 100644
--- a/digital/io-hub/src/guybrush/path.c
+++ b/digital/io-hub/src/guybrush/path.c
@@ -39,6 +39,12 @@
#include "debug.host.h"
#endif
+#define PATH_DEBUG_DRAW 0
+
+#if PATH_DEBUG_DRAW
+#include "debug_draw.host.h"
+#endif
+
/**
* This year, due to the large number of obstacles, a grid like structure is
* used for path finding on the playground. The A* algorithm is used to find
@@ -425,6 +431,23 @@ path_update (void)
PATH_OBSTACLES_NB);
}
#endif
+#if PATH_DEBUG_DRAW
+ uint8_t i;
+ debug_draw_start ();
+ for (i = 0; i < UTILS_COUNT (path_blocking_point); i++)
+ debug_draw_circle (&path_blocking_point[i].pos,
+ path_blocking_point[i].radius, 0);
+ for (i = 0; i < UTILS_COUNT (path_blocking_segment); i++)
+ debug_draw_segment (&path_blocking_segment[i][0],
+ &path_blocking_segment[i][1], 0);
+ for (i = 0; i < PATH_NODES_NB; i++)
+ {
+ vect_t pos;
+ path_pos (i, &pos);
+ debug_draw_point (&pos, 1);
+ }
+ debug_draw_send ();
+#endif
}
uint8_t
diff --git a/digital/io-hub/src/guybrush/simu.host.c b/digital/io-hub/src/guybrush/simu.host.c
index d9830575..e4cd61f0 100644
--- a/digital/io-hub/src/guybrush/simu.host.c
+++ b/digital/io-hub/src/guybrush/simu.host.c
@@ -33,6 +33,8 @@
#include "modules/path/path.h"
#include "io.h"
+#include "debug_draw.host.h"
+
/** AVR registers. */
uint8_t PORTA, PORTB, PORTC, PORTD, PORTF;
uint8_t DDRA, DDRB, DDRC, DDRD, DDRF;
@@ -63,6 +65,7 @@ simu_init (void)
simu_mex_pos_report = mex_node_reservef ("%s:pos-report", mex_instance);
simu_mex_path = mex_node_reservef ("%s:path", mex_instance);
output_host_init ();
+ debug_draw_init ();
}
/** Make a simulation step. */