From 72f865523b14953d13a207599068ba68e9df0b70 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 17 Jun 2008 22:57:24 +0200 Subject: * digital/avr/modules/path, digital/io/src: - moved path finding to a separated module. --- digital/avr/modules/path/test/Makefile | 12 +++++++ digital/avr/modules/path/test/avrconfig.h | 39 +++++++++++++++++++++++ digital/avr/modules/path/test/test_path.c | 52 +++++++++++++++++++++++++++++++ 3 files changed, 103 insertions(+) create mode 100644 digital/avr/modules/path/test/Makefile create mode 100644 digital/avr/modules/path/test/avrconfig.h create mode 100644 digital/avr/modules/path/test/test_path.c (limited to 'digital/avr/modules/path/test') diff --git a/digital/avr/modules/path/test/Makefile b/digital/avr/modules/path/test/Makefile new file mode 100644 index 00000000..698ee538 --- /dev/null +++ b/digital/avr/modules/path/test/Makefile @@ -0,0 +1,12 @@ +BASE = ../../.. +HOST_PROGS = test_path +test_path_SOURCES = test_path.c +MODULES = path math/fixed utils +CONFIGFILE = avrconfig.h +# atmega8, atmega8535, atmega128... +AVR_MCU = atmega128 +# -O2 : speed +# -Os : size +OPTIMIZE = -O2 + +include $(BASE)/make/Makefile.gen diff --git a/digital/avr/modules/path/test/avrconfig.h b/digital/avr/modules/path/test/avrconfig.h new file mode 100644 index 00000000..476fee86 --- /dev/null +++ b/digital/avr/modules/path/test/avrconfig.h @@ -0,0 +1,39 @@ +#ifndef avrconfig_h +#define avrconfig_h +/* avrconfig.h - Path module configuration template. */ +/* avr.path - Path finding module. {{{ + * + * Copyright (C) 2008 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ + +/* path - Path finding module. */ +/** Report path found for debug. */ +#define AC_PATH_REPORT defined (HOST) +/** Report function name. */ +#define AC_PATH_REPORT_CALLBACK path_report +/** Number of possible obstacles. */ +#define AC_PATH_OBSTACLES_NB 2 +/** Number of points per obstacle. */ +#define AC_PATH_OBSTACLES_POINTS_NB 8 + + +#endif /* avrconfig_h */ diff --git a/digital/avr/modules/path/test/test_path.c b/digital/avr/modules/path/test/test_path.c new file mode 100644 index 00000000..8b88e5d7 --- /dev/null +++ b/digital/avr/modules/path/test/test_path.c @@ -0,0 +1,52 @@ +/* test_path.c */ +/* avr.path - Path finding module. {{{ + * + * Copyright (C) 2008 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ +#include "common.h" +#include "modules/path/path.h" + +#include + +int +main (void) +{ + path_init (0, 0, 3000, 2100); + path_endpoints (300, 1000, 1200, 1000); + path_obstacle (0, 600, 930, 100, 1); + path_obstacle (1, 900, 1070, 100, 1); + path_update (); + path_print_graph (); + uint16_t x, y; + if (path_get_next (&x, &y)) + printf ("// Next point: %d, %d\n", x, y); + else + printf ("// Failure\n"); + return 0; +} + +void +path_report (uint16_t *points, uint8_t len, + struct path_obstacle_t *obstacles, uint8_t obstacles_nb) +{ +} + -- cgit v1.2.3