From 960a716bceeeb0fbf58dec1859725a070d486f74 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 30 Apr 2008 13:20:03 +0200 Subject: * host/inter, digital/io/src: - added computed path drawing. --- digital/io/src/path.c | 13 +++++++++++++ 1 file changed, 13 insertions(+) (limited to 'digital/io/src/path.c') 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. */ -- cgit v1.2.3