From 32c6521edce6c57917f8e9710580afcd97fa39f6 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 19 May 2012 07:49:34 +0200 Subject: digital/io-hub/src/guybrush: add obstacle debug log --- digital/io-hub/src/guybrush/move.c | 5 +++++ digital/io-hub/tools/decode_fsm.py | 4 ++++ 2 files changed, 9 insertions(+) (limited to 'digital') diff --git a/digital/io-hub/src/guybrush/move.c b/digital/io-hub/src/guybrush/move.c index f07d8710..056ffeb2 100644 --- a/digital/io-hub/src/guybrush/move.c +++ b/digital/io-hub/src/guybrush/move.c @@ -36,6 +36,7 @@ #include "path.h" #include "modules/utils/utils.h" +#include "modules/proto/proto.h" #include @@ -117,8 +118,12 @@ move_obstacles_update (void) { uint8_t i; for (i = 0; i < main_obstacles_nb; i++) + { path_obstacle (i, main_obstacles_pos[i], MOVE_OBSTACLE_RADIUS, 0, MOVE_OBSTACLE_VALIDITY); + proto_send2w ('o', main_obstacles_pos[i].x, + main_obstacles_pos[i].y); + } } uint8_t diff --git a/digital/io-hub/tools/decode_fsm.py b/digital/io-hub/tools/decode_fsm.py index 201abfbd..41e9fe37 100644 --- a/digital/io-hub/tools/decode_fsm.py +++ b/digital/io-hub/tools/decode_fsm.py @@ -23,6 +23,7 @@ def parse_header(fsm_name, fname): def parse_proto(states, events): """Parse proto output from stdin and output FSM transitions.""" fsm_re = re.compile(r'!F([0-9a-f]{2})([0-9a-f]{2})([0-9a-f]{2})') + obstacle_re = re.compile(r'!o([0-9a-f]{4})([0-9a-f]{4})') for l in sys.stdin: for m in fsm_re.finditer(l): old, event, new = [ int(i, 16) for i in m.groups() ] @@ -34,6 +35,9 @@ def parse_proto(states, events): print "unknown transition" else: print "%s -> %s -> %s" % (old, event, new) + for m in obstacle_re.finditer(l): + x, y = [ int(i, 16) for i in m.groups() ] + print "obstacle %s %s" % (x, y) op = optparse.OptionParser(description=__doc__) op.add_option('--file', '-f', metavar='HEADER', -- cgit v1.2.3