From 758fa17894937e750b61641f1bae821dd6a8262a Mon Sep 17 00:00:00 2001 From: Nicolas Haller Date: Fri, 22 May 2009 08:09:08 +0200 Subject: * digital/io/src: - add *_nb_puck in trace system --- digital/io/src/cylinder_cb.c | 12 ++++++++++++ digital/io/src/elevator_cb.c | 7 +++++++ digital/io/src/filterbridge_cb.c | 4 ++++ digital/io/src/trace.trc | 1 + 4 files changed, 24 insertions(+) (limited to 'digital') diff --git a/digital/io/src/cylinder_cb.c b/digital/io/src/cylinder_cb.c index 3506b83c..9e7ecdda 100644 --- a/digital/io/src/cylinder_cb.c +++ b/digital/io/src/cylinder_cb.c @@ -30,6 +30,8 @@ #include "filterbridge.h" #include "elevator.h" #include "top.h" +#include "modules/trace/trace.h" +#include "trace_event.h" /* locales variables */ /* is there a puck on pos 2 or 3 */ @@ -169,6 +171,8 @@ cylinder__TURN_PLUS_1_AND_OFO__move_done (void) ++top_puck_inside_bot; ++cylinder_nb_puck; } + TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot, + cylinder_nb_puck, fb_nb_puck, elvt_nb_puck); if(top_puck_inside_bot < 4) { of_offset_enabled = 0; @@ -313,6 +317,8 @@ cylinder__TURN_PLUS_3_FLUSH__move_done (void) ++fb_nb_puck; puck_on_cylinder = 0; } + TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot, + cylinder_nb_puck, fb_nb_puck, elvt_nb_puck); return cylinder_next (TURN_PLUS_3_FLUSH, move_done); } @@ -330,6 +336,8 @@ cylinder__TURN_PLUS_1_CLOSE__move_done (void) ++fb_nb_puck; puck_on_cylinder = 0; } + TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot, + cylinder_nb_puck, fb_nb_puck, elvt_nb_puck); return cylinder_next (TURN_PLUS_1_CLOSE, move_done); } @@ -361,6 +369,8 @@ cylinder__TURN_PLUS_1_AND_OFO_DISTRIB__move_done (void) ++fb_nb_puck; puck_on_cylinder = 0; } + TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot, + cylinder_nb_puck, fb_nb_puck, elvt_nb_puck); return cylinder_next (TURN_PLUS_1_AND_OFO_DISTRIB, move_done); } @@ -410,6 +420,8 @@ cylinder__PROBE_OF__of_puck (void) return cylinder_next_branch (PROBE_OF, of_puck, bot_not_full); } cylinder_distributor_fucked = 0; + TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot, + cylinder_nb_puck, fb_nb_puck, elvt_nb_puck); return cylinder_next_branch (PROBE_OF, of_puck, bot_full); } diff --git a/digital/io/src/elevator_cb.c b/digital/io/src/elevator_cb.c index c0cf26c3..deea0d0c 100644 --- a/digital/io/src/elevator_cb.c +++ b/digital/io/src/elevator_cb.c @@ -31,6 +31,9 @@ #include "chrono.h" #include "filterbridge.h" #include "top.h" +#include "modules/trace/trace.h" +#include "trace_event.h" +#include "cylinder.h" /* Positions when waiting a puck*/ uint16_t posx[4] = @@ -181,6 +184,8 @@ elevator__WAIT_BRIDGE_EMPTY__state_timeout (void) fb_nb_puck = 0; asserv_move_elevator_absolute(posy[elvt_order - 1] - MAJ_POSY, ASSERV_ELVT_SPEED_DEFAULT); + TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot, + cylinder_nb_puck, fb_nb_puck, elvt_nb_puck); return elevator_next (WAIT_BRIDGE_EMPTY, state_timeout); } @@ -269,6 +274,8 @@ elevator__OPEN_DOORS__doors_opened (void) elvt_nb_puck = 0; pwm_set(0,0); elvt_order = 0; + TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot, + cylinder_nb_puck, fb_nb_puck, elvt_nb_puck); return elevator_next (OPEN_DOORS, doors_opened); } diff --git a/digital/io/src/filterbridge_cb.c b/digital/io/src/filterbridge_cb.c index a94260a1..0c29e495 100644 --- a/digital/io/src/filterbridge_cb.c +++ b/digital/io/src/filterbridge_cb.c @@ -31,6 +31,8 @@ #include "filterbridge.h" #include "top.h" #include "cylinder.h" +#include "modules/trace/trace.h" +#include "trace_event.h" /* * IDLE =start=> @@ -135,6 +137,8 @@ filterbridge__TEMPO_ELVETATOR_COMMUNICATION__state_timeout (void) elvt_new_puck = 1; servo_pos_move_to(SERVO_FINGER_ID, SERVO_FINGER_IDLE); servo_pos_move_to(SERVO_DOOR_ID, SERVO_DOOR_CLOSE); + TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot, + cylinder_nb_puck, fb_nb_puck, elvt_nb_puck); return filterbridge_next (TEMPO_ELVETATOR_COMMUNICATION, state_timeout); } diff --git a/digital/io/src/trace.trc b/digital/io/src/trace.trc index 226c388b..e210be40 100644 --- a/digital/io/src/trace.trc +++ b/digital/io/src/trace.trc @@ -7,3 +7,4 @@ EVENT fsm__handle_timeout fsm 1 "FSM[%c]: handle timeout." EVENT move__go_to xs 2 ys 2 as 2 xd 2 yd 2 ad 2 "Move: (%d, %d, %x) -> (%d, %d, %x)." EVENT move__obstacle x 2 y 2 "Move: obstacle a (%d, %d)." EVENT move__sharp s 2 s 2 s 2 s 2 s 2 "Sharps values: %x %x %x %x %x." +EVENT fsm__nbpucks s 2 s 2 s 2 s 2 s 2 "nb_pucks: top_all:%d top_inside:%d cylinder:%d filterbridge:%d elevator %d" -- cgit v1.2.3