CRAC Team / CRAC-Strat_2017_homologation_petit_rob

code petit robot pour homologation

Fork of CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT by CRAC Team

Debug/debug.cpp@0:ad97421fb1fb, 2016-04-13 (annotated)

Committer:
antbig
Date:
Wed Apr 13 22:04:54 2016 +0000
Revision:
0:ad97421fb1fb
Child:
1:116040d14164
Ajout interruption fin de match

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 0:ad97421fb1fb 1 #include "debug.h"
antbig 0:ad97421fb1fb 2
antbig 0:ad97421fb1fb 3 void debug_Instruction(struct S_Instruction instruction)
antbig 0:ad97421fb1fb 4 {
antbig 0:ad97421fb1fb 5 printf("\n********* Debug instruction *********\n");
antbig 0:ad97421fb1fb 6
antbig 0:ad97421fb1fb 7 printf("* Line => %d\n", instruction.lineNumber);
antbig 0:ad97421fb1fb 8 printf("* Type => %s\n", InstructionTypeToString(instruction.order));
antbig 0:ad97421fb1fb 9 printf("* Direction => %s\n", InstructionDirectionToString(instruction.direction));
antbig 0:ad97421fb1fb 10
antbig 0:ad97421fb1fb 11 printf("* Arg1 => %d\n", instruction.arg1);
antbig 0:ad97421fb1fb 12 printf("* Arg2 => %d\n", instruction.arg2);
antbig 0:ad97421fb1fb 13 printf("* Arg3 => %d\n", instruction.arg3);
antbig 0:ad97421fb1fb 14
antbig 0:ad97421fb1fb 15 printf("* Recalage => %s\n", InstructionPrecisionOuRecalageToString(instruction.precision));
antbig 0:ad97421fb1fb 16 printf("* NextAction=> %s\n", InstructionNextActionTypeToString(instruction.nextActionType));
antbig 0:ad97421fb1fb 17 printf("* JumpAction=> %s\n", InstructionNextActionJumpTypeToString(instruction.jumpAction));
antbig 0:ad97421fb1fb 18
antbig 0:ad97421fb1fb 19 printf("* JumpTimeOrX => %d\n", instruction.JumpTimeOrX);
antbig 0:ad97421fb1fb 20 printf("* JumpY => %d\n", instruction.JumpY);
antbig 0:ad97421fb1fb 21 printf("* nextLineOK => %d\n", instruction.nextLineOK);
antbig 0:ad97421fb1fb 22 printf("* nextLineError => %d\n", instruction.nextLineError);
antbig 0:ad97421fb1fb 23
antbig 0:ad97421fb1fb 24 printf("*************************************\n");
antbig 0:ad97421fb1fb 25 }
antbig 0:ad97421fb1fb 26
antbig 0:ad97421fb1fb 27 char* InstructionTypeToString(enum E_InstructionType type)
antbig 0:ad97421fb1fb 28 {
antbig 0:ad97421fb1fb 29 switch(type)
antbig 0:ad97421fb1fb 30 {
antbig 0:ad97421fb1fb 31 case MV_COURBURE: return "Courbure";
antbig 0:ad97421fb1fb 32 case MV_LINE: return "Ligne";
antbig 0:ad97421fb1fb 33 case MV_TURN: return "Rotation";
antbig 0:ad97421fb1fb 34 case MV_XYT: return "Position XYT";
antbig 0:ad97421fb1fb 35 case MV_RECALAGE: return "Recalage";
antbig 0:ad97421fb1fb 36 case ACTION: return "Action";
antbig 0:ad97421fb1fb 37 default: return "Inconnue";
antbig 0:ad97421fb1fb 38 }
antbig 0:ad97421fb1fb 39 }
antbig 0:ad97421fb1fb 40 char* InstructionDirectionToString(enum E_InstructionDirection type)
antbig 0:ad97421fb1fb 41 {
antbig 0:ad97421fb1fb 42 switch(type)
antbig 0:ad97421fb1fb 43 {
antbig 0:ad97421fb1fb 44 case BACKWARD: return "en arriere";
antbig 0:ad97421fb1fb 45 case FORWARD: return "en avant";
antbig 0:ad97421fb1fb 46 case RELATIVE: return "relatif";
antbig 0:ad97421fb1fb 47 case ABSOLUTE: return "absolu";
antbig 0:ad97421fb1fb 48 default: return "absent";
antbig 0:ad97421fb1fb 49 }
antbig 0:ad97421fb1fb 50 }
antbig 0:ad97421fb1fb 51 char* InstructionPrecisionOuRecalageToString(enum E_InstructionPrecisionOuRecalage type)
antbig 0:ad97421fb1fb 52 {
antbig 0:ad97421fb1fb 53 switch(type)
antbig 0:ad97421fb1fb 54 {
antbig 0:ad97421fb1fb 55 case PRECISION: return "correction position en fin de mouvement";
antbig 0:ad97421fb1fb 56 case RECALAGE_X: return "recalage en X";
antbig 0:ad97421fb1fb 57 case RECALAGE_Y: return "recalage en Y";
antbig 0:ad97421fb1fb 58 default: return "absent";
antbig 0:ad97421fb1fb 59 }
antbig 0:ad97421fb1fb 60 }
antbig 0:ad97421fb1fb 61 char* InstructionNextActionTypeToString(enum E_InstructionNextActionType type)
antbig 0:ad97421fb1fb 62 {
antbig 0:ad97421fb1fb 63 switch(type)
antbig 0:ad97421fb1fb 64 {
antbig 0:ad97421fb1fb 65 case JUMP: return "jump";
antbig 0:ad97421fb1fb 66 case WAIT: return "attente fin instruction";
antbig 0:ad97421fb1fb 67 case ENCHAINEMENT: return "enchainement";
antbig 0:ad97421fb1fb 68 default: return "absent";
antbig 0:ad97421fb1fb 69 }
antbig 0:ad97421fb1fb 70 }
antbig 0:ad97421fb1fb 71 char* InstructionNextActionJumpTypeToString(enum E_InstructionNextActionJumpType type)
antbig 0:ad97421fb1fb 72 {
antbig 0:ad97421fb1fb 73 switch(type)
antbig 0:ad97421fb1fb 74 {
antbig 0:ad97421fb1fb 75 case JUMP_TIME: return "attente temps";
antbig 0:ad97421fb1fb 76 case JUMP_POSITION: return "attente position";
antbig 0:ad97421fb1fb 77 default: return "absent";
antbig 0:ad97421fb1fb 78 }
antbig 0:ad97421fb1fb 79 }
antbig 0:ad97421fb1fb 80
antbig 0:ad97421fb1fb 81 void errorLoop(void) {
antbig 0:ad97421fb1fb 82 while(true) {
antbig 0:ad97421fb1fb 83 led1 = 1;
antbig 0:ad97421fb1fb 84 wait(0.2);
antbig 0:ad97421fb1fb 85 led1 = 0;
antbig 0:ad97421fb1fb 86 wait(0.2);
antbig 0:ad97421fb1fb 87 }
antbig 0:ad97421fb1fb 88 }
antbig 0:ad97421fb1fb 89
antbig 0:ad97421fb1fb 90 /****************************************************************************************/
antbig 0:ad97421fb1fb 91 /* FUNCTION NAME: sendStratEtat */
antbig 0:ad97421fb1fb 92 /* DESCRIPTION : permet le debug de l'etat de l'automate de stratégie */
antbig 0:ad97421fb1fb 93 /****************************************************************************************/
antbig 0:ad97421fb1fb 94 void sendStratEtat(unsigned char etat) {
antbig 0:ad97421fb1fb 95
antbig 0:ad97421fb1fb 96 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 97 msgTx.id=DEBUG_STRATEGIE_AUTOMATE; // tx nouvelle position en (x,y,theta)
antbig 0:ad97421fb1fb 98 msgTx.len=1;
antbig 0:ad97421fb1fb 99 msgTx.format=CANStandard;
antbig 0:ad97421fb1fb 100 msgTx.type=CANData;
antbig 0:ad97421fb1fb 101 // x sur 2 octets
antbig 0:ad97421fb1fb 102 msgTx.data[0]=(unsigned char)etat;
antbig 0:ad97421fb1fb 103
antbig 0:ad97421fb1fb 104 can1.write(msgTx);
antbig 0:ad97421fb1fb 105 }