mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-06-01 18:45:01 +02:00
55 lines
1.1 KiB
C
55 lines
1.1 KiB
C
#include "debug.h"
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#include <stdio.h>
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#include <unistd.h> // sleep
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void* TaskDebug(void* pdata)
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{
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(void)pdata;
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struct timespec tim;
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/* tim.tv_sec = 0; */
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/* tim.tv_nsec = 100000000L; */
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tim.tv_sec = 1;
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tim.tv_nsec = 0;
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for (;;) {
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nanosleep(&tim, NULL);
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sendCA(A2CI_DBG, NULL, 0);
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}
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return NULL;
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}
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void printDebugInfos(struct A2CI_DBGs* debug)
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{
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printf("← Position actuelle (%f; %f) (%f°)", debug->actuel.x, debug->actuel.y, debug->actuel.o);
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printf(", destination : ");
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if (debug->movement == C2AD_BRAKE) {
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printf("ne pas bouger\n");
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} else if (debug->movement == C2AD_FREE) {
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printf("là où le vent l'emporte\n");
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} else {
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printf("(%f; %f) (%f°)\n", debug->destination.x, debug->destination.y, debug->destination.o);
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}
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}
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void onA2CI_DBG()
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{
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readCA(&debug, sizeof(struct A2CI_DBGs));
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printDebugInfos(&debug);
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}
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void configureDebug()
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{
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registerRxHandler(A2CI_DBG, onA2CI_DBG);
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#ifdef REGULARREPORTS
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pthread_create(&tDebug, NULL, TaskDebug, NULL);
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#endif
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}
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void deconfigureDebug()
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{
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#ifdef REGULARREPORTS
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pthread_cancel(tDebug);
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#endif
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}
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