void CBuzzController::ControlStep() {
/* Update debugging information */
m_sDebug.Clear();
if(m_sDebug.Trajectory.Tracking) {
const CCI_PositioningSensor::SReading& sPosRead = m_pcPos->GetReading();
m_sDebug.TrajectoryAdd(sPosRead.Position);
}
/* Take care of the rest */
if(m_tBuzzVM && m_tBuzzVM->state == BUZZVM_STATE_READY) {
ProcessInMsgs();
UpdateSensors();
if(buzzvm_function_call(m_tBuzzVM, "step", 0) != BUZZVM_STATE_READY) {
fprintf(stderr, "[ROBOT %u] %s: execution terminated abnormally: %s\n\n",
m_tBuzzVM->robot,
m_strBytecodeFName.c_str(),
ErrorInfo().c_str());
for(UInt32 i = 1; i <= buzzdarray_size(m_tBuzzVM->stacks); ++i) {
buzzdebug_stack_dump(m_tBuzzVM, i, stdout);
}
return;
}
ProcessOutMsgs();
}
else {
fprintf(stderr, "[ROBOT %s] Robot is not ready to execute Buzz script.\n\n",
GetId().c_str());
}
}
void CBuzzController::ControlStep() {
ProcessInMsgs();
UpdateSensors();
if(buzzvm_function_call(m_tBuzzVM, "step", 0) != BUZZVM_STATE_READY) {
fprintf(stderr, "[ROBOT %u] %s: execution terminated abnormally: %s\n\n",
m_tBuzzVM->robot,
m_strBytecodeFName.c_str(),
buzzvm_strerror(m_tBuzzVM));
buzzvm_dump(m_tBuzzVM);
}
ProcessOutMsgs();
}
