X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat_utils.h;fp=projects%2Fmicrob2010%2Fmainboard%2Fstrat_utils.h;h=2414c041b699fc7e79e2696eb02a15c29c11f91d;hp=f314b0eec4798c7eb19ec5f169786f9763193281;hb=28da5858ac871c626153f47566e968ecb05ff52b;hpb=b699727efceb661be65fbd22e975565b800c628e

diff --git a/projects/microb2010/mainboard/strat_utils.h b/projects/microb2010/mainboard/strat_utils.h
index f314b0e..2414c04 100644
--- a/projects/microb2010/mainboard/strat_utils.h
+++ b/projects/microb2010/mainboard/strat_utils.h
@@ -42,6 +42,27 @@ struct xy_point {
 		__err;							\
 	})								\
 
+#define WAIT_COND_OR_TE_TO(cond, mask, timeout)				\
+	({								\
+		microseconds __us = time_get_us2();			\
+		uint8_t __ret = 0;					\
+		while ( (! (cond)) && (__ret == 0)) {			\
+			__ret = test_traj_end(mask);			\
+			if (time_get_us2() - __us > (timeout)*1000L) {	\
+				__ret = 0;				\
+				break;					\
+			}						\
+		}							\
+		if (!__ret)						\
+			DEBUG(E_USER_STRAT, "cond / timeout at line %d", \
+			      __LINE__);				\
+		else							\
+			DEBUG(E_USER_STRAT, "got %s (%d) at line %d",	\
+			      get_err(__ret), __ret, __LINE__);		\
+									\
+		__ret;							\
+	})
+
 int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
 int32_t quad_distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
 int16_t distance_from_robot(int16_t x, int16_t y);