client/robot sim connected

9 files changed, 192 insertions, 5 deletions

diff --git a/client/main.c b/client/main.c
index 76e8197..d51f30b 100644
--- a/client/main.c
+++ b/client/main.c
@@ -1 +1,29 @@
-int main() { return 0; }
+#include "serial.h"
+
+#include <stdio.h>
+#include <unistd.h>
+
+int main(int argc, char **argv) {
+	if (argc < 2) {
+		printf("usage: %s <serial port>\n", argv[0]);
+		return 1;
+	}
+
+	if (w2_serial_open(argv[1]) == 0) {
+		printf("serial port open fout");
+		return 1;
+	}
+
+	printf("writing...\n");
+	bool success = w2_serial_write("\xff\x14", 2);
+	printf("writing %s\n", success ? "succeeded" : "failed");
+
+	printf("reading...\n");
+	while (1) {
+		int res = w2_serial_read();
+		if (res == -1) continue;
+
+		printf("%02x ", (uint8_t)res);
+		fflush(stdout);
+	}
+}
diff --git a/client/makefile b/client/makefile
index f79dd11..87d06a9 100644
--- a/client/makefile
+++ b/client/makefile
@@ -4,11 +4,14 @@ RM = rm -f
 CFLAGS =
 EXECNAME = main
 
+include ../shared/os.mk
+
 all: $(EXECNAME)
 
 SOURCES := $(wildcard *.c)
 HEADERS := $(wildcard *.h)
 # include ../shared/makefile
+
 OBJECTS := $(patsubst %.c,%.o, $(SOURCES))
 
 .o:
diff --git a/client/serial.h b/client/serial.h
new file mode 100644
index 0000000..caa3cda
--- /dev/null
+++ b/client/serial.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include "../shared/bool.h"
+
+/** @file serial.h */
+
+/**
+ * read byte from serial port
+ *
+ * @return -1 if read fails, else char read
+ */
+int w2_serial_read();
+/** write `data` with length `length` to serial port */
+bool w2_serial_write(char *data, uint8_t length);
+/** open serial port */
+bool w2_serial_open(const char *port_name);
+/** close serial port */
+void w2_serial_close();
diff --git a/client/serial_linux.c b/client/serial_linux.c
new file mode 100644
index 0000000..ae8e646
--- /dev/null
+++ b/client/serial_linux.c
@@ -0,0 +1,99 @@
+#ifdef W2_HOST_LINUX
+
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <termios.h>
+#include <unistd.h>
+
+#include "../shared/consts.h"
+#include "serial.h"
+
+struct termios g_w2_tty;
+struct termios g_w2_tty_old;
+int g_w2_serial_handle;
+
+char g_w2_serial_buffer[W2_SERIAL_READ_BUFFER_SIZE];
+uint8_t g_w2_serial_buffer_index;
+uint8_t g_w2_serial_buffer_head;
+
+speed_t w2_baud_map(int baud) {
+	switch (baud) {
+		case 9600:
+			return B9600;
+		case 19200:
+			return B19200;
+		case 38400:
+			return B38400;
+		case 57600:
+			return B57600;
+		case 115200:
+			return B115200;
+		case 230400:
+			return B230400;
+		case 460800:
+			return B460800;
+		case 500000:
+			return B500000;
+		case 576000:
+			return B576000;
+		case 921600:
+			return B921600;
+		case 1000000:
+			return B1000000;
+		case 1152000:
+			return B1152000;
+		case 1500000:
+			return B1500000;
+		case 2000000:
+			return B2000000;
+		case 2500000:
+			return B2500000;
+		case 3000000:
+			return B3000000;
+		case 3500000:
+			return B3500000;
+		case 4000000:
+			return B4000000;
+		default:
+			return B0;
+	}
+}
+
+int w2_serial_read() {
+	int return_val;
+	int bytes = read(g_w2_serial_handle, &return_val, 1);
+	return return_val == -1 || bytes != 1 ? -1 : (uint8_t)return_val;
+}
+
+bool w2_serial_write(char *data, uint8_t length) {
+	return write(g_w2_serial_handle, data, length) == length;
+}
+
+bool w2_serial_open(const char *port_name) {
+	g_w2_serial_handle = open(port_name, O_RDWR | O_NOCTTY | O_NONBLOCK);
+	if (g_w2_serial_handle < 0 || tcgetattr(g_w2_serial_handle, &g_w2_tty) != 0) return false;
+
+	g_w2_tty_old = g_w2_tty;
+
+	speed_t baud = w2_baud_map(W2_SERIAL_BAUD);
+	cfsetospeed(&g_w2_tty, baud);
+	cfsetispeed(&g_w2_tty, baud);
+
+	g_w2_tty.c_cflag &= ~(PARENB | CSTOPB | CSIZE | CRTSCTS);
+	g_w2_tty.c_cflag |= CS8 | CREAD | CLOCAL;
+	g_w2_tty.c_cc[VMIN]	 = 0;
+	g_w2_tty.c_cc[VTIME] = 0;
+
+	cfmakeraw(&g_w2_tty);
+
+	tcflush(g_w2_serial_handle, TCIFLUSH);
+
+	if (tcsetattr(g_w2_serial_handle, TCSANOW, &g_w2_tty) != 0) return false;
+
+	return true;
+}
+
+void w2_serial_close() { close(g_w2_serial_handle); }
+
+#endif
diff --git a/client/serial_win32.c b/client/serial_win32.c
new file mode 100644
index 0000000..9406a34
--- /dev/null
+++ b/client/serial_win32.c
@@ -0,0 +1,10 @@
+#ifdef W2_HOST_WIN32
+
+#include "serial.h"
+
+bool w2_serial_read(uint8_t *target, uint8_t bytes);
+bool w2_serial_write(uint8_t *target, uint8_t bytes);
+void w2_serial_open();
+void w2_serial_close();
+
+#endif
diff --git a/readme.md b/readme.md
index b579e5b..610f99d 100644
--- a/readme.md
+++ b/readme.md
@@ -6,6 +6,19 @@
 this project is divided in two subfolders, one for robot code, and one for
 client code that runs on your PC and is able to control the robot remotely.
 
+## supported features
+
+the build toolchain is compatible with windows and linux, though some features
+are only supported on linux:
+
+|feature|windows|linux|
+|-|:-:|:-:|
+|robot code compilation (avr)|yes|yes|
+|robot exec upload|yes|yes|
+|client code compilation|yes|yes|
+|robot code simulation (x86)| |yes|
+|use client with robot sim| |yes|
+
 ## toolchain installation on windows
 
 > look in the scripts/ subdirectory if you're concerned about what these
diff --git a/robot/makefile b/robot/makefile
index f65552a..11e8509 100644
--- a/robot/makefile
+++ b/robot/makefile
@@ -6,7 +6,7 @@ MCU ?= atmega168
 AVRDUDE_DEVICE ?= m168
 
 PORT ?= /dev/ttyACM0
-# SIM = true
+SIM = true
 
 CFLAGS=-g -Wall $(DEVICE_SPECIFIC_CFLAGS) -Os
 LDFLAGS=-Wl,-gc-sections -Wl,-relax
@@ -19,7 +19,7 @@ HEADERS := $(filter-out sim.h, $(wildcard *.h))
 include ../shared/makefile
 
 # simulation
-CFLAGS += $(if $(SIM), -DW2_SIM, -mcall-prologues -mmcu=$(MCU))
+CFLAGS += $(if $(SIM), -DW2_SIM -DDBG_ENABLE_COLOR, -mcall-prologues -mmcu=$(MCU))
 LDFLAGS += $(if $(SIM), , -lpololu_$(DEVICE))
 PREFIX := $(if $(SIM), , avr-)
 SOURCES += $(if $(SIM), sim.c, )
diff --git a/robot/sim.c b/robot/sim.c
index 6283694..34e4932 100644
--- a/robot/sim.c
+++ b/robot/sim.c
@@ -4,6 +4,7 @@
 #include <stdint.h>
 #include <unistd.h>
 #include <termios.h>
+#include <fcntl.h>
 
 #include "sim.h"
 #include "../shared/consts.h"
@@ -78,10 +79,11 @@ void serial_send(char* message, unsigned int length) {
 	if (g_w2_sim_headless) {
 		for (unsigned int byte = 0; byte < length; byte++)
 			putc(message[byte] & 0xff, stdout);
+		fflush(stdout);
 		return;
 	}
 
-	if (DBG_ENABLE_PRINTFUNC) simprintfunc("serial_send", "<%u byte%s>", length, length == 1 ? "" : "s");
+	simprintfunc("serial_send", "0x%02x", (uint8_t) message[0]);
 }
 
 void serial_receive_ring(char* buffer, unsigned char size) {
@@ -98,11 +100,12 @@ void w2_sim_setup(int argc, char **argv) {
 		g_w2_sim_headless = true;
 
 	// disable echo and enable raw mode
+	fcntl(STDIN_FILENO, F_SETFL, O_NONBLOCK);
 	struct termios term;
 	tcgetattr(STDIN_FILENO, &term);
 	term.c_lflag &= ~(ECHO | ICANON);
 	term.c_cc[VTIME] = 0;
-	term.c_cc[VMIN] = 0;
+	term.c_cc[VMIN] = 1;
 	tcsetattr(STDIN_FILENO, 0, &term);
 
 	// debug error
@@ -110,6 +113,8 @@ void w2_sim_setup(int argc, char **argv) {
 }
 
 void w2_sim_cycle_begin() {
+	fflush(stdout);
+
 	// read bytes from stdin
 	while(read(STDIN_FILENO, (g_w2_serial_buffer + sizeof(char) * g_w2_serial_buffer_head), 1) > 0)
 		g_w2_serial_buffer_head = (g_w2_serial_buffer_head + 1) % W2_SERIAL_READ_BUFFER_SIZE;
diff --git a/robot/sim.h b/robot/sim.h
index 23b47f1..864a43a 100644
--- a/robot/sim.h
+++ b/robot/sim.h
@@ -24,6 +24,16 @@ extern bool g_w2_sim_headless;
 #define DBG_BYTES_PER_LINE 16
 
 // debug colors
+#define COL_BLK ""
+#define COL_RED ""
+#define COL_GRN ""
+#define COL_YEL ""
+#define COL_BLU ""
+#define COL_MAG ""
+#define COL_CYN ""
+#define COL_WHT ""
+#define COL_RST ""
+#ifdef DBG_ENABLE_COLOR
 #define COL_BLK "\e[0;30m"
 #define COL_RED "\e[0;31m"
 #define COL_GRN "\e[0;32m"
@@ -33,6 +43,7 @@ extern bool g_w2_sim_headless;
 #define COL_CYN "\e[0;36m"
 #define COL_WHT "\e[0;37m"
 #define COL_RST "\e[0m"
+#endif
 
 // debug stdout print macros
 #define simprintf(message, ...) if (!g_w2_sim_headless) printf(COL_RED "[SIM] " COL_RST message, ##__VA_ARGS__)