client/robot sim connected

5 files changed, 159 insertions, 1 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