merge dev into master

1 files changed, 82 insertions, 18 deletions

diff --git a/robot/sim.c b/robot/sim.c
index 6bd5838..ddc208a 100644
--- a/robot/sim.c
+++ b/robot/sim.c
@@ -1,15 +1,44 @@
 #include <stdio.h>
 #include <time.h>
 #include <string.h>
+#include <stdint.h>
+#include <termios.h>
+#include <unistd.h>
 
 #include "sim.h"
+#include "../shared/consts.h"
+#include "../shared/protocol.h"
+#include "sercomm.h"
+#include "errcatch.h"
 
 struct timespec reference_time; // NOLINT
+bool g_w2_sim_headless = false;
+
+static const char* const W2_CMD_NAMES[] = {
+	"PING",
+	"EXPT",
+	"MODE",
+	"SPED",
+	"DIRC",
+	"CORD",
+	"BOMD",
+	"SRES",
+	"MCFG",
+	"SENS",
+	"INFO",
+	"DISP",
+	"PLAY",
+	"CLED",
+};
+
+static const char* const W2_CMD_DIRECTIONS[] = {
+	"RX",
+	"TX",
+};
 
 void time_reset() {
 	simprintfunc("time_reset", "");
 	clock_gettime(CLOCK_MONOTONIC, &reference_time);
-	return;
 }
 
 unsigned long get_ms() {
@@ -22,43 +51,78 @@ unsigned long get_ms() {
 
 void red_led(unsigned char on) {
 	simprintfunc("red_led", "%i", on);
-	return;
 }
 
 void green_led(unsigned char on) {
 	simprintfunc("green_led", "%i", on);
-	return;
 }
 
 void clear() {
 	simprintfunc("clear", "");
-	return;
 }
 
 void play(const char* melody) {
 	simprintfunc("play", "\"%s\"", melody);
-	return;
 }
 
 void serial_set_baud_rate(unsigned int rate) {
 	simprintfunc("serial_set_baud_rate", "%u", rate);
-	return;
 }
 
 void serial_send(char* message, unsigned int length) {
-	simprintfunc("serial_send", "<see below>, %u", length);
-	unsigned int bytes = 0;
-	simprintf("");
-	for (unsigned int byte = 0; byte < length; byte++) {
-		if (bytes > DBG_BYTES_PER_LINE) {
-			bytes = 0;
-			printf("\n");
-			simprintf("");
-		}
-		printf("%02x ", message[byte]);
-		bytes++;
+	if (g_w2_sim_headless) {
+		for (unsigned int byte = 0; byte < length; byte++)
+			putc(message[byte] & 0xff, stdout);
+		return;
 	}
+
+	if (DBG_ENABLE_PRINTFUNC) simprintfunc("serial_send", "<see below>, %u", length);
+
+	if (!DBG_ENABLE_SERIAL) return;
+	w2_s_bin *bin = w2_bin_s_alloc(length, (uint8_t*) message);
+	w2_sim_print_serial(bin);
+	free(bin);
+}
+
+void serial_receive_ring(char* buffer, unsigned char size) {
+	simprintfunc("serial_receive_ring", "0x%016lx, %u", (unsigned long) buffer, size);
+}
+
+unsigned char serial_get_received_bytes() {
+	simprintfunc("serial_get_received_bytes", "");
+	return g_w2_serial_buffer_head;
+}
+
+void w2_sim_setup(int argc, char **argv) {
+	if (argc > 1 && strcmp(argv[1], "headless") == 0)
+		g_w2_sim_headless = true;
+
+	// disable echo and enable raw mode
+	struct termios term;
+	tcgetattr(STDIN_FILENO, &term);
+	term.c_lflag &= ~(ECHO | ICANON);
+	term.c_cc[VTIME] = 0;
+	term.c_cc[VMIN] = 0;
+	tcsetattr(STDIN_FILENO, 0, &term);
+
+	// debug error
+	// w2_errcatch_throw(W2_E_WARN_BATTERY_LOW);
+}
+
+void w2_sim_cycle_begin() {
+	// 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;
+}
+
+void w2_sim_print_serial(w2_s_bin *data) {
+	if (g_w2_sim_headless) return;
+	simprintf(COL_GRN "[%s_%s]" COL_RST, W2_CMD_NAMES[data->data[0] >> 1], W2_CMD_DIRECTIONS[data->data[0] & W2_CMD_DIRECTION_MASK]);
+	for (int i = 0; i < data->bytes; i++)
+		printf(" %02x", data->data[i]);
 	printf("\n");
-	return;
 }
 
+void set_motors(int left, int right) {
+	simprintfunc("set_motors", "%i, %i", left, right);
+}