merge dev into master

1 files changed, 29 insertions, 7 deletions

diff --git a/robot/sim.h b/robot/sim.h
index 15a1b4b..a595042 100644
--- a/robot/sim.h
+++ b/robot/sim.h
@@ -3,6 +3,20 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
+#include <stdbool.h>
+
+#include "../shared/bin.h"
+
+extern bool g_w2_sim_headless;
+
+// debug fine-tuning
+#define DBG_ENABLE_PRINTFUNC (1)
+#define DBG_ENABLE_SIMWARN (1)
+#define DBG_ENABLE_SIMINFO (1)
+#define DBG_ENABLE_CYCLEINFO (0)
+#define DBG_ENABLE_SERIAL (1)
+
+#define DBG_MAX_CYCLES (10)
 
 // debug print options
 #define DBG_BYTES_PER_LINE 16
@@ -19,12 +33,12 @@
 #define COL_RST "\e[0m"
 
 // debug stdout print macros
-#define simprintf(message, ...) printf(COL_RED "[SIM] " COL_RST message, ##__VA_ARGS__)
+#define simprintf(message, ...) if (!g_w2_sim_headless) printf(COL_RED "[SIM] " COL_RST message, ##__VA_ARGS__)
 #define simprint(message) simprintf(message "\n")
-#define simprintfunc(name, fmt, ...) simprintf(COL_BLU "[FUNC] " \
-		COL_CYN name COL_RST "(" COL_YEL fmt COL_RST ")\n", ##__VA_ARGS__)
-#define simwarn(message, ...) simprintf(COL_YEL "[WARN] " COL_RST message, ##__VA_ARGS__)
-#define siminfo(message, ...) simprintf(COL_MAG "[INFO] " COL_RST message, ##__VA_ARGS__)
+#define simprintfunc(name, fmt, ...) if (DBG_ENABLE_PRINTFUNC) { simprintf(COL_BLU "[FUNC] " \
+		COL_CYN name COL_RST "(" COL_YEL fmt COL_RST ")\n", ##__VA_ARGS__); }
+#define simwarn(message, ...) if (DBG_ENABLE_SIMWARN) { simprintf(COL_YEL "[WARN] " COL_RST message, ##__VA_ARGS__); }
+#define siminfo(message, ...) if (DBG_ENABLE_SIMINFO) { simprintf(COL_MAG "[INFO] " COL_RST message, ##__VA_ARGS__); }
 
 /**
  * simulates pololu library functions for local testing
@@ -35,6 +49,14 @@ unsigned long get_ms(); // NOLINT
 void red_led(unsigned char on); // NOLINT
 void green_led(unsigned char on); // NOLINT
 void clear(); // NOLINT
-void play(const char* melody); // NOLINT
+void play(const char *melody); // NOLINT
 void serial_set_baud_rate(unsigned int rate); // NOLINT
-void serial_send(char* message, unsigned int length); // NOLINT
+void serial_send(char *message, unsigned int length); // NOLINT
+void serial_receive_ring(char *buffer, unsigned char size); // NOLINT
+unsigned char serial_get_received_bytes(); // NOLINT
+void set_motors(int left, int right); // NOLINT
+
+void w2_sim_setup(int argc, char **argv);
+void w2_sim_cycle_begin();
+void w2_sim_print_serial(w2_s_bin *data);
+