client/robot sim connected

3 files changed, 20 insertions, 4 deletions

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__)