sim reading serial in from stdin working

9 files changed, 61 insertions, 4 deletions

diff --git a/robot/hypervisor.c b/robot/hypervisor.c
index c08a24c..4d46a12 100644
--- a/robot/hypervisor.c
+++ b/robot/hypervisor.c
@@ -7,6 +7,7 @@
 
 void w2_hypervisor_main() {
 #ifdef W2_SIM
+	w2_sim_cycle_begin();
 	if (DBG_ENABLE_CYCLEINFO) siminfo("cycle start\n");
 #endif
 
diff --git a/robot/main.c b/robot/main.c
index fbfd38b..d76dbaf 100644
--- a/robot/main.c
+++ b/robot/main.c
@@ -1,8 +1,15 @@
 #include "main.h"
 #include "hypervisor.h"
 #include "setup.h"
+#ifdef W2_SIM
+#include "sim.h"
+#endif
+
+int main(int argc, char **argv) {
+#ifdef W2_SIM
+	w2_sim_setup(argc, argv);
+#endif
 
-int main() {
 	w2_setup_main();
 
 	for (;;) w2_hypervisor_main();
diff --git a/robot/sercomm.c b/robot/sercomm.c
index d7dc7f1..2faaa27 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -12,6 +12,7 @@ uint8_t g_w2_sercomm_buffer_full					  = 0;
 
 char g_w2_serial_buffer[W2_SERIAL_READ_BUFFER_SIZE] = {0};
 uint8_t g_w2_serial_buffer_index = 0;
+uint8_t g_w2_serial_buffer_head = 0;
 
 void w2_sercomm_main() {
 #ifdef W2_SIM
diff --git a/robot/sercomm.h b/robot/sercomm.h
index f411374..bc9fc1e 100644
--- a/robot/sercomm.h
+++ b/robot/sercomm.h
@@ -48,6 +48,8 @@ extern uint8_t g_w2_sercomm_offset;
 extern char g_w2_serial_buffer[W2_SERIAL_READ_BUFFER_SIZE];
 /** serial input (receive) buffer current position */
 extern uint8_t g_w2_serial_buffer_index;
+/** serial input (receive) buffer head (sim only) */
+extern uint8_t g_w2_serial_buffer_head;
 
 /**
  * serial pc-robot communication module
diff --git a/robot/sim.c b/robot/sim.c
index 554b174..47c0c78 100644
--- a/robot/sim.c
+++ b/robot/sim.c
@@ -2,10 +2,15 @@
 #include <time.h>
 #include <string.h>
 #include <stdint.h>
+#include <termios.h>
+#include <unistd.h>
 
 #include "sim.h"
+#include "consts.h"
+#include "sercomm.h"
 
 struct timespec reference_time; // NOLINT
+bool g_w2_sim_headless = false;
 
 void time_reset() {
 	simprintfunc("time_reset", "");
@@ -70,6 +75,29 @@ void serial_receive_ring(char* buffer, unsigned char size) {
 
 unsigned char serial_get_received_bytes() {
 	simprintfunc("serial_get_received_bytes", "");
-	return 0;
+	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);
+
+	return;
+}
+
+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;
+
+	return;
 }
 
diff --git a/robot/sim.h b/robot/sim.h
index 75f6a5c..501552e 100644
--- a/robot/sim.h
+++ b/robot/sim.h
@@ -3,9 +3,12 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
+#include <stdbool.h>
+
+extern bool g_w2_sim_headless;
 
 // debug fine-tuning
-#define DBG_ENABLE_PRINTFUNC (1)
+#define DBG_ENABLE_PRINTFUNC (0)
 #define DBG_ENABLE_SIMWARN (1)
 #define DBG_ENABLE_SIMINFO (1)
 #define DBG_ENABLE_CYCLEINFO (0)
@@ -25,7 +28,7 @@
 #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, ...) if (DBG_ENABLE_PRINTFUNC) { simprintf(COL_BLU "[FUNC] " \
 		COL_CYN name COL_RST "(" COL_YEL fmt COL_RST ")\n", ##__VA_ARGS__); }
@@ -46,3 +49,6 @@ void serial_set_baud_rate(unsigned int rate); // 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 w2_sim_setup(int argc, char **argv);
+void w2_sim_cycle_begin();
+
diff --git a/robot/tests/info.bin b/robot/tests/info.bin
new file mode 100644
index 0000000..e1ce36c
--- /dev/null
+++ b/robot/tests/info.bin
@@ -0,0 +1 @@
+ÿ
\ No newline at end of file
diff --git a/robot/tests/ping.bin b/robot/tests/ping.bin
new file mode 100644
index 0000000..456804e
--- /dev/null
+++ b/robot/tests/ping.bin
diff --git a/robot/tests/readme.md b/robot/tests/readme.md
new file mode 100644
index 0000000..7f4cc9a
--- /dev/null
+++ b/robot/tests/readme.md
@@ -0,0 +1,11 @@
+this is a subdirectory that contains binary example commands to send to the
+simultation robot code
+
+to use:
+
+```
+./a.out < file
+```
+
+where `file` is one of the .bin files in this folder
+