compile sim on windows without errors

3 files changed, 51 insertions, 8 deletions

diff --git a/robot/makefile b/robot/makefile
index 85ed2e3..a913bd7 100644
--- a/robot/makefile
+++ b/robot/makefile
@@ -6,18 +6,19 @@ MCU ?= atmega168
 AVRDUDE_DEVICE ?= m168
 
 PORT ?= /dev/ttyACM0
+SIM = true
 
 CFLAGS=-g -Wall $(DEVICE_SPECIFIC_CFLAGS) -Os
 LDFLAGS=-Wl,-gc-sections -Wl,-relax
 
-all: $(if $(SIM), a.out, out.hex)
+include ../shared/os.mk
+all: $(if $(SIM), $(TARGET), out.hex)
 
 SOURCES := $(filter-out sim.c, $(wildcard *.c))
 HEADERS := $(filter-out sim.h, $(wildcard *.h))
 include ../shared/makefile
 
 # simulation
-# SIM = true
 CFLAGS += $(if $(SIM), -DW2_SIM, -mcall-prologues -mmcu=$(MCU))
 LDFLAGS += $(if $(SIM), , -lpololu_$(DEVICE))
 PREFIX := $(if $(SIM), , avr-)
@@ -31,15 +32,15 @@ CC=$(PREFIX)gcc
 OBJ2HEX=$(PREFIX)objcopy
 
 clean::
-	rm -f *.o out.hex a.out
+	rm -f *.o out.hex $(TARGET)
 
-a.out: $(OBJECTS)
+$(TARGET): $(OBJECTS)
 	$(CC) $(OBJECTS) $(CFLAGS) $(LDFLAGS)
 
 .o:
 	$(CC) -c $(CFLAGS) $<
 
-out.hex: a.out
+out.hex: $(TARGET)
 	$(OBJ2HEX) -R .eeprom -O ihex $< $@
 	$(info build $(BUILD_STR) complete)
 
diff --git a/robot/sim.c b/robot/sim.c
index 0f1c7e6..ba9aa4a 100644
--- a/robot/sim.c
+++ b/robot/sim.c
@@ -2,16 +2,31 @@
 #include <time.h>
 #include <string.h>
 #include <stdint.h>
-#include <termios.h>
 #include <unistd.h>
 
+#ifdef W2_HOST_LINUX
+#include <termios.h>
+#endif
+
+#ifdef W2_HOST_WIN32
+// garbage os compatibility
+#include <windows.h>
+#include <timeapi.h>
+#define STDIN_FILENO 0
+#endif
+
 #include "sim.h"
 #include "../shared/consts.h"
 #include "../shared/protocol.h"
 #include "sercomm.h"
 #include "errcatch.h"
 
+#ifdef W2_HOST_LINUX
 struct timespec reference_time; // NOLINT
+#endif
+#ifdef W2_HOST_WIN32
+DWORD reference_time; // NOLINT
+#endif
 bool g_w2_sim_headless = false;
 
 static const char* const W2_CMD_NAMES[] = {
@@ -38,15 +53,20 @@ static const char* const W2_CMD_DIRECTIONS[] = {
 
 void time_reset() {
 	simprintfunc("time_reset", "");
+#ifdef W2_HOST_LINUX
 	clock_gettime(CLOCK_MONOTONIC, &reference_time);
+#endif
 }
 
 unsigned long get_ms() {
 	simprintfunc("get_ms", "");
+#ifdef W2_HOST_LINUX
 	struct timespec elapsed;
 	clock_gettime(CLOCK_MONOTONIC, &elapsed);
 	return ((elapsed.tv_sec * 1000) + (elapsed.tv_nsec / 1000000)) -
 		((reference_time.tv_sec * 1000) + (reference_time.tv_nsec / 1000000));
+#endif
+	return 0;
 }
 
 void red_led(unsigned char on) {
@@ -85,7 +105,7 @@ void serial_send(char* message, unsigned int length) {
 }
 
 void serial_receive_ring(char* buffer, unsigned char size) {
-	simprintfunc("serial_receive_ring", "0x%016lx, %u", (unsigned long) buffer, size);
+	simprintfunc("serial_receive_ring", "0x%016llx, %u", (uint64_t) buffer, size);
 }
 
 unsigned char serial_get_received_bytes() {
@@ -98,12 +118,21 @@ void w2_sim_setup(int argc, char **argv) {
 		g_w2_sim_headless = true;
 
 	// disable echo and enable raw mode
+#ifdef W2_HOST_LINUX
 	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);
+#endif
+#ifdef W2_HOST_WIN32
+	DWORD mode;
+    HANDLE console = GetStdHandle(STD_INPUT_HANDLE);
+
+    GetConsoleMode(console, &mode);
+    SetConsoleMode(console, mode & ~(ENABLE_LINE_INPUT | ENABLE_ECHO_INPUT));
+#endif
 
 	// debug error
 	// w2_errcatch_throw(W2_E_WARN_BATTERY_LOW);
@@ -141,7 +170,7 @@ unsigned char get_single_debounced_button_press(unsigned char buttons) {
 }
 
 void qtr_read(unsigned int* sensor_values, unsigned char read_mode) {
-	simprintfunc("qtr_read", "0x%016lx, %s", (uint64_t) sensor_values, read_mode == QTR_EMITTERS_ON ? "QTR_EMITTERS_ON" : "???");
+	simprintfunc("qtr_read", "0x%016llx, %s", (uint64_t) sensor_values, read_mode == QTR_EMITTERS_ON ? "QTR_EMITTERS_ON" : "???");
 	sensor_values[0] = 0;
 	sensor_values[1] = 0;
 	sensor_values[2] = 0;
diff --git a/robot/sim.h b/robot/sim.h
index ab1cd77..08c1d8a 100644
--- a/robot/sim.h
+++ b/robot/sim.h
@@ -22,6 +22,7 @@ extern bool g_w2_sim_headless;
 #define DBG_BYTES_PER_LINE 16
 
 // debug colors
+#ifdef W2_HOST_LINUX
 #define COL_BLK "\e[0;30m"
 #define COL_RED "\e[0;31m"
 #define COL_GRN "\e[0;32m"
@@ -31,6 +32,18 @@ extern bool g_w2_sim_headless;
 #define COL_CYN "\e[0;36m"
 #define COL_WHT "\e[0;37m"
 #define COL_RST "\e[0m"
+#endif
+#ifdef W2_HOST_WIN32
+#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 ""
+#endif
 
 // debug stdout print macros
 #define simprintf(message, ...) if (!g_w2_sim_headless) printf(COL_RED "[SIM] " COL_RST message, ##__VA_ARGS__)