implement dummy simulation functionssim

6 files changed, 74 insertions, 9 deletions

diff --git a/robot/hypervisor.c b/robot/hypervisor.c
index 381d9af..8c22316 100644
--- a/robot/hypervisor.c
+++ b/robot/hypervisor.c
@@ -1,11 +1,10 @@
-#include <pololu/orangutan.h>
-
 #include "consts.h"
 #include "errcatch.h"
 #include "hypervisor.h"
 #include "io.h"
 #include "modes.h"
 #include "sercomm.h"
+#include "orangutan_shim.h"
 
 void w2_hypervisor_main() {
 	w2_sercomm_main();
diff --git a/robot/makefile b/robot/makefile
index 598e0fa..fb30b7e 100644
--- a/robot/makefile
+++ b/robot/makefile
@@ -4,24 +4,30 @@ AVRDUDE_DEVICE = m328p
 DEVICE ?= atmega168
 MCU ?= atmega168
 AVRDUDE_DEVICE ?= m168
-
-CFLAGS=-g -Wall -mcall-prologues -mmcu=$(MCU) $(DEVICE_SPECIFIC_CFLAGS) -Os
-LDFLAGS=-Wl,-gc-sections -lpololu_$(DEVICE) -Wl,-relax
+SIM = 
 
 PORT ?= /dev/ttyACM0
 
+CFLAGS=-g -Wall $(DEVICE_SPECIFIC_CFLAGS) -Os
+LDFLAGS=-Wl,-gc-sections -Wl,-relax
+
+CFLAGS += $(if $(SIM), -DW2_SIM, -mcall-prologues -mmcu=$(MCU))
+LDFLAGS += $(if $(SIM), , -lpololu_$(DEVICE))
+
 SOURCES := $(wildcard *.c)
 HEADERS := $(wildcard *.h)
 OBJECTS := $(patsubst %.c,%.o, $(SOURCES))
 
+PREFIX := $(if $(SIM), , avr-)
+
 AVRDUDE=avrdude
-CC=avr-gcc
-OBJ2HEX=avr-objcopy
+CC=$(PREFIX)gcc
+OBJ2HEX=$(PREFIX)objcopy
 
 BUILD_STR=$(shell git update-index -q --refresh; git describe --tags --dirty='*' --broken='x' | cut -c1-20)
 CFLAGS += -DW2_BUILD_STR="$(BUILD_STR)"
 
-all: out.hex
+all: $(if $(SIM), a.out, out.hex)
 
 clean:
 	rm -f *.o out.hex a.out compile_commands.json
@@ -40,6 +46,8 @@ flash: out.hex
 	$(AVRDUDE) -p $(AVRDUDE_DEVICE) -c avrisp2 -P $(PORT) -U flash:w:out.hex
 
 format:
+	SOURCES := $(filter-out sim.c, $(SOURCES))
+	HEADERS := $(filter-out sim.h, $(HEADERS))
 	clang-format -i $(SOURCES) $(HEADERS)
 	clang-tidy --fix-errors $(SOURCES) $(HEADERS)
 
diff --git a/robot/orangutan_shim.h b/robot/orangutan_shim.h
new file mode 100644
index 0000000..de57c98
--- /dev/null
+++ b/robot/orangutan_shim.h
@@ -0,0 +1,7 @@
+#pragma once
+
+#ifdef W2_SIM
+#include "sim.h"
+#else
+#include <pololu/orangutan.h>
+#endif
diff --git a/robot/setup.c b/robot/setup.c
index 10001c7..1174570 100644
--- a/robot/setup.c
+++ b/robot/setup.c
@@ -1,6 +1,6 @@
-#include <pololu/orangutan.h>
 #include <stdlib.h>
 
+#include "orangutan_shim.h"
 #include "consts.h"
 #include "halt.h"
 #include "modes.h"
diff --git a/robot/sim.c b/robot/sim.c
new file mode 100644
index 0000000..8fc8d00
--- /dev/null
+++ b/robot/sim.c
@@ -0,0 +1,38 @@
+#include <stdio.h>
+
+#include "sim.h"
+
+void time_reset() {
+	return;
+	printf("SIM: time_reset()\n");
+}
+
+unsigned long get_ms() {
+	printf("SIM: get_ms()\n");
+	return 0;
+}
+
+void red_led(unsigned char on) {
+	printf("SIM: red_led(%i)\n", on);
+	return;
+}
+
+void green_led(unsigned char on) {
+	printf("SIM: green_led(%i)\n", on);
+	return;
+}
+
+void clear() {
+	printf("SIM: clear()\n");
+	return;
+}
+
+void play(const char* melody) {
+	printf("SIM: play(\"%s\")\n", melody);
+	return;
+}
+
+void serial_set_baud_rate(unsigned int rate) {
+	printf("SIM: serial_set_baud_rate(%u)\n", rate);
+	return;
+}
diff --git a/robot/sim.h b/robot/sim.h
new file mode 100644
index 0000000..a408bc6
--- /dev/null
+++ b/robot/sim.h
@@ -0,0 +1,13 @@
+#pragma once
+
+/**
+ * simulates pololu library functions for local testing
+ */
+
+void time_reset(); // NOLINT
+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 serial_set_baud_rate(unsigned int rate); // NOLINT