diff options
| -rw-r--r-- | robot/hypervisor.c | 4 | ||||
| -rw-r--r-- | robot/main.c | 4 | ||||
| -rw-r--r-- | robot/sim.c | 21 | ||||
| -rw-r--r-- | robot/sim.h | 9 | ||||
| -rw-r--r-- | shared/bin.h | 3 |
5 files changed, 17 insertions, 24 deletions
diff --git a/robot/hypervisor.c b/robot/hypervisor.c index e781877..3359bf6 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -44,9 +44,9 @@ void w2_hypervisor_main() { #ifdef W2_SIM if (DBG_ENABLE_CYCLEINFO) siminfo("cycle end\n"); - if (!g_w2_sim_headless) usleep(100e3); + if (DBG_CYCLE_DELAY > 0) usleep(DBG_CYCLE_DELAY); - if (g_w2_sim_headless && DBG_MAX_CYCLES > -1 && g_w2_hypervisor_cycles > DBG_MAX_CYCLES) + if (DBG_MAX_CYCLES > -1 && g_w2_hypervisor_cycles > DBG_MAX_CYCLES) exit(0); #endif diff --git a/robot/main.c b/robot/main.c index eba94cb..b0302bd 100644 --- a/robot/main.c +++ b/robot/main.c @@ -6,9 +6,9 @@ #endif #include <unistd.h> -int main(int argc, char **argv) { +int main() { #ifdef W2_SIM - w2_sim_setup(argc, argv); + w2_sim_setup(); #endif w2_setup_main(); diff --git a/robot/sim.c b/robot/sim.c index 0e4c9b7..5956fbb 100644 --- a/robot/sim.c +++ b/robot/sim.c @@ -13,7 +13,6 @@ #include "../shared/errcatch.h" struct timespec reference_time; // NOLINT -bool g_w2_sim_headless = false; static const char* const W2_CMD_NAMES[] = { "PING", @@ -76,12 +75,10 @@ void serial_set_baud_rate(unsigned int rate) { } 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; - } + for (unsigned int byte = 0; byte < length; byte++) + putc(message[byte] & 0xff, stdout); + fflush(stdout); + return; simprintfunc("serial_send", "0x%02x", (uint8_t) message[0]); } @@ -95,10 +92,7 @@ unsigned char serial_get_received_bytes() { 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; - +void w2_sim_setup() { // disable echo and enable raw mode fcntl(STDIN_FILENO, F_SETFL, O_NONBLOCK); struct termios term; @@ -121,11 +115,10 @@ void w2_sim_cycle_begin() { } void w2_sim_print_serial(w2_s_bin *data) { - if (g_w2_sim_headless) return; simprintf(COL_GRN "[%s_%s]" COL_RST, W2_CMD_NAMES[data->data[0] >> 1], W2_CMD_DIRECTIONS[data->data[0] & W2_CMD_DIRECTION_MASK]); for (int i = 0; i < data->bytes; i++) - printf(" %02x", data->data[i]); - printf("\n"); + fprintf(stderr, " %02x", data->data[i]); + fprintf(stderr, "\n"); } void set_motors(int left, int right) { diff --git a/robot/sim.h b/robot/sim.h index 5dbd936..9e250da 100644 --- a/robot/sim.h +++ b/robot/sim.h @@ -9,15 +9,14 @@ #include "../shared/bin.h" #include "../shared/protocol.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) #define DBG_ENABLE_SERIAL (1) +#define DBG_CYCLE_DELAY (100e3) #define DBG_MAX_CYCLES (-1) // debug print options @@ -47,7 +46,7 @@ extern bool g_w2_sim_headless; #endif // debug stdout print macros -#define simprintf(message, ...) if (!g_w2_sim_headless) printf(COL_RED "[SIM] " COL_RST message, ##__VA_ARGS__) +#define simprintf(message, ...) fprintf(stderr, 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__); } @@ -81,7 +80,7 @@ void qtr_read(unsigned int* sensor_values, unsigned char read_mode); // NOLINT unsigned int analog_read(unsigned char channel); // NOLINT void print(const char* str); // NOLINT -void w2_sim_setup(int argc, char **argv); +void w2_sim_setup(); void w2_sim_cycle_begin(); void w2_sim_print_serial(w2_s_bin *data); diff --git a/shared/bin.h b/shared/bin.h index 1eaa2a7..a849d53 100644 --- a/shared/bin.h +++ b/shared/bin.h @@ -17,7 +17,8 @@ extern uint8_t g_w2_endianness; #define W2_CREATE_MSG_BIN(type, normal, bin) \ W2_CREATE_MSG_SIZE_BIN(type, sizeof(type), normal, bin) #define W2_CREATE_MSG_SIZE_BIN(type, size, normal, bin) \ - w2_s_bin* bin = malloc(size); \ + w2_s_bin* bin = malloc(sizeof(w2_s_bin) + size); \ + bin->bytes = size; \ type* normal = (type*) &bin->data; typedef struct { |