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-rw-r--r--robot/makefile11
-rw-r--r--robot/sim.c35
-rw-r--r--robot/sim.h13
-rw-r--r--shared/makefile9
-rw-r--r--shared/os.mk12
5 files changed, 63 insertions, 17 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__)
diff --git a/shared/makefile b/shared/makefile
index 7f0ceb9..e5a6ff6 100644
--- a/shared/makefile
+++ b/shared/makefile
@@ -5,14 +5,5 @@ HEADERS += $(wildcard ../shared/*.h)
BUILD_STR=$(shell git update-index -q --refresh; git describe --tags --dirty='*' --broken='x' | cut -c1-20)
CFLAGS += -DW2_BUILD_STR=\"$(BUILD_STR)\"
-# os info
-OS=$(strip $(shell uname -o))
-ifeq ($(OS),GNU/Linux)
-CFLAGS += -DW2_HOST_LINUX
-endif
-ifeq ($(OS),Msys)
-CFLAGS += -DW2_HOST_WIN32
-endif
-
clean::
rm -f ../shared/*.o
diff --git a/shared/os.mk b/shared/os.mk
new file mode 100644
index 0000000..e4ede42
--- /dev/null
+++ b/shared/os.mk
@@ -0,0 +1,12 @@
+# os info
+OS=$(strip $(shell uname -o))
+ifeq ($(OS),GNU/Linux)
+CFLAGS += -DW2_HOST_LINUX
+LINUX := true
+TARGET := a.out
+endif
+ifeq ($(OS),Msys)
+CFLAGS += -DW2_HOST_WIN32
+WIN32 := true
+TARGET := a.exe
+endif \ No newline at end of file