diff options
Diffstat (limited to 'robot/hypervisor.c')
| -rw-r--r-- | robot/hypervisor.c | 15 |
1 files changed, 10 insertions, 5 deletions
diff --git a/robot/hypervisor.c b/robot/hypervisor.c index 1fd3ac2..2a6120b 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -1,6 +1,6 @@ #include "hypervisor.h" +#include "../shared/errcatch.h" #include "../shared/util.h" -#include "errcatch.h" #include "io.h" #include "modes.h" #include "orangutan_shim.h" @@ -14,6 +14,12 @@ unsigned long g_w2_hypervisor_ema_io_ms = 0; unsigned long g_w2_hypervisor_ema_mode_ms = 0; uint64_t g_w2_hypervisor_timers[W2_HYPERVISOR_TIMER_COUNT] = {0}; +unsigned int g_w2_ping_ms = 0; +uint8_t g_w2_ping_id = 0; +bool g_w2_ping_received = true; +bool g_w2_ping_timeout = false; +bool g_w2_connected = false; + void w2_hypervisor_main() { #ifdef W2_SIM w2_sim_cycle_begin(); @@ -27,7 +33,7 @@ void w2_hypervisor_main() { unsigned long sercomm_time = get_ms(); w2_errcatch_main(); unsigned long errcatch_time = get_ms() - sercomm_time; - w2_io_main(); + // w2_io_main(); unsigned long io_time = get_ms() - errcatch_time; w2_modes_main(); unsigned long mode_time = get_ms() - io_time; @@ -44,10 +50,9 @@ 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) - exit(0); + if (DBG_MAX_CYCLES > -1 && g_w2_hypervisor_cycles > DBG_MAX_CYCLES) exit(0); #endif g_w2_hypervisor_cycles++; |