diff options
Diffstat (limited to 'robot/sim.c')
| -rw-r--r-- | robot/sim.c | 35 |
1 files changed, 32 insertions, 3 deletions
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; |