diff options
Diffstat (limited to 'robot/sim.c')
| -rw-r--r-- | robot/sim.c | 21 |
1 files changed, 7 insertions, 14 deletions
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) { |