diff options
Diffstat (limited to 'robot/sim.c')
| -rw-r--r-- | robot/sim.c | 30 |
1 files changed, 29 insertions, 1 deletions
diff --git a/robot/sim.c b/robot/sim.c index 554b174..47c0c78 100644 --- a/robot/sim.c +++ b/robot/sim.c @@ -2,10 +2,15 @@ #include <time.h> #include <string.h> #include <stdint.h> +#include <termios.h> +#include <unistd.h> #include "sim.h" +#include "consts.h" +#include "sercomm.h" struct timespec reference_time; // NOLINT +bool g_w2_sim_headless = false; void time_reset() { simprintfunc("time_reset", ""); @@ -70,6 +75,29 @@ void serial_receive_ring(char* buffer, unsigned char size) { unsigned char serial_get_received_bytes() { simprintfunc("serial_get_received_bytes", ""); - return 0; + 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; + + // disable echo and enable raw mode + 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); + + return; +} + +void w2_sim_cycle_begin() { + // read bytes from stdin + while(read(STDIN_FILENO, (g_w2_serial_buffer + sizeof(char) * g_w2_serial_buffer_head), 1) > 0) + g_w2_serial_buffer_head = (g_w2_serial_buffer_head + 1) % W2_SERIAL_READ_BUFFER_SIZE; + + return; } |