diff options
Diffstat (limited to 'robot/sim.h')
| -rw-r--r-- | robot/sim.h | 27 |
1 files changed, 19 insertions, 8 deletions
diff --git a/robot/sim.h b/robot/sim.h index 249414d..7d7c091 100644 --- a/robot/sim.h +++ b/robot/sim.h @@ -9,21 +9,21 @@ #include "../shared/bin.h" #include "../shared/protocol.h" -extern bool g_w2_sim_headless; - // debug fine-tuning -#define DBG_ENABLE_PRINTFUNC (1) +#define DBG_ENABLE_PRINTFUNC (0) #define DBG_ENABLE_SIMWARN (1) #define DBG_ENABLE_SIMINFO (1) #define DBG_ENABLE_CYCLEINFO (0) -#define DBG_ENABLE_SERIAL (1) +#define DBG_ENABLE_SERIAL (0) -#define DBG_MAX_CYCLES (10) +#define DBG_CYCLE_DELAY (10e3) +#define DBG_MAX_CYCLES (-1) // debug print options #define DBG_BYTES_PER_LINE 16 // debug colors +#ifdef DBG_ENABLE_COLOR #define COL_BLK "\e[0;30m" #define COL_RED "\e[0;31m" #define COL_GRN "\e[0;32m" @@ -33,9 +33,20 @@ extern bool g_w2_sim_headless; #define COL_CYN "\e[0;36m" #define COL_WHT "\e[0;37m" #define COL_RST "\e[0m" +#else +#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__) +#define simprintf(message, ...) fprintf(stderr, COL_RED "[SIM] " COL_RST message, ##__VA_ARGS__) #define simprint(message) simprintf(message "\n") #define simprintfunc(name, fmt, ...) if (DBG_ENABLE_PRINTFUNC) { simprintf(COL_BLU "[FUNC] " \ COL_CYN name COL_RST "(" COL_YEL fmt COL_RST ")\n", ##__VA_ARGS__); } @@ -60,7 +71,7 @@ void green_led(unsigned char on); // NOLINT void clear(); // NOLINT void play(const char *melody); // NOLINT void serial_set_baud_rate(unsigned int rate); // NOLINT -void serial_send(char *message, unsigned int length); // NOLINT +void serial_send_blocking(char *message, unsigned int length); // NOLINT void serial_receive_ring(char *buffer, unsigned char size); // NOLINT unsigned char serial_get_received_bytes(); // NOLINT void set_motors(int left, int right); // NOLINT @@ -69,7 +80,7 @@ void qtr_read(unsigned int* sensor_values, unsigned char read_mode); // NOLINT unsigned int analog_read(unsigned char channel); // NOLINT void print(const char* str); // NOLINT -void w2_sim_setup(int argc, char **argv); +void w2_sim_setup(); void w2_sim_cycle_begin(); void w2_sim_print_serial(w2_s_bin *data); |