diff options
Diffstat (limited to 'robot')
| -rw-r--r-- | robot/readme.md | 16 | ||||
| -rw-r--r-- | robot/sercomm.c | 15 | ||||
| -rw-r--r-- | robot/sim.c | 35 | ||||
| -rw-r--r-- | robot/sim.h | 19 | ||||
| -rw-r--r-- | robot/tests/dirc.bin | bin | 6 -> 7 bytes | |||
| -rw-r--r-- | robot/tests/ping.bin | bin | 3 -> 4 bytes |
6 files changed, 19 insertions, 66 deletions
diff --git a/robot/readme.md b/robot/readme.md index 168be02..e6ab294 100644 --- a/robot/readme.md +++ b/robot/readme.md @@ -112,19 +112,15 @@ this list will probably get updated from time to time: global todo: -- [ ] start robot in calibration mode - [ ] assume robot starts in maze -- [ ] 'crosswalk' transition detection in seperate file (used by grid and maze - mode) +- [ ] 'crosswalk' transition detection and line following in seperate file + (used by grid, maze, and charge mode) - [ ] client software architecture -- [x] mode 'return' buffer -- [x] clear global timer at start of cycle instead of just for mode selection - module (for last ping time measurement) -- [ ] calibrate (line-detecting) light sensors in setup.c, or manually by - placing the robot and pressing a button (maybe make this a seperate mode) -- [ ] create labeled timer functions like nodejs `console.time()` and +- [ ] enter mode_scal by placing the robot on a white surface and pressing a + button +- [x] create labeled timer functions like nodejs `console.time()` and `console.timeEnd()` (use for serial read timeout constraint) -- [ ] `serial_parse` doesn't properly handle escaped `0xff` bytes in listen +- [x] `serial_parse` doesn't properly handle escaped `0xff` bytes in listen mode ### hypervisor diff --git a/robot/sercomm.c b/robot/sercomm.c index 83d6419..e0ea39d 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -26,16 +26,21 @@ void w2_sercomm_main() { #endif // read and parse data while (serial_get_received_bytes() != g_w2_serial_buffer_index) { - w2_serial_parse(g_w2_serial_buffer[g_w2_serial_buffer_index]); + if (!w2_serial_parse(g_w2_serial_buffer[g_w2_serial_buffer_index])) + w2_errcatch_throw(W2_E_WARN_SERIAL_NOISY); g_w2_serial_buffer_index = (g_w2_serial_buffer_index + 1) % W2_SERIAL_READ_BUFFER_SIZE; } // send data while (g_w2_sercomm_offset != g_w2_sercomm_index) { - w2_s_bin *data = g_w2_sercomm_buffer[g_w2_sercomm_offset]; - char *data_cast = malloc(data->bytes); - memcpy(data_cast, data->data, data->bytes); - serial_send(data_cast, data->bytes); + w2_s_bin *data = g_w2_sercomm_buffer[g_w2_sercomm_offset]; +#ifdef W2_SIM + w2_sim_print_serial(data); +#endif + for (uint8_t i = 0; i < data->bytes; i++) { + uint8_t byte = data->data[i]; + byte == 0xff ? serial_send("\xff\xff", 2) : serial_send((char *)&byte, 1); + } g_w2_sercomm_offset = (g_w2_sercomm_offset + 1) % W2_SERCOMM_BUFFER_SIZE; } } diff --git a/robot/sim.c b/robot/sim.c index 4efdc4d..6283694 100644 --- a/robot/sim.c +++ b/robot/sim.c @@ -3,17 +3,7 @@ #include <string.h> #include <stdint.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" @@ -21,12 +11,7 @@ #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[] = { @@ -96,16 +81,11 @@ void serial_send(char* message, unsigned int length) { return; } - if (DBG_ENABLE_PRINTFUNC) simprintfunc("serial_send", "<see below>, %u", length); - - if (!DBG_ENABLE_SERIAL) return; - w2_s_bin *bin = w2_bin_s_alloc(length, (uint8_t*) message); - w2_sim_print_serial(bin); - free(bin); + if (DBG_ENABLE_PRINTFUNC) simprintfunc("serial_send", "<%u byte%s>", length, length == 1 ? "" : "s"); } void serial_receive_ring(char* buffer, unsigned char size) { - simprintfunc("serial_receive_ring", PTR_FMT ", %u", (uint64_t) buffer, size); + simprintfunc("serial_receive_ring", "0x%016lx, %u", (uint64_t) buffer, size); } unsigned char serial_get_received_bytes() { @@ -118,21 +98,12 @@ 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); @@ -170,7 +141,7 @@ unsigned char get_single_debounced_button_press(unsigned char buttons) { } void qtr_read(unsigned int* sensor_values, unsigned char read_mode) { - simprintfunc("qtr_read", PTR_FMT ", %s", (uint64_t) sensor_values, read_mode == QTR_EMITTERS_ON ? "QTR_EMITTERS_ON" : "???"); + simprintfunc("qtr_read", "0x%016lx, %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; diff --git a/robot/sim.h b/robot/sim.h index aa587cd..249414d 100644 --- a/robot/sim.h +++ b/robot/sim.h @@ -24,7 +24,6 @@ extern bool g_w2_sim_headless; #define DBG_BYTES_PER_LINE 16 // debug colors -#ifdef W2_HOST_LINUX #define COL_BLK "\e[0;30m" #define COL_RED "\e[0;31m" #define COL_GRN "\e[0;32m" @@ -34,18 +33,6 @@ extern bool g_w2_sim_headless; #define COL_CYN "\e[0;36m" #define COL_WHT "\e[0;37m" #define COL_RST "\e[0m" -#endif -#ifdef W2_HOST_WIN32 -#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__) @@ -54,12 +41,6 @@ extern bool g_w2_sim_headless; COL_CYN name COL_RST "(" COL_YEL fmt COL_RST ")\n", ##__VA_ARGS__); } #define simwarn(message, ...) if (DBG_ENABLE_SIMWARN) { simprintf(COL_YEL "[WARN] " COL_RST message, ##__VA_ARGS__); } #define siminfo(message, ...) if (DBG_ENABLE_SIMINFO) { simprintf(COL_MAG "[INFO] " COL_RST message, ##__VA_ARGS__); } -#ifdef W2_HOST_LINUX -#define PTR_FMT "0x%016lx" -#endif -#ifdef W2_HOST_WIN32 -#define PTR_FMT "0x%016llx" -#endif #define BUTTON_A 0 #define BUTTON_B 1 diff --git a/robot/tests/dirc.bin b/robot/tests/dirc.bin Binary files differindex 1aea35c..8d141e8 100644 --- a/robot/tests/dirc.bin +++ b/robot/tests/dirc.bin diff --git a/robot/tests/ping.bin b/robot/tests/ping.bin Binary files differindex 456804e..2bbe45e 100644 --- a/robot/tests/ping.bin +++ b/robot/tests/ping.bin |