5 files changed, 100 insertions, 26 deletions

diff --git a/robot/sercomm.c b/robot/sercomm.c
index f4b7eb5..a1aa31c 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -46,3 +46,64 @@ void w2_sercomm_append_msg(w2_s_bin *data) {
 	if (g_w2_sercomm_buffer_full) return;
 	g_w2_sercomm_index = next_index;
 }
+
+void w2_scmd_ping_rx(w2_s_bin *data) {
+	return;
+}
+
+void w2_scmd_mode_rx(w2_s_bin *data) {
+	return;
+}
+
+void w2_scmd_sped_rx(w2_s_bin *data) {
+	return;
+}
+
+void w2_scmd_dirc_rx(w2_s_bin *data) {
+	return;
+}
+
+void w2_scmd_cord_rx(w2_s_bin *data) {
+	return;
+}
+
+void w2_scmd_bomd_rx(w2_s_bin *data) {
+	return;
+}
+
+void w2_scmd_sres_rx(w2_s_bin *data) {
+	return;
+}
+
+void w2_scmd_mcfg_rx(w2_s_bin *data) {
+	return;
+}
+
+void w2_scmd_sens_rx(w2_s_bin *data) {
+	return;
+}
+
+void w2_scmd_info_rx(w2_s_bin *data) {
+	return;
+}
+
+void w2_scmd_disp_rx(w2_s_bin *data) {
+	return;
+}
+
+void w2_scmd_play_rx(w2_s_bin *data) {
+	return;
+}
+
+void w2_scmd_cled_rx(w2_s_bin *data) {
+	return;
+}
+
+void w2_scmd_ping_tx(w2_s_bin *data) { }
+void w2_scmd_expt_tx(w2_s_bin *data) { }
+void w2_scmd_mode_tx(w2_s_bin *data) { }
+void w2_scmd_cord_tx(w2_s_bin *data) { }
+void w2_scmd_bomd_tx(w2_s_bin *data) { }
+void w2_scmd_sens_tx(w2_s_bin *data) { }
+void w2_scmd_info_tx(w2_s_bin *data) { }
+
diff --git a/robot/sercomm.h b/robot/sercomm.h
index a53d3e2..d717f01 100644
--- a/robot/sercomm.h
+++ b/robot/sercomm.h
@@ -26,27 +26,6 @@ extern uint8_t g_w2_serial_buffer_head;
  */
 void w2_sercomm_main();
 
+/** append binary message to send buffer */
 void w2_sercomm_append_msg(w2_s_bin *data);
 
-w2_s_bin w2_sercomm_struct_pack(w2_s_property_list generic_struct);
-
-w2_s_bin w2_sercomm_rx_ping();
-w2_s_bin w2_sercomm_tx_ping();
-w2_s_bin w2_sercomm_tx_expt();
-w2_s_bin w2_sercomm_rx_mode();
-w2_s_bin w2_sercomm_tx_mode();
-w2_s_bin w2_sercomm_rx_sped();
-w2_s_bin w2_sercomm_rx_dirc();
-w2_s_bin w2_sercomm_rx_cord();
-w2_s_bin w2_sercomm_tx_cord();
-w2_s_bin w2_sercomm_rx_bomd();
-w2_s_bin w2_sercomm_tx_bomd();
-w2_s_bin w2_sercomm_rx_sres();
-w2_s_bin w2_sercomm_rx_mcfg();
-w2_s_bin w2_sercomm_rx_sens();
-w2_s_bin w2_sercomm_tx_sens();
-w2_s_bin w2_sercomm_rx_info();
-w2_s_bin w2_sercomm_tx_info();
-w2_s_bin w2_sercomm_rx_disp();
-w2_s_bin w2_sercomm_rx_play();
-w2_s_bin w2_sercomm_rx_cled();
diff --git a/robot/setup.c b/robot/setup.c
index 6dfef50..944ea68 100644
--- a/robot/setup.c
+++ b/robot/setup.c
@@ -24,7 +24,7 @@ void w2_setup_main() {
 	// clear lcd
 	clear();
 
-	// start serial input
+	// start serial i/o
 	serial_set_baud_rate(W2_SERIAL_BAUD);
 	serial_receive_ring(g_w2_serial_buffer, W2_SERIAL_READ_BUFFER_SIZE);
 
diff --git a/robot/sim.c b/robot/sim.c
index 8af672e..57e0ef5 100644
--- a/robot/sim.c
+++ b/robot/sim.c
@@ -7,11 +7,34 @@
 
 #include "sim.h"
 #include "../shared/consts.h"
+#include "../shared/protocol.h"
 #include "sercomm.h"
 
 struct timespec reference_time; // NOLINT
 bool g_w2_sim_headless = false;
 
+static const char* const W2_CMD_NAMES[] = {
+	"PING",
+	"EXPT",
+	"MODE",
+	"SPED",
+	"DIRC",
+	"CORD",
+	"BOMD",
+	"SRES",
+	"MCFG",
+	"SENS",
+	"INFO",
+	"DISP",
+	"PLAY",
+	"CLED",
+};
+
+static const char* const W2_CMD_DIRECTIONS[] = {
+	"RX",
+	"TX",
+};
+
 void time_reset() {
 	simprintfunc("time_reset", "");
 	clock_gettime(CLOCK_MONOTONIC, &reference_time);
@@ -107,3 +130,11 @@ void w2_sim_cycle_begin() {
 	return;
 }
 
+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");
+}
+
diff --git a/robot/sim.h b/robot/sim.h
index 336592b..6e2498d 100644
--- a/robot/sim.h
+++ b/robot/sim.h
@@ -5,6 +5,8 @@
 #include <unistd.h>
 #include <stdbool.h>
 
+#include "../shared/bin.h"
+
 extern bool g_w2_sim_headless;
 
 // debug fine-tuning
@@ -45,11 +47,12 @@ unsigned long get_ms(); // NOLINT
 void red_led(unsigned char on); // NOLINT
 void green_led(unsigned char on); // NOLINT
 void clear(); // NOLINT
-void play(const char* melody); // 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_receive_ring(char* buffer, unsigned char size); // NOLINT
+void serial_send(char *message, unsigned int length); // NOLINT
+void serial_receive_ring(char *buffer, unsigned char size); // NOLINT
 unsigned char serial_get_received_bytes(); // NOLINT
 void w2_sim_setup(int argc, char **argv);
 void w2_sim_cycle_begin();
+void w2_sim_print_serial(w2_s_bin *data);