1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
|
#include <stdio.h>
#include <time.h>
#include <string.h>
#include <stdint.h>
#include <unistd.h>
#include <termios.h>
#include "sim.h"
#include "../shared/consts.h"
#include "../shared/protocol.h"
#include "sercomm.h"
#include "errcatch.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", "");
#ifdef W2_HOST_LINUX
clock_gettime(CLOCK_MONOTONIC, &reference_time);
#endif
}
unsigned long get_ms() {
simprintfunc("get_ms", "");
#ifdef W2_HOST_LINUX
struct timespec elapsed;
clock_gettime(CLOCK_MONOTONIC, &elapsed);
return ((elapsed.tv_sec * 1000) + (elapsed.tv_nsec / 1000000)) -
((reference_time.tv_sec * 1000) + (reference_time.tv_nsec / 1000000));
#endif
return 0;
}
void red_led(unsigned char on) {
simprintfunc("red_led", "%i", on);
}
void green_led(unsigned char on) {
simprintfunc("green_led", "%i", on);
}
void clear() {
simprintfunc("clear", "");
}
void play(const char* melody) {
simprintfunc("play", "\"%s\"", melody);
}
void serial_set_baud_rate(unsigned int rate) {
simprintfunc("serial_set_baud_rate", "%u", 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);
return;
}
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", "0x%016lx, %u", (uint64_t) buffer, size);
}
unsigned char serial_get_received_bytes() {
simprintfunc("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;
// 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);
// debug error
// w2_errcatch_throw(W2_E_WARN_BATTERY_LOW);
}
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;
}
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");
}
void set_motors(int left, int right) {
simprintfunc("set_motors", "%i, %i", left, right);
}
static const char* const W2_BUTTON_NAMES[] = {
"BUTTON_A",
"BUTTON_B",
"BUTTON_C",
"TOP_BUTTON",
"BOTTOM_BUTTON",
};
unsigned char get_single_debounced_button_press(unsigned char buttons) {
simprintfunc("get_single_debounced_button_press", "%s", W2_BUTTON_NAMES[buttons]);
return false;
}
void qtr_read(unsigned int* sensor_values, unsigned char read_mode) {
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;
sensor_values[3] = 0;
sensor_values[4] = 0;
}
unsigned int analog_read(unsigned char channel) {
simprintfunc("analog_read", "ADC%i", channel);
return 0;
}
void print(const char* str) {
simprintfunc("print", "\"%s\"", str);
}
|