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
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
|
#include <stdio.h>
#include <time.h>
#include <string.h>
#include <stdint.h>
#include <unistd.h>
#include <termios.h>
#include <fcntl.h>
#include "sim.h"
#include "../shared/consts.h"
#include "../shared/protocol.h"
#include "sercomm.h"
#include "../shared/errcatch.h"
struct timespec reference_time; // NOLINT
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_blocking(char* message, unsigned int length) {
for (unsigned int byte = 0; byte < length; byte++)
putc(message[byte] & 0xff, stdout);
fflush(stdout);
return;
simprintfunc("serial_send", "0x%02x", (uint8_t) message[0]);
}
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() {
// disable echo and enable raw mode
fcntl(STDIN_FILENO, F_SETFL, O_NONBLOCK);
struct termios term;
tcgetattr(STDIN_FILENO, &term);
term.c_lflag &= ~(ECHO | ICANON);
term.c_cc[VTIME] = 0;
term.c_cc[VMIN] = 1;
tcsetattr(STDIN_FILENO, 0, &term);
// debug error
// w2_errcatch_throw(W2_E_WARN_BATTERY_LOW);
}
void w2_sim_cycle_begin() {
fflush(stdout);
// 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) {
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++)
fprintf(stderr, " %02x", data->data[i]);
fprintf(stderr, "\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);
}
void lcd_goto_xy(unsigned int x, unsigned int y) {
simprintfunc("lcd_goto_xy", "%u, %u", x, y);
}
void delay(unsigned long duration) {
return delay_ms(duration);
}
void delay_ms(unsigned long duration) {
simprintfunc("delay_ms", "%lu", duration);
}
int read_battery_millivolts() {
simprintfunc("read_battery_millivolts", "");
return W2_BATTERY_FULL;
}
unsigned long get_ticks() {
simprintfunc("get_ticks", "");
#ifdef W2_HOST_LINUX
struct timespec now;
clock_gettime(CLOCK_MONOTONIC, &now);
return (now.tv_sec * 1e6) + (now.tv_nsec / 1e3);
#endif
}
unsigned long ticks_to_microseconds(unsigned long num_ticks) {
simprintfunc("ticks_to_microseconds", "%lu", num_ticks);
return num_ticks;
}
int read_line() {
return 0;
}
void play_frequency(unsigned int freq, unsigned int duration, unsigned char volume) {
simprintfunc("play_frequency", "%u, %u, %u", freq, duration, volume);
}
void calibrate_line_sensors(unsigned char read_mode) {
simprintfunc("calibrate_line_sensors", "%u", read_mode);
}
unsigned char pololu_3pi_init(unsigned int line_sensor_timeout) {
simprintfunc("pololu_3pi_init", "%u", line_sensor_timeout);
return 0;
}
|