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
|
#pragma once
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdbool.h>
#include "../shared/bin.h"
extern bool g_w2_sim_headless;
// debug fine-tuning
#define DBG_ENABLE_PRINTFUNC (1)
#define DBG_ENABLE_SIMWARN (1)
#define DBG_ENABLE_SIMINFO (1)
#define DBG_ENABLE_CYCLEINFO (0)
#define DBG_ENABLE_SERIAL (1)
#define DBG_MAX_CYCLES (10)
// debug print options
#define DBG_BYTES_PER_LINE 16
// debug colors
#define COL_BLK "\e[0;30m"
#define COL_RED "\e[0;31m"
#define COL_GRN "\e[0;32m"
#define COL_YEL "\e[0;33m"
#define COL_BLU "\e[0;34m"
#define COL_MAG "\e[0;35m"
#define COL_CYN "\e[0;36m"
#define COL_WHT "\e[0;37m"
#define COL_RST "\e[0m"
// debug stdout print macros
#define simprintf(message, ...) if (!g_w2_sim_headless) printf(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__); }
#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__); }
/**
* simulates pololu library functions for local testing
* NOLINT is so clang-tidy doesn't correct function names
*/
void time_reset(); // NOLINT
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 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
unsigned char serial_get_received_bytes(); // NOLINT
void set_motors(int left, int right); // NOLINT
void w2_sim_setup(int argc, char **argv);
void w2_sim_cycle_begin();
void w2_sim_print_serial(w2_s_bin *data);
|