VladislavOstapov/sdp-scheduler
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Исправлена ошибка линковки из-за hla-pause, добавлено переключение паузы и ночного режима. добавлена трассировка кода роботов на "панель"

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VladislavOstapov
2023-01-07 12:13:39 +03:00
parent ec7f508931
commit bbc73b4e31
5 changed files with 72 additions and 28 deletions
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44
utils.c
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@@ -285,75 +285,79 @@ char remove_barrel_from_zone(short zone) {
#ifdef EMULATOR
void debug_print_robot_code(const struct robot_code* code, const short robot_id) {
// printf("INFO: code length is %d\n", cmd_index);
printf("Code for R%d, B%d:\n", robot_id, code->barrel_id);
void debug_print_robot_code(const struct robot_code *code, const short robot_id, int fd) {
// dprintf(fd, "INFO: code length is %d\n", cmd_index);
dprintf(fd, "Code for R%d, B%d:\n", robot_id, code->barrel_id);
for (int i = 0; i < 16; i++) {
const short cmd_arg = (short)(code->code[i] & (short)(~ROBOT_CMD_MASK));
printf("%5d 0x%04X", i, code->code[i] & 0xFFFF);
if (code->PC == i) {
dprintf(fd, "==>%2d 0x%04X", i, code->code[i] & 0xFFFF);
} else {
dprintf(fd, " %2d 0x%04X", i, code->code[i] & 0xFFFF);
}
if ((code->code[i] & ROBOT_CMD_MASK) == ROBOT_CMD_END_code) {
printf(" END\n");
dprintf(fd, " END\n");
break;
}
switch ((short)(code->code[i] & (short)ROBOT_CMD_MASK)) {
case ROBOT_CMD_MOVE_TO_ZONE_code:
printf(" move to zone %d (with barrel: %d)\n", cmd_arg & (~ROBOT_WITH_BARREL), (cmd_arg & ROBOT_WITH_BARREL) != 0);
dprintf(fd, " move to zone %d (with barrel: %d)\n", cmd_arg & (~ROBOT_WITH_BARREL), (cmd_arg & ROBOT_WITH_BARREL) != 0);
break;
case ROBOT_CMD_MOVE_OFF_code:
printf(" move to offset pos\n");
dprintf(fd, " move to offset pos\n");
break;
case ROBOT_CMD_MOVE_ACCURATE_code:
printf(" move to accurate pos\n");
dprintf(fd, " move to accurate pos\n");
break;
case ROBOT_CMD_UP_code:
printf(" up (with barrel: %d)\n", (cmd_arg & ROBOT_WITH_BARREL) != 0);
dprintf(fd, " up (with barrel: %d)\n", (cmd_arg & ROBOT_WITH_BARREL) != 0);
break;
// в эмуляторе не важно где я, поэтому тут обе команды вниз обрабатываются одинаково
case ROBOT_CMD_DOWN_code:
printf(" down (with barrel: %d)\n", (cmd_arg & ROBOT_WITH_BARREL) != 0);
dprintf(fd, " down (with barrel: %d)\n", (cmd_arg & ROBOT_WITH_BARREL) != 0);
break;
case ROBOT_CMD_WAIT_code:
printf(" wait %d secs\n", cmd_arg);
dprintf(fd, " wait %d secs\n", cmd_arg);
break;
case ROBOT_CMD_TMR_SET_code:
printf(" set barrel timer %d secs\n", cmd_arg);
dprintf(fd, " set barrel timer %d secs\n", cmd_arg);
break;
case ROBOT_CMD_SET_LOCK_ZONE_code:
printf(" set lock zone %d\n", cmd_arg);
dprintf(fd, " set lock zone %d\n", cmd_arg);
break;
case ROBOT_CMD_CORRECT_AXIS_code:
if (cmd_arg == ROBOT_AXIS_X) {
printf(" correct axis: X\n");
dprintf(fd, " correct axis: X\n");
} else if (cmd_arg == ROBOT_AXIS_Z) {
printf(" correct axis: Z\n");
dprintf(fd, " correct axis: Z\n");
} else {
printf(" correct axis: INVALID (%d)\n", cmd_arg);
dprintf(fd, " correct axis: INVALID (%d)\n", cmd_arg);
}
break;
case ROBOT_CMD_INC_ZONE_code:
if (cmd_arg == ROBOT_ZONE_GAL) {
printf(" increment zone: galvanic\n");
dprintf(fd, " increment zone: galvanic\n");
} else if (cmd_arg == ROBOT_ZONE_ETCH) {
printf(" increment zone: etching\n");
dprintf(fd, " increment zone: etching\n");
} else {
printf(" increment zone: INVALID (0x%4X)\n", cmd_arg);
dprintf(fd, " increment zone: INVALID (0x%4X)\n", cmd_arg);
}
break;
default:
printf(" UNKNOWN: 0x%04X\n", code->code[i] & 0xFFFF);
dprintf(fd, " UNKNOWN: 0x%04X\n", code->code[i] & 0xFFFF);
}
}
}