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

emulator.cpp

@@ -5,6 +5,7 @@
 #include <cstring>
 #include <iostream>
 #include <libc.h>
+#include <netinet/tcp.h>
 #include "emulator.h"
 #include "robot.h"
 
@@ -48,6 +49,7 @@ char one_robot_mode = (char)(hla_robot1_en ^ hla_robot2_en);
 char scheduler_en = 1;
 char scheduler_start_signal = 1;
 char auto_mode_pause = 0;
+char hla_night_mode = 0;
 
 
 short etching_zone = 0, galvanizing_zone = 0;
@@ -154,7 +156,7 @@ static void showAll() {
     image_init();
     image_draw_borders();
     char tmp[64];
-    sprintf(tmp, "Lock1=%02d Lock2=%02d", robot1_lock_zone, robot2_lock_zone);
+    sprintf(tmp, "Lock1=%2d Lock2=%2d", robot1_lock_zone, robot2_lock_zone);
     image_insert_sprite(0, 2, tmp);
 
     int barrels_count = 0, barrels_time = 0;
@@ -176,9 +178,12 @@ static void showAll() {
         max_time = barrels_time;
     }
 
-    sprintf(tmp, "barrels=%02d time=%04d max_time=%04d", barrels_count, barrels_time, max_time);
+    sprintf(tmp, "barrels=%2d time=%d max_time=%d", barrels_count, barrels_time, max_time);
     image_insert_sprite(0, 25, tmp);
 
+    sprintf(tmp, "MODE: night=%d pause=%d", hla_night_mode, auto_mode_pause);
+    image_insert_sprite(0, 70, tmp);
+
     // рисование бочек
     for (int i = 0; i < BARRELS_COUNT; i++) {
         const auto& b = barrels[i];
@@ -220,16 +225,23 @@ static void open_socket() {
 
     sock_fd = socket(AF_INET, SOCK_STREAM, 0);
     if (sock_fd < 0) {
-        printf("\n Socket creation error \n");
+        printf("Socket creation error\n");
         exit(-1);
     }
 
+    // setting socket options
+    int flag = 1;
+
+    if(setsockopt(sock_fd, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(flag)) == -1){
+        printf("setsockopt TCP_NODELAY failed for server socket on address 127.0.0.1\n");
+    }
+
     serv_addr.sin_family = AF_INET;
     serv_addr.sin_port = htons(40000);
 
     // Convert IPv4 and IPv6 addresses from text to binary form
     if (inet_pton(AF_INET, "127.0.0.1", &serv_addr.sin_addr) <= 0) {
-        printf("\nInvalid address/ Address not supported \n");
+        printf("Invalid address/ Address not supported\n");
         exit(-1);
     }
 
@@ -240,6 +252,9 @@ static void open_socket() {
 }
 
 int main() {
+    robot1.mx.correct_sensor = true;
+    robot2.mx.correct_sensor = true;
+
     open_socket();
 
     current_tic = 0;
@@ -253,12 +268,31 @@ int main() {
         scheduler_main();
         send_str("\033c");
         showAll();
+
         if (message) {
             std::cout << message << std::endl;
             send_str(message);
             send_str("\n");
         }
 
+        if (!one_robot_mode) {
+            if (!robot2.mx.correct_sensor) {
+                if (robot2.dx.current_zone + 1 >= robot1.dx.current_zone) {
+                    printf("ASSERTION FAILED: FOUND ROBOTS CORRUPTION\n");
+                    if (robot1_code.PC >= 0)
+                        debug_print_robot_code(&robot1_code, 1, 0);
+                    if (robot2_code.PC >= 0)
+                        debug_print_robot_code(&robot2_code, 2, 0);
+                    break;
+                }
+            }
+        }
+
+        if (robot1_code.PC >= 0)
+            debug_print_robot_code(&robot1_code, 1, sock_fd);
+        if (robot2_code.PC >= 0)
+            debug_print_robot_code(&robot2_code, 2, sock_fd);
+
         send_str("cmd >> ");
         std::string in;
         while (true) {
@@ -292,6 +326,12 @@ int main() {
             } else if (in == "2") {
                 button_load = 1;
                 message = "Нажата кнопка загрузки 2";
+            } else if (in == "n") {
+                hla_night_mode = !hla_night_mode;
+                message = "Переключен ночной режим";
+            } else if (in == "p") {
+                auto_mode_pause = !auto_mode_pause;
+                message = "Переключен режим паузы";
             } else {
                 message = "Неизвестная команда. q - выход, u - выгрузка, 1 - загрузка 1, 2 - загрузка 2";
             }
@@ -299,6 +339,7 @@ int main() {
         current_tic++;
     }
 
+    fsync(sock_fd);
     close(sock_fd);
     return 0;
 }

emulator.h

@@ -20,7 +20,6 @@ void scheduler_main();
 // Кнопки с панели
 extern char hla_auto_mode;
 extern char hla_night_mode;
-extern char hla_pause;
 extern char hla_correct_command;
 
 

scheduler.c

@@ -91,7 +91,7 @@ void schedule_one_robot(const struct scheduler_task* tasks, const struct robot_r
                          r->dx.current_zone, robot_id);
 
 #ifdef EMULATOR
-        debug_print_robot_code(code, robot_id);
+        debug_print_robot_code(code, robot_id, 0);
 #endif
     }
 }

utils.c

@@ -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) {
+void debug_print_robot_code(const struct robot_code *code, const short robot_id, int fd) {
-//    printf("INFO: code length is %d\n", cmd_index);
+//    dprintf(fd, "INFO: code length is %d\n", cmd_index);
-    printf("Code for R%d, B%d:\n", robot_id, code->barrel_id);
+    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);
         }
     }
 }

utils.h

@@ -347,7 +347,7 @@ void create_operation(struct robot_code *code, const short barrel_id, const shor
                       const short current_zone, const short robot_id);
 
 #ifdef EMULATOR
-void debug_print_robot_code(const struct robot_code* code, const short robot_id);
+void debug_print_robot_code(const struct robot_code *code, const short robot_id, int fd);
 #endif
 
 #ifdef __cplusplus