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Did some more work on the RobotRepeater class, fixed a bunch of error…
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…s in the embedded version of the internal library, and started work on the embedded compilation code.
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raceimaztion committed May 28, 2011
1 parent 7f91f2b commit 69e4480
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Showing 5 changed files with 216 additions and 19 deletions.
13 changes: 12 additions & 1 deletion create/simulator/RobotRepeater.java
View file
Expand Up @@ -27,7 +27,7 @@ public class RobotRepeater
protected BufferedInputStream realIn;
protected OutputStream realOut;

public RobotRepeater(Process master)
private RobotRepeater(Process master)
{
masterProcess = master;

Expand All @@ -36,13 +36,24 @@ public RobotRepeater(Process master)
coreOut = new PrintStream(master.getOutputStream());
}

/**
* Create a new RobotRepeater with a controlling process and a simulated robot.
* @param master The controlling process.
* @param robot The simulated robot.
*/
public RobotRepeater(Process master, SimulatedRobot robot)
{
this(master);

simulatedRobot = robot;
}

/**
* Create a new RobotRepeater with a controlling process and a serial port to control a real robot.
* @param master The controlling proces.
* @param port The serial port that connects to the real robot.
* @throws IOException
*/
public RobotRepeater(Process master, SerialPort port) throws IOException
{
this(master);
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186 changes: 178 additions & 8 deletions create/simulator/window/CreateProject.java
View file
Expand Up @@ -49,10 +49,38 @@ protected CreateProject(File projectFolder)

/**
* Compiles the current code for execution on this computer.
* @return If there's a problem, returns a BuildProblem object.
*/
public BuildProblem buildSimulatorProject()
{
// TODO: Build the project for local simulation
BuildProblem problem = null;

// Compile for local execution:
problem = compileLocalProject();
if (problem != null)
return problem;

return null;
} // end buildSimulatorProject()

public BuildProblem buildSerialProject()
{
BuildProblem problem = null;

// Compile for local execution:
problem = compileLocalProject();
if (problem != null)
return problem;

return null;
} // end buildSerialProject()

/**
* Compiles this CreateProject for local execution.
* @return If there's a problem, returns a BuildProblem object.
*/
private BuildProblem compileLocalProject()
{
// If we're running Linux, try compiling with GCC:
if (MainLauncher.getRuntimePlatform() == Platform.LINUX)
{
Expand All @@ -77,7 +105,6 @@ public BuildProblem buildSimulatorProject()
for (String module : modules)
{
main.printf("#include \"%s\"\n", module);
System.out.println(module);
}
CreateUtils.copyFile(FileNabber.FILE_MAIN, main);
main.flush();
Expand All @@ -89,7 +116,6 @@ public BuildProblem buildSimulatorProject()

// Try to compile the files
String command = String.format("g++ -DMODE_LOCAL -o ..%s%s%s%s %s", File.separator, localBinFolder.getName(), File.separator, getProjectName(), FileNabber.FILE_MAIN);
System.out.println(command);

Process compiler = runtime.exec(command, null, sourceFolder);
InputStream stdIn = compiler.getInputStream();
Expand Down Expand Up @@ -128,14 +154,151 @@ public BuildProblem buildSimulatorProject()
// Fail, we don't support other OSes just yet
return new BuildProblem(this, "Operating System not supported.", "Operating System not supported.", -2);
}
}
} // end compileLocalProblem()

/**
* Compiles the current code for execution on the Command Module.
* @return If there's a problem, returns a BuildProblem object.
*/
public void buildEmbeddedProject()
public BuildProblem buildEmbeddedProject()
{
BuildProblem problem;

problem = compileEmbeddedProject();
if (problem != null)
return problem;

return null;
} // end buildEmbeddedProject()

private BuildProblem compileEmbeddedProject()
{
// If we're running Linux, try compiling with GCC:
if (MainLauncher.getRuntimePlatform() == Platform.LINUX)
{
File mainSource = null;
File header1 = null, header2 = null;

// Try compiling the project under Linux using AVR-GCC:
try
{
// Copy the source library into the project folder
String[] modules = getModuleNames();

mainSource = new File(sourceFolder, FileNabber.FILE_MAIN);
header1 = new File(sourceFolder, FileNabber.FILE_HEADER_CM);
header2 = new File(sourceFolder, FileNabber.FILE_HEADER_OI);

// Copy the main file,
PrintStream main = new PrintStream(new FileOutputStream(mainSource));
main.print("#include \"cm.h\"\n");
for (String module : modules)
{
main.printf("#include \"%s\"\n", module);
}
CreateUtils.copyFile(FileNabber.FILE_MAIN, main);
main.flush();
main.close();

// Copy the headers.
CreateUtils.copyFile(FileNabber.FILE_HEADER_CM, header1);
CreateUtils.copyFile(FileNabber.FILE_HEADER_OI, header2);

/*
* Compile: Done
* avr-g++ -c -mmcu=atmega168 -I. -gdwarf-2 -DF_CPU=18432000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-adhlns={$project}.lst -std=gnu99 -MD -MP -MF .dep/{$project}.o.d {$source} -o {$project}.o
*
* Link:
* avr-g++ -mmcu=atmega168 -I. -gdwarf-2 -DF_CPU=18432000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-adhlns={$project}.o -std=gnu99 -MD -MP -MF .dep/{$project}.elf.d {$project}.o --output {$project}.elf -Wl,-Map={$project}.map,--cref -lm
*
* Creating load file for Flash:
* avr-objcopy -O ihex -R .eeprom {$project}.elf {$project}.hex
*
* Creating load file for EEPROM:
* avr-objcopy -j .eeprom --set-section-flags=.eeprom="alloc,load" --change-section-lma .eeprom=0 -O ihex {$project}.elf {$project}.eep
*
* Creating extended listing:
* avr-objdump -h -S {$project}.elf > {$project}.lss
*
* Creating symbol table:
* avr-nm -n {$project}.elf > {$project}.sym
*/

// Compile the files
String command;
BuildProblem problem = null;

// command = String.format("avr-g++ -DMODE_EMBEDDED -c -mmcu=atmega168 -I. -gdwarf-2 -DF_CPU=18432000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wa,-adhlns=%s.lst -MD -MP -MF .dep/%s.o.d %s -o %s.o", projectName, projectName, FileNabber.FILE_MAIN, projectName);
command = String.format("avr-g++ -DMODE_EMBEDDED -c -mmcu=atmega168 -I. -gdwarf-2 -DF_CPU=18432000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wa,-adhlns=../ebin/%s.lst -MD -MP %s -o ../ebin/%s.o", projectName, FileNabber.FILE_MAIN, projectName);
System.out.println(command);
problem = runProgram(command, sourceFolder);
if (problem != null)
return problem;

// Link the files:
command = String.format("avr-g++ -mmcu=atmega168 -I. -gdwarf-2 -DF_CPU=18432000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-adhlns=%s.o -std=gnu99 -MD -MP -MF .dep/%s.elf.d %s.o --output %s.elf -Wl,-Map=%s.map,--cref -lm", projectName, projectName, projectName, projectName, projectName);
System.out.println(command);
problem = runProgram(command, embeddedBinFolder);
if (problem != null)
return problem;

// Create a load file for Flash ROMs:
command = String.format("avr-objcopy -O ihex -R .eeprom %s.elf %s.hex", projectName, projectName);
System.out.println(command);
problem = runProgram(command, embeddedBinFolder);
if (problem != null)
return problem;

// Create a load file for EEPROMs:
command = String.format("avr-objcopy -O ihex -R .eeprom %s.elf %s.hex", projectName, projectName);
System.out.println(command);
problem = runProgram(command, embeddedBinFolder);
if (problem != null)
return problem;

// If we got here, we succeeded
return null;
}
catch (IOException er)
{
return new BuildProblem(this, "File I/O error.", er.getMessage(), -2);
}
finally
{
// Delete the files we added:
if (mainSource != null) mainSource.delete();
if (header1 != null) header1.delete();
if (header2 != null) header2.delete();
}
// return new BuildProblem(this, "Compiler failed.", "Unhandled error ocurred.", -1);
}
else
{
// Fail, we don't support other OSes just yet
return new BuildProblem(this, "Operating System not supported.", "Operating System not supported.", -2);
}
} // end compileEmbeddedProject()

private BuildProblem runProgram(String command, File folder) throws IOException
{
// TODO: Build the project for embedded operation.
Process compiler = Runtime.getRuntime().exec(command, null, folder);
InputStream stdIn = compiler.getInputStream();
InputStream errIn = compiler.getErrorStream();
Integer result = null;
try {
result = compiler.waitFor();
} catch (InterruptedException er) { }

if (result == 0)
{
// We succeeded
return null;
}
else
{
// Something failed
return new BuildProblem(this, new BufferedReader(new InputStreamReader(stdIn)), new BufferedReader(new InputStreamReader(errIn)), result);
}
}

/**
Expand Down Expand Up @@ -177,7 +340,14 @@ public static CreateProject newProject(String name)
srcFolder.mkdir();

// Add a bare minimum source file to the source folder
// TODO: Add a template source file
try
{
CreateUtils.copyFile(FileNabber.FILE_TEMPLATE, new File(srcFolder, "Main.cc"));
}
catch (IOException er)
{

}

// Return the new project
return new CreateProject(projectFolder);
Expand Down Expand Up @@ -222,5 +392,5 @@ public TextEditorPane loadModule(String moduleName)
}
}
return null;
}
} // end loadModule(String)
}
11 changes: 10 additions & 1 deletion create/simulator/window/EditorWindow.java
View file
Expand Up @@ -396,11 +396,20 @@ else if (command.equals(COMMAND_CHOOSE_PROJECT))
else if (command.equals(COMMAND_RUN_EMBEDDED))
{
// Run -> Run on Command Module...
BuildProblem problem = project.buildEmbeddedProject();
if (problem == null)
{
JOptionPane.showMessageDialog(window, "Compile completed successfully.", "Create Simulator", JOptionPane.INFORMATION_MESSAGE);
}
else
{
buildProblemDialog.showMessage(problem);
}
}
else if (command.equals(COMMAND_RUN_SERIAL))
{
// Run -> Run serial control...
BuildProblem problem = project.buildSimulatorProject();
BuildProblem problem = project.buildSerialProject();
if (problem == null)
{
JOptionPane.showMessageDialog(window, "Compile completed successfully.", "Create Simulator", JOptionPane.INFORMATION_MESSAGE);
Expand Down
5 changes: 4 additions & 1 deletion include/cm.h
View file
Expand Up @@ -21,10 +21,13 @@
#ifdef MODE_LOCAL
#include <stdio.h>

typedef unsigned char uint8_t;
typedef unsigned short uint16_t;
typedef signed short int16_t;
#endif

typedef unsigned char uint8_t;
typedef signed char int8_t;

// Roomba IR codes:
// Remote codes
#define REMOTE_NO_BUTTON 255
Expand Down
20 changes: 12 additions & 8 deletions include/main.cc
View file
Expand Up @@ -3,11 +3,18 @@
//#include "cm.h"

// For waiting in milliseconds
#ifdef MODE_LOCAL
#ifdef WINDOW
#include <Winbase.h>
#else
#include <unistd.h>
#endif
#endif

#ifdef MODE_EMBEDDED
volatile uint16_t __timer_count = 0;
volatile uint8_t __timer_running = 0;
#endif

void padCommand();
void endCommand();
Expand Down Expand Up @@ -118,7 +125,7 @@ void cm_baud_rate(const uint8_t &baud)
cli();

// Switch the baud rate register
switch (code)
switch (baud)
{
case Baud115200:
UBRR0 = Ubrr115200;
Expand Down Expand Up @@ -825,8 +832,8 @@ void cm_wait_ms(const uint16_t &time)
{
#ifdef MODE_EMBEDDED
__timer_count = time;
__timer_on = 1;
while (__timer_on) ;
__timer_running = 1;
while (__timer_running) ;
#endif
#ifdef MODE_LOCAL
// TODO: Figure out how to wait in a resolution of milliseconds
Expand All @@ -845,7 +852,7 @@ void sendByte(const uint8_t &value)
{
#ifdef MODE_EMBEDDED
while(!(UCSR0A & _BV(UDRE0))) ;
UDR0 = data;
UDR0 = value;
#else // Typically, MODE_LOCAL is defined if MODE_EMBEDDED isn't
printf("0x%02X", value);
#endif
Expand Down Expand Up @@ -931,17 +938,14 @@ int main(void)
sendByte(CmdStart);
}

volatile uint16_t __timer_count = 0;
volatile uint8_t __timer_running = 0;

// This is the timer callback
// Timer 1 interrupt times delays in ms
SIGNAL(SIG_OUTPUT_COMPARE1A)
{
if (__timer_count)
__timer_count --;
else
__timer_on = 0;
__timer_running = 0;
}

#endif
Expand Down

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