X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcmdline.c;h=3ae4d3061721655ec3e247eebb79c35f15054045;hp=7c3ec9e99177d22063b56758e10e2284b8ab6582;hb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d;hpb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae

diff --git a/projects/microb2010/mainboard/cmdline.c b/projects/microb2010/mainboard/cmdline.c
index 7c3ec9e..3ae4d30 100644
--- a/projects/microb2010/mainboard/cmdline.c
+++ b/projects/microb2010/mainboard/cmdline.c
@@ -1,7 +1,7 @@
-/*  
+/*
  *  Copyright Droids Corporation
  *  Olivier Matz <zer0@droids-corp.org>
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -26,12 +26,14 @@
 #include <aversive.h>
 #include <aversive/error.h>
 
+#include <hostsim.h>
+
 #include <parse.h>
 #include <rdline.h>
 #include <ax12.h>
 #include <uart.h>
 #include <pwm_ng.h>
-#include <time.h>
+#include <clock_time.h>
 
 #include <pid.h>
 #include <quadramp.h>
@@ -53,13 +55,13 @@
 /******** See in commands.c for the list of commands. */
 extern parse_pgm_ctx_t main_ctx[];
 
-static void write_char(char c) 
+static void write_char(char c)
 {
 	uart_send(CMDLINE_UART, c);
 }
 
-static void 
-valid_buffer(const char *buf, uint8_t size) 
+static void
+valid_buffer(const char *buf, uint8_t size)
 {
 	int8_t ret;
 
@@ -76,7 +78,7 @@ valid_buffer(const char *buf, uint8_t size)
 		printf_P(PSTR("Bad arguments\r\n"));
 }
 
-static int8_t 
+static int8_t
 complete_buffer(const char *buf, char *dstbuf, uint8_t dstsize,
 		int16_t *state)
 {
@@ -88,34 +90,40 @@ complete_buffer(const char *buf, char *dstbuf, uint8_t dstsize,
 void emergency(char c)
 {
 	static uint8_t i = 0;
-	
+
 	/* interrupt traj here */
 	if (c == '\003')
 		interrupt_traj();
-	
+
 	if ((i == 0 && c == 'p') ||
 	    (i == 1 && c == 'o') ||
-	    (i == 2 && c == 'p')) 
+	    (i == 2 && c == 'p'))
 		i++;
 	else if ( !(i == 1 && c == 'p') )
 		i = 0;
-	if (i == 3)
+	if (i == 3) {
+#ifdef HOST_VERSION
+		hostsim_exit();
+#endif
 		reset();
+	}
 }
 
 /* log function, add a command to configure
  * it dynamically */
-void mylog(struct error * e, ...) 
+void mylog(struct error * e, ...)
 {
 	va_list ap;
+#ifndef HOST_VERSION
 	u16 stream_flags = stdout->flags;
+#endif
 	uint8_t i;
 	time_h tv;
 
 	if (e->severity > ERROR_SEVERITY_ERROR) {
 		if (gen.log_level < e->severity)
 			return;
-		
+
 		for (i=0; i<NB_LOGS+1; i++)
 			if (gen.logs[i] == e->err_num)
 				break;
@@ -125,17 +133,19 @@ void mylog(struct error * e, ...)
 
 	va_start(ap, e);
 	tv = time_get_time();
-	printf_P(PSTR("%ld.%.3ld: "), tv.s, (tv.us/1000UL));
-	
+	printf_P(PSTR("%d.%.3d: "), (int)tv.s, (int)(tv.us/1000UL));
+
 	printf_P(PSTR("(%d,%d,%d) "),
 		 position_get_x_s16(&mainboard.pos),
 		 position_get_y_s16(&mainboard.pos),
 		 position_get_a_deg_s16(&mainboard.pos));
-	
+
 	vfprintf_P(stdout, e->text, ap);
 	printf_P(PSTR("\r\n"));
 	va_end(ap);
+#ifndef HOST_VERSION
 	stdout->flags = stream_flags;
+#endif
 }
 
 int cmdline_interact(void)
@@ -143,14 +153,14 @@ int cmdline_interact(void)
 	const char *history, *buffer;
 	int8_t ret, same = 0;
 	int16_t c;
-	
+
 	rdline_init(&gen.rdl, write_char, valid_buffer, complete_buffer);
-	snprintf(gen.prompt, sizeof(gen.prompt), "mainboard > ");	
+	snprintf(gen.prompt, sizeof(gen.prompt), "mainboard > ");
 	rdline_newline(&gen.rdl, gen.prompt);
 
 	while (1) {
 		c = uart_recv_nowait(CMDLINE_UART);
-		if (c == -1) 
+		if (c == -1)
 			continue;
 		ret = rdline_char_in(&gen.rdl, c);
 		if (ret != 2 && ret != 0) {