X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fhostsim%2Frobotsim.c;h=7ed49f48a8cb7d5507dd03878885b5c9fd4c51bf;hp=6f4dbbfa405615c789439614e20a73b9d31e5a36;hb=145b19e73ce5751b365bc53769189addeecee81b;hpb=1f8274e9bca0d2433f101f267b86bc70dc2ae8c4

diff --git a/projects/microb2010/tests/hostsim/robotsim.c b/projects/microb2010/tests/hostsim/robotsim.c
index 6f4dbbf..7ed49f4 100644
--- a/projects/microb2010/tests/hostsim/robotsim.c
+++ b/projects/microb2010/tests/hostsim/robotsim.c
@@ -22,6 +22,9 @@
 #include <stdio.h>
 #include <string.h>
 #include <stdint.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
 
 #include <aversive.h>
 #include <aversive/error.h>
@@ -46,8 +49,10 @@
 static int32_t l_pwm, r_pwm;
 static int32_t l_enc, r_enc;
 
+static int fd;
+
 /* */
-#define FILTER  98
+#define FILTER  97
 #define FILTER2 (100-FILTER)
 
 /* must be called periodically */
@@ -62,6 +67,18 @@ void robotsim_update(void)
 	r_enc += (r_speed / 1000);
 }
 
+void robotsim_dump(void)
+{
+	char buf[BUFSIZ];
+	int len;
+
+	len =snprintf(buf, sizeof(buf), "%d %d %d\n",
+		      position_get_x_s16(&mainboard.pos),
+		      position_get_y_s16(&mainboard.pos),
+		      position_get_a_deg_s16(&mainboard.pos));
+	write(fd, buf, len);
+}
+
 void robotsim_pwm(void *arg, int32_t val)
 {
 	//	printf("%p, %d\n", arg, val);
@@ -79,3 +96,12 @@ int32_t robotsim_encoder_get(void *arg)
 		return r_enc;
 	return 0;
 }
+
+int robotsim_init(void)
+{
+	mkfifo("/tmp/.robot", 0600);
+	fd = open("/tmp/.robot", O_WRONLY, 0);
+	if (fd < 0)
+		return -1;
+	return 0;
+}