Initial sim implementation

2017-12-18 13:04:17 -08:00
parent 6836852122
commit 6320379d02
88 changed files with 3949 additions and 3552 deletions
--- a/sim/state/motor.ts
+++ b/sim/state/motor.ts
@ -0,0 +1,49 @@
+namespace pxsim {
+
+    enum MotorDataOff {
+        TachoCounts = 0, // int32
+        Speed = 4, // int8
+        Padding = 5, // int8[3]
+        TachoSensor = 8, // int32
+        Size = 12
+    }
+
+    export class EV3MotorState {
+
+        constructor() {
+            let data = new Uint8Array(12 * DAL.NUM_OUTPUTS)
+            MMapMethods.register("/dev/lms_motor", {
+                data,
+                beforeMemRead: () => {
+                    console.log("motor before read");
+                    for (let port = 0; port < DAL.NUM_OUTPUTS; ++port) {
+                        data[MotorDataOff.TachoCounts * port] = 0; // Tacho count
+                        data[MotorDataOff.Speed * port] = 50; // Speed
+                        data[MotorDataOff.TachoSensor * port] = 0; // Count
+                    }
+                },
+                read: buf => {
+                    let v = "vSIM"
+                    for (let i = 0; i < buf.data.length; ++i)
+                        buf.data[i] = v.charCodeAt(i) || 0
+                    console.log("motor read");
+                    console.log(buf.data);
+                    return buf.data.length
+                },
+                write: buf => {
+                    if (buf.data.length == 0) return 2;
+                    const cmd = buf.data[0];
+                    console.log("motor write");
+                    console.log(buf);
+                    return 2
+                },
+                ioctl: (id, buf) => {
+                    console.log("motor ioctl");
+                    console.log(id);
+                    console.log(buf);
+                    return 2;
+                }
+            });
+        }
+    }
+}