Initial sim implementation

sim/state/output.ts

@@ -0,0 +1,104 @@
+namespace pxsim {
+
+    export class EV3OutputState {
+
+        constructor() {
+            let data = new Uint8Array(10)
+            MMapMethods.register("/dev/lms_pwm", {
+                data,
+                beforeMemRead: () => {
+                    //console.log("pwm before read");
+                    for (let i = 0; i < 10; ++i)
+                        data[i] = 0
+                },
+                read: buf => {
+                    let v = "vSIM"
+                    for (let i = 0; i < buf.data.length; ++i)
+                        buf.data[i] = v.charCodeAt(i) || 0
+                    console.log("pwm read");
+                    return buf.data.length
+                },
+                write: buf => {
+                    if (buf.data.length == 0) return 2;
+                    const cmd = buf.data[0];
+                    switch (cmd) {
+                        case DAL.opProgramStart: {
+                            // init
+                            console.log('init');
+                            return 2;
+                        }
+                        case DAL.opOutputReset: {
+                            // reset
+                            const port = buf.data[1];
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.reset());
+                            return 2;
+                        }
+                        case DAL.opOutputStepSpeed: {
+                            // step speed
+                            const port = buf.data[1];
+                            const speed = buf.data[2];
+                            // note that b[3] is padding
+                            const step1 = buf.data[4];
+                            const step2 = buf.data[5]; // angle
+                            const step3 = buf.data[6];
+                            const brake = buf.data[7];
+                            //console.log(buf);
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.stepSpeed(speed, step2, brake === 1));
+                            return 2;
+                        }
+                        case DAL.opOutputStop: {
+                            // stop
+                            const port = buf.data[1];
+                            const brake = buf.data[2];
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.stop());
+                            return 2;
+                        }
+                        case DAL.opOutputSpeed: {
+                            // setSpeed
+                            const port = buf.data[1];
+                            const speed = buf.data[2];
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.setSpeed(speed));
+                            return 2;
+                        }
+                        case DAL.opOutputStart: {
+                            // start
+                            const port = buf.data[1];
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.start());
+                            return 2;
+                        }
+                        case DAL.opOutputPolarity: {
+                            // reverse
+                            const port = buf.data[1];
+                            const polarity = buf.data[2];
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.setPolarity(polarity));
+                            return 2;
+                        }
+                        case DAL.opOutputSetType: {
+                            const port = buf.data[1];
+                            const large = buf.data[2] == 0x07;
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.setLarge(large));
+                            return 2;
+                        }
+                    }
+
+                    console.log("pwm write");
+                    console.log(buf);
+                    return 2
+                },
+                ioctl: (id, buf) => {
+                    console.log("pwm ioctl");
+                    console.log(id);
+                    console.log(buf);
+                    return 2;
+                }
+            });
+        }
+    }
+}