pogosim.h

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#ifndef POGOSIM_H
#define POGOSIM_H
 
#include <stdbool.h>
 
#ifdef REAL_ROBOT
#include "pogobot.h"
#else
#include "spogobot.h"
#endif
 
#include "colormaps.h"
 

#if defined(__GNUC__) || defined(__clang__)
// Static compile-time strcmp. Only available on GCC and CLANG
#define STATIC_STRCMP(a,b) __builtin_strcmp(a,b)
#else
// Normal strcmp
#define STATIC_STRCMP(a,b) strcmp(a,b)
#endif
#define STRINGIFY_RAW(x)  #x
#define STRINGIFY(x)      STRINGIFY_RAW(x)
 
 
// Macros to declare the mydata pointer
#ifdef SIMULATOR // Compiling for the simulator
#include <stddef.h>
 
#define DECLARE_USERDATA(UDT)       \
    extern UDT *mydata;
 
#define REGISTER_USERDATA(UDT)      \
    size_t UserdataSize = sizeof(UDT); \
    UDT *mydata;
 
#define SET_CALLBACK(CALLBACK_FN, FN) \
    CALLBACK_FN = FN;
 
extern void (*callback_create_data_schema)(void);
extern void (*callback_export_data)(void);
extern void (*callback_global_setup)(void);
extern void (*callback_global_step)(void);
 
#else // Compiling for real robots
 
// It is possible to specify the category of robots to compile a binary for, using the ROBOT_CATEGORY variable
// To compile for a given robot category (e.g. "robots2"), use a command like: make clean bin ROBOT_CATEGORY=robots2 
#ifndef ROBOT_CATEGORY
#define ROBOT_CATEGORY robots // Default to "robots" category
#endif
 
// On real robots, declare an extern variable for a single shared instance.
#ifdef __cplusplus
    // C++ version - can use constexpr and noexcept for additional optimization
    #define DECLARE_USERDATA(UDT)       \
        extern UDT myuserdata;         \
        static inline constexpr UDT * get_mydata(void) noexcept { return &myuserdata; }
#else
    // C version - uses restrict keyword for optimization
    #define DECLARE_USERDATA(UDT)       \
        extern UDT myuserdata;         \
        static inline UDT * restrict get_mydata(void) { return &myuserdata; }   // The accessor returns a restrict-qualified pointer.
    // Here we use the keyword "restrict" to ensure that the compiler automatically transform mydata->foo statements into myuserdata.foo after optimization.
    //  This increases performance by removing pointer access operations.
#endif
 
/* Now, use mydata as an alias for the inline function result */
#define mydata (get_mydata())
 
#define REGISTER_USERDATA(UDT)      \
    UDT myuserdata = {0};
 
#define SET_CALLBACK(CALLBACK_FN, FN)
 
void user_init(void);
void user_step(void);
 
#endif // SIMULATOR
 
 
#ifdef __cplusplus
extern "C" {
#endif
 
extern uint32_t pogobot_ticks;
 
extern uint8_t main_loop_hz;
extern uint8_t max_nb_processed_msg_per_tick;
extern void (*msg_rx_fn)(message_t *);
extern bool (*msg_tx_fn)(void);
extern int8_t error_codes_led_idx;
extern time_reference_t _global_timer;
extern time_reference_t timer_main_loop;
extern uint32_t _current_time_milliseconds;
extern uint32_t _error_code_initial_time;
 
extern uint8_t percent_msgs_sent_per_ticks;
extern uint32_t nb_msgs_sent;
extern uint32_t nb_msgs_recv;
 
typedef enum {
    ERROR_TIME_OVERFLOW,
    error_code_t_last_entry
} error_code_t ;
 
 
#define GET_MACRO_START(_1, _2, _3, NAME, ...) NAME
 
#ifdef SIMULATOR // Compiling for the simulator
const char* get_current_robot_category(void);
bool current_robot_category_is(const char* category);
 
void _pogobot_start(void (*user_init)(void), void (*user_step)(void), const char *object_category);
#define pogobot_start_2(user_init, user_step) \
    _pogobot_start((user_init), (user_step), "robots")
 
#define pogobot_start_3(user_init, user_step, object_category) \
    _pogobot_start((user_init), (user_step), (object_category))
 
#define pogobot_start(...) GET_MACRO_START(__VA_ARGS__, pogobot_start_3, pogobot_start_2)(__VA_ARGS__)
 
#else // Compiling for real robots
#define get_current_robot_category()         (STRINGIFY(ROBOT_CATEGORY))
#define current_robot_category_is(category)  (STATIC_STRCMP(get_current_robot_category(), category)==0)
 
void _pogobot_start(void (*user_init)(void), void (*user_step)(void));
#define pogobot_start_2(user_init, user_step) \
    do { \
        if (current_robot_category_is("robots")) { \
            _pogobot_start((user_init), (user_step)); \
        } \
    } while (0)
 
#define pogobot_start_3(user_init, user_step, object_category) \
    do { \
        if (current_robot_category_is(object_category)) { \
            _pogobot_start((user_init), (user_step)); \
        } \
    } while (0)
 
#define pogobot_start(...) GET_MACRO_START(__VA_ARGS__, pogobot_start_3, pogobot_start_2)(__VA_ARGS__)
 
#endif
 
void clear_IR_buffers(void);
 
void pogo_main_loop_step(void (*user_step)(void));
uint32_t current_time_milliseconds(void);
void display_led_error_code(error_code_t const c);

void default_walls_user_init(void);
void default_walls_user_step(void);
 
#ifdef __cplusplus
}
#endif
 
 
#endif // POGOSIM_H
 
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