117 lines
2.2 KiB
C
117 lines
2.2 KiB
C
#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <termios.h>
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#include <time.h>
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#include <sys/time.h>
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#include "platform.h"
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#define MS_PER_SEC 1000000
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//any platform-specific setup that must be done before sim starts here
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void platform_init()
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{
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}
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//cleanup int here;
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void platform_terminate()
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{
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}
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//returns a free-running 32 bit nanosecond counter which rolls over
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uint32_t platform_ns()
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{
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static uint32_t gTimeBase = 0;
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC,&ts);
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if (gTimeBase== 0){gTimeBase=ts.tv_nsec;}
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return ts.tv_nsec-gTimeBase;
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}
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//sleep in microseconds
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void platform_sleep(long microsec)
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{
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struct timespec ts={0};
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while (microsec >= MS_PER_SEC){
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ts.tv_sec++;
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microsec-=MS_PER_SEC;
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}
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ts.tv_nsec = microsec*1000;
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nanosleep(&ts,NULL);
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}
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#define SIM_ECHO_TERMINAL 1 //use this to make grbl_sim act like a serial terminal with local echo on.
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//set terminal to allow kbhit detection
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void enable_kbhit(int dir)
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{
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static struct termios oldt, newt;
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if ( dir == 1 )
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{
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tcgetattr( STDIN_FILENO, &oldt);
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newt = oldt;
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newt.c_lflag &= ~( ICANON );
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if (!SIM_ECHO_TERMINAL) {
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newt.c_lflag &= ~( ECHO );
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}
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tcsetattr( STDIN_FILENO, TCSANOW, &newt);
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}
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else
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tcsetattr( STDIN_FILENO, TCSANOW, &oldt);
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}
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//detect key pressed
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int kbhit (void)
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{
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struct timeval tv={0};
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fd_set rdfs={{0}};
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int retval;
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/* tv.tv_sec = 0; */
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/* tv.tv_usec = 0; */
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/* FD_ZERO(&rdfs); */
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FD_SET (STDIN_FILENO, &rdfs);
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select(STDIN_FILENO+1, &rdfs, NULL, NULL, &tv);
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retval = FD_ISSET(STDIN_FILENO, &rdfs);
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return retval;
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}
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plat_thread_t* platform_start_thread(plat_threadfunc_t threadfunc) {
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plat_thread_t* th = malloc(sizeof(plat_thread_t));
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if (pthread_create(&th->tid, NULL, threadfunc, &th->exit)){
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free(th);
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return NULL;
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}
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return th;
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}
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//ask thread to exit nicely, wait
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void platform_stop_thread(plat_thread_t* th){
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th->exit = 1;
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pthread_join(th->tid,NULL);
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}
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//force-kill thread
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void platform_kill_thread(plat_thread_t* th){
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th->exit = 1;
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pthread_cancel(th->tid);
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}
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//return char if one available.
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uint8_t platform_poll_stdin() {
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uint8_t char_in=0;
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enable_kbhit(1);
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if ( kbhit()) {
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char_in = getchar();
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}
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enable_kbhit(0);
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return char_in;
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}
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