Total rework of simulator for dev branch. Create separate thread for interrupt processes. Tick-accurate simulation of timers. Non-blocking character input for running in realtime mode. Decouple hardware sim from grbl code as much as possible. Expanded command line options. Provisions for cross-platform solution.

sim/main.c

@@ -34,18 +34,106 @@
 #include "simulator.h"
 
 
+arg_vars_t args;
+const char* progname;
+
+int usage(const char* badarg){
+  if (badarg){
+	 printf("Unrecognized option %s\n",badarg);
+  }
+  printf("Usage: \n"
+			"%s [options] [time_step] [block_file]\n"
+			"  Options:\n"
+			"    -r <report time>   : minimum time step for printing stepper values. Default=0=no print.\n"
+			"    -t <time factor>   : multiplier to realtime clock. Default=1. (needs work)\n"
+			"    -g <response file> : file to report responses from grbl.  default = stdout\n"
+			"    -b <block file>    : file to report each block executed.  default = stdout\n"
+			"    -s <step file>     : file to report each step executed.  default = stderr\n"
+			"    -c<comment_char>   : character to print before each line from grbl.  default = '#'\n"
+			"    -n                 : no comments before grbl response lines.\n"
+			"    -h                 : this help.\n"
+			"\n  <time_step> and <block_file> can be specifed with option flags or positional parameters\n"
+			"\n  ^-F to shutdown cleanly\n\n",
+			progname);
+  return -1;
+}
+
+//prototype for renamed original main function
+int avr_main(void);
+//wrapper for thread interface
+PLAT_THREAD_FUNC(avr_main_thread,exit){
+  avr_main();
+  return NULL;
+}
+
 int main(int argc, char *argv[]) {
+  uint32_t tick_rate=1;
+  int positional_args=0;
+
+  //defaults
+  args.step_out_file = stderr;
+  args.block_out_file = stdout;
+  args.grbl_out_file = stdout;
+  args.comment_char = '#';
+
+  args.step_time = 0.0;
   // Get the minimum time step for printing stepper values.
   // If not given or the command line cannot be parsed to a float than
   // step_time= 0.0; This means to not print stepper values at all
-  if(argc>1) {
-	  argv++;
-	  step_time= atof(*argv);
+
+  progname = argv[0];
+  while (argc>1) {
+	  argv++;argc--;
+	  if (argv[0][0] == '-'){
+		 switch(argv[0][1]){
+		 case 'c':  //set Comment char 
+			args.comment_char = argv[0][2];
+			break;
+		 case 'n': //No comment char on grbl responses
+			args.comment_char = 0;
+			break;
+		 case 't': //Tick rate
+			argv++;argc--;
+			tick_rate = atof(*argv);
+			break;
+		 case 'b': //Block file
+			argv++;argc--;
+			args.block_out_file = fopen(*argv,"w");
+			break;
+		 case 's': //Step out file.
+			argv++;argc--;
+			args.step_out_file = fopen(*argv,"w");
+			break;
+		 case 'g': //Grbl output
+			argv++;argc--;
+			args.grbl_out_file = fopen(*argv,"w");
+			break;
+		 case 'r':  //step_time for Reporting
+			argv++;argc--;
+			args.step_time= atof(*argv);
+			break;
+		 case 'h':
+			return usage(NULL);
+		 default:
+			return usage(*argv);
+		 }
+	  }
+	  else { //handle old positional argument interface
+		 positional_args++;
+		 switch(positional_args){
+		 case 1:
+			args.step_time= atof(*argv);
+			break;
+		 case 2:  //block out and grbl out to same file, like before.
+			args.block_out_file = fopen(*argv,"w");
+			args.grbl_out_file = args.block_out_file;
+			break;
+		 default:
+			return usage(*argv);
+		 }
+	  }
   }
 
-  // Setup output file handles. Block info goes to stdout. Stepper values go to stderr.
-  block_out_file= stdout;
-  step_out_file= stderr;
   // Make sure the output streams are flushed immediately.
   // This is important when using the simulator inside another application in parallel
   // to the real grbl.
@@ -53,36 +141,26 @@ int main(int argc, char *argv[]) {
   // does not know line buffered streams. So for now we stick to flushing every character.
   //setvbuf(stdout, NULL, _IONBF, 1);
   //setvbuf(stderr, NULL, _IONBF, 1);
-  
-  st_init(); // Setup stepper pins and interrupt timers
-  memset(&sys, 0, sizeof(sys));  // Clear all system variables
-  //settings_reset(); TODO: implement read_settings from eeprom
-  settings_init();
-  protocol_init(); // Clear incoming line data
-  //printf("plan_init():\n");
-  plan_init(); // Clear block buffer and planner variables
-  //printf("gc_init():\n");
-  gc_init(); // Set g-code parser to default state
-  //printf("spindle_init():\n");
-  spindle_init();
-  //printf("limits_init():\n");
-  limits_init();
-  //printf("coolant_init():\n");
-  coolant_init();
-  //printf("st_reset():\n");
-  st_reset(); // Clear stepper subsystem variables.
-  sys.auto_start = true; // runtime commands are not processed. We start to simulate immediately
-  
-  // Main loop of command processing until EOF is encountered
-  //printf("protocol_process():\n");
-  protocol_process();
-  
-  // flush the block buffer and print stepper info on any pending blocks
-  plan_synchronize();
+  //( Files are now closed cleanly when sim gets EOF or CTRL-F.)
+  platform_init(); 
+
+  init_simulator(tick_rate);
+
+  //launch a thread with the original grbl code.
+  plat_thread_t*th = platform_start_thread(avr_main_thread); 
+  if (!th){
+	 printf("Fatal: Unable to start hardware thread.\n");
+	 exit(-5);
+  }
+
+  //All the stream io and interrupt happen in this thread.
+  sim_loop();
+
+  platform_kill_thread(th); //need force kill since original main has no return.
 
   // Graceful exit
-  fclose(block_out_file);
-  fclose(step_out_file);
-  
+  shutdown_simulator(0);
+  platform_terminate();
+
   exit(EXIT_SUCCESS);
 }