Debugger::Debugger() {
setObjectName("debugger");
setWindowTitle("Debugger");
setGeometryString(&config().geometry.debugger);
application.windowList.append(this);
layout = new QHBoxLayout;
layout->setMargin(Style::WindowMargin);
layout->setSpacing(Style::WidgetSpacing);
setLayout(layout);
menu = new QMenuBar;
layout->setMenuBar(menu);
menu_tools = menu->addMenu("Tools");
menu_tools_disassembler = menu_tools->addAction("Disassembler ...");
menu_tools_breakpoint = menu_tools->addAction("Breakpoint Editor ...");
menu_tools_memory = menu_tools->addAction("Memory Editor ...");
menu_tools_propertiesViewer = menu_tools->addAction("Properties Viewer ...");
menu_ppu = menu->addMenu("S-PPU");
menu_ppu_vramViewer = menu_ppu->addAction("Video RAM Viewer ...");
menu_ppu_oamViewer = menu_ppu->addAction("Sprite Viewer ...");
menu_ppu_cgramViewer = menu_ppu->addAction("Palette Viewer ...");
menu_misc = menu->addMenu("Misc");
menu_misc_clear = menu_misc->addAction("Clear Console");
menu_misc_options = menu_misc->addAction("Options ...");
console = new QTextEdit;
console->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
console->setReadOnly(true);
console->setFont(QFont(Style::Monospace));
console->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
console->setMinimumWidth((92 + 4) * console->fontMetrics().width(' '));
console->setMinimumHeight((25 + 1) * console->fontMetrics().height());
layout->addWidget(console);
controlLayout = new QVBoxLayout;
controlLayout->setSpacing(0);
layout->addLayout(controlLayout);
commandLayout = new QHBoxLayout;
controlLayout->addLayout(commandLayout);
// TODO: icons/hotkeys instead of text
runBreak = new QToolButton;
runBreak->setText("Brk");
commandLayout->addWidget(runBreak);
commandLayout->addSpacing(Style::WidgetSpacing);
stepInstruction = new QToolButton;
stepInstruction->setText("Step");
commandLayout->addWidget(stepInstruction);
stepOver = new QToolButton;
stepOver->setText("Over");
commandLayout->addWidget(stepOver);
stepOut = new QToolButton;
stepOut->setText("Out");
commandLayout->addWidget(stepOut);
controlLayout->addSpacing(Style::WidgetSpacing);
stepCPU = new QCheckBox("Step S-CPU");
stepCPU->setChecked(true);
controlLayout->addWidget(stepCPU);
stepSMP = new QCheckBox("Step S-SMP");
controlLayout->addWidget(stepSMP);
stepSA1 = new QCheckBox("Step SA-1");
controlLayout->addWidget(stepSA1);
stepSFX = new QCheckBox("Step SuperFX");
controlLayout->addWidget(stepSFX);
controlLayout->addSpacing(Style::WidgetSpacing);
traceCPU = new QCheckBox("Trace S-CPU opcodes");
controlLayout->addWidget(traceCPU);
traceSMP = new QCheckBox("Trace S-SMP opcodes");
controlLayout->addWidget(traceSMP);
traceSA1 = new QCheckBox("Trace SA-1 opcodes");
controlLayout->addWidget(traceSA1);
traceSFX = new QCheckBox("Trace SuperFX opcodes");
controlLayout->addWidget(traceSFX);
traceMask = new QCheckBox("Enable trace mask");
controlLayout->addWidget(traceMask);
spacer = new QWidget;
spacer->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Expanding);
controlLayout->addWidget(spacer);
tracer = new Tracer;
disassembler = new Disassembler;
breakpointEditor = new BreakpointEditor;
memoryEditor = new MemoryEditor;
propertiesViewer = new PropertiesViewer;
vramViewer = new VramViewer;
oamViewer = new OamViewer;
cgramViewer = new CgramViewer;
debuggerOptions = new DebuggerOptions;
connect(menu_tools_disassembler, SIGNAL(triggered()), disassembler, SLOT(show()));
connect(menu_tools_breakpoint, SIGNAL(triggered()), breakpointEditor, SLOT(show()));
connect(menu_tools_memory, SIGNAL(triggered()), memoryEditor, SLOT(show()));
connect(menu_tools_propertiesViewer, SIGNAL(triggered()), propertiesViewer, SLOT(show()));
connect(menu_ppu_vramViewer, SIGNAL(triggered()), vramViewer, SLOT(show()));
connect(menu_ppu_oamViewer, SIGNAL(triggered()), oamViewer, SLOT(show()));
connect(menu_ppu_cgramViewer, SIGNAL(triggered()), cgramViewer, SLOT(show()));
connect(menu_misc_clear, SIGNAL(triggered()), this, SLOT(clear()));
connect(menu_misc_options, SIGNAL(triggered()), debuggerOptions, SLOT(show()));
connect(runBreak, SIGNAL(released()), this, SLOT(toggleRunStatus()));
connect(stepInstruction, SIGNAL(released()), this, SLOT(stepAction()));
connect(stepOver, SIGNAL(released()), this, SLOT(stepOverAction()));
connect(stepOut, SIGNAL(released()), this, SLOT(stepOutAction()));
connect(stepCPU, SIGNAL(released()), this, SLOT(synchronize()));
connect(stepSMP, SIGNAL(released()), this, SLOT(synchronize()));
connect(stepSA1, SIGNAL(released()), this, SLOT(synchronize()));
connect(stepSFX, SIGNAL(released()), this, SLOT(synchronize()));
connect(traceCPU, SIGNAL(stateChanged(int)), tracer, SLOT(setCpuTraceState(int)));
connect(traceSMP, SIGNAL(stateChanged(int)), tracer, SLOT(setSmpTraceState(int)));
connect(traceSA1, SIGNAL(stateChanged(int)), tracer, SLOT(setSa1TraceState(int)));
connect(traceSFX, SIGNAL(stateChanged(int)), tracer, SLOT(setSfxTraceState(int)));
connect(traceMask, SIGNAL(stateChanged(int)), tracer, SLOT(setTraceMaskState(int)));
frameCounter = 0;
synchronize();
resize(855, 425);
}
int main(void)
{
//RTOS initialization
halInit();
chSysInit();
palSetPad(GPIOG, GPIOG_LED4_RED);
//modules and peripherals initialization
dcmInit();
pcm9685Init();
max11628Init();
max7317Init();
lcdInit();
fieldInit();
posInit(position_computed_hook);
trajectoryInit();
asservInit();
mecaInit();
//stepInit();
//usirInit();
pathfinderInit();
//gyroInit();
stratInit();
lcdPrintln(LCD_WARNING, "Start: robot principal");
while(0)
{
while((max7317Read() & (1 << IO_SWITCH_BACK_LEFT)))
{
chThdSleepMilliseconds(100);
}
lcdPrintln(LCD_INFO, "Click !");
stepAction(STEP_ACTION_TAKE_RIGHT);
stepWait();
lcdPrintln(LCD_INFO, "Done !");
while(!(max7317Read() & (1 << IO_SWITCH_BACK_LEFT)))
{
chThdSleepMilliseconds(100);
}
}
lcdPrintln(LCD_INFO, "Attente tirette (mise en place)");
while(!(max7317Read() & (1 << IO_SWITCH_STARTUP)))
{
chThdSleepMilliseconds(100);
}
lcdPrintln(LCD_INFO, "Attente du depart");
while(max7317Read() & (1 << IO_SWITCH_STARTUP))
{
chThdSleepMilliseconds(100);
}
stratStart();
//chThdSleepMilliseconds(3000);
// dcmSetWidth(0, 500);
// dcmSetWidth(1, -500);
//while (true)
//{
// lcdPrintln(LCD_INFO,"l %ld, r %ld", posGetLeftTick(), posGetRightTick());
// chThdSleepMilliseconds(500);
//}
//int i = 0;
//int d = 400;
//while (true)
//{
// lcdPrintln(LCD_INFO, "tour: %d", i);
// i += 1;
// TRAJECTORY_XY_MM(d, 0);
// TRAJECTORY_XY_MM(d, d);
// TRAJECTORY_XY_MM(0, d);
// TRAJECTORY_XY_MM(0, 0);
// trajectoryWait();
//}
while(true)
{
chThdSleepMilliseconds(3000);
}
}
