RoboEmu2(code simulator)--now with C!

[rbayer]

Well, its only been a year since I said I was going to do this, but hey, better late than never, right?

Anyways, it's finally here (in at least pre-beta form): RoboEmu2 -- now with C! I've tested it with the default code and everything seems to work fine, but given that I haven't been involved with a team for 2 years now, that's about the only code I've tested it with.

Thus, as always, I'm asking for everybody's help: please download RoboEmu2 and try it with your code. If it doesn't work, please email me your code and any warnings/errors you get.

In any event: enjoy, comment, criticize, etc:
www.robbayer.com/re2.shtml

Edit: for those of you who don't know, RoboEmu is an emulator for the control system. Back in the days of PBASIC it was used as a way to quickly test new code and algorithms without needing an actual robot to play with. This new version marks the transition from PBASIC to C, thus supporting the new controllers.

[Tom Bottiglieri]

Ert, i get the error "Failed to start because QTMTNC321.DLL was not found"

I googled the dll and couldnt find it anywhere.

[Joshua May]

Originally Posted by Tom Bottiglieri

Ert, i get the error "Failed to start because QTMTNC321.DLL was not found"

I googled the dll and couldnt find it anywhere.

I got that same error as well.

[Max Lobovsky]

Originally Posted by Tom Bottiglieri

Ert, i get the error "Failed to start because QTMTNC321.DLL was not found"

I googled the dll and couldnt find it anywhere.

ditto, but I did find something on google: http://www.google.com/search?q=qtmtnc321.dll&sourceid=mozilla-search&start=0&start=0&ie=utf-8&oe=utf-8&client=firefox-a&rls=org.mozilla:en-USfficial

Appears to be some library that is part of "Qt" which sounds like a tool that you might have used to compile this program.

[nathanielreindl]

I compiled it from source on Fedora Core 3 against whatever version of kdelibs-devel (read: qt-devel) I happen to have, and it works just fine with the default code provided in the tarball.

When I get a moment or two, I'll make the necessary changes to our existing code and see what happens then.

[rbayer]

My bad... new version now uploaded. Grab it from the website.

-Rob

[Max Lobovsky]

MiniGW doesn't understand the "short long" type that C18 accepts (24 bit signed integer). I will use long's temporarily, but I wonder if you could add something to the batch file that will convert types because incorrect variable sizes can definitley screw up code.

[Joel J]

Originally Posted by rbayer

Well, its only been a year since I said I was going to do this, but hey, better late than never, right?

Anyways, it's finally here (in at least pre-beta form): RoboEmu2 -- now with C! I've tested it with the default code and everything seems to work fine, but given that I haven't been involved with a team for 2 years now, that's about the only code I've tested it with.

Thus, as always, I'm asking for everybody's help: please download RoboEmu2 and try it with your code. If it doesn't work, please email me your code and any warnings/errors you get.

In any event: enjoy, comment, criticize, etc:
www.robbayer.com/re2.shtml

Edit: for those of you who don't know, RoboEmu is an emulator for the control system. Back in the days of PBASIC it was used as a way to quickly test new code and algorithms without needing an actual robot to play with. This new version marks the transition from PBASIC to C, thus supporting the new controllers.

Wonderful!

[Stephen Kowski]

cool stuff....

[Venkatesh]

What kind of magic is behind this, namely how does it work?

[Rickertsen2]

Originally Posted by Venkatesh

What kind of magic is behind this, namely how does it work?

Yes exactly how in depth is the emulation? What are known things that will not work? Is it strictly a C VM or are you doing any emulation at the processor level? I suppose you would have to to run the .lib files.

[Mike]

I get the errors

C:\mcc18\EduCode>C:\mingw\bin\mingw32-make.exe re2_win
gcc -o recore.dll -D_ROBOEMU -shared user_routines.c user_routines_fast.c re_hac
k.c re_core.c
In file included from user_routines.c:18:
printf_lib.h:15: warning: conflicting types for built-in function `printf'
user_routines.c: In function `User_Initialization':
user_routines.c:84: `TRISAbits' undeclared (first use in this function)
user_routines.c:84: (Each undeclared identifier is reported only once
user_routines.c:84: for each function it appears in.)
user_routines.c:96: `ADC_2ANA' undeclared (first use in this function)
user_routines.c:102: `TRISFbits' undeclared (first use in this function)
user_routines.c:111: `LATAbits' undeclared (first use in this function)
user_routines.c:112: `LATFbits' undeclared (first use in this function)
user_routines.c:113: `LATHbits' undeclared (first use in this function)
re_core.c: In function `update_outputs':
re_core.c:35: `pwm09' undeclared (first use in this function)
re_core.c:35: (Each undeclared identifier is reported only once
re_core.c:35: for each function it appears in.)
re_core.c:36: `pwm10' undeclared (first use in this function)
re_core.c:37: `pwm11' undeclared (first use in this function)
re_core.c:38: `pwm12' undeclared (first use in this function)
re_core.c:39: `pwm13' undeclared (first use in this function)
re_core.c:40: `pwm14' undeclared (first use in this function)
re_core.c:41: `pwm15' undeclared (first use in this function)
re_core.c:42: `pwm16' undeclared (first use in this function)
re_core.c:44: `relay1_fwd' undeclared (first use in this function)
re_core.c:45: `relay1_rev' undeclared (first use in this function)
re_core.c:46: `relay2_fwd' undeclared (first use in this function)
re_core.c:47: `relay2_rev' undeclared (first use in this function)
re_core.c:48: `relay3_fwd' undeclared (first use in this function)
re_core.c:49: `relay3_rev' undeclared (first use in this function)
re_core.c:50: `relay4_fwd' undeclared (first use in this function)
re_core.c:51: `relay4_rev' undeclared (first use in this function)
re_core.c:52: `relay5_fwd' undeclared (first use in this function)
re_core.c:53: `relay5_rev' undeclared (first use in this function)
re_core.c:54: `relay6_fwd' undeclared (first use in this function)
re_core.c:55: `relay6_rev' undeclared (first use in this function)
re_core.c:56: `relay7_fwd' undeclared (first use in this function)
re_core.c:57: `relay7_rev' undeclared (first use in this function)
re_core.c:58: `relay8_fwd' undeclared (first use in this function)
re_core.c:59: `relay8_rev' undeclared (first use in this function)
re_core.c: In function `update_inputs':
re_core.c:77: `p1_x' undeclared (first use in this function)
re_core.c:78: `p1_y' undeclared (first use in this function)
re_core.c:79: `p1_wheel' undeclared (first use in this function)
re_core.c:80: `p1_aux' undeclared (first use in this function)
re_core.c:81: `p1_sw_trig' undeclared (first use in this function)
re_core.c:82: `p1_sw_top' undeclared (first use in this function)
re_core.c:83: `p1_sw_aux1' undeclared (first use in this function)
re_core.c:84: `p1_sw_aux2' undeclared (first use in this function)
re_core.c:85: `p2_x' undeclared (first use in this function)
re_core.c:86: `p2_y' undeclared (first use in this function)
re_core.c:87: `p2_wheel' undeclared (first use in this function)
re_core.c:88: `p2_aux' undeclared (first use in this function)
re_core.c:89: `p2_sw_trig' undeclared (first use in this function)
re_core.c:90: `p2_sw_top' undeclared (first use in this function)
re_core.c:91: `p2_sw_aux1' undeclared (first use in this function)
re_core.c:92: `p2_sw_aux2' undeclared (first use in this function)
re_core.c:93: `p3_x' undeclared (first use in this function)
re_core.c:94: `p3_y' undeclared (first use in this function)
re_core.c:95: `p3_wheel' undeclared (first use in this function)
re_core.c:96: `p3_aux' undeclared (first use in this function)
re_core.c:97: `p3_sw_trig' undeclared (first use in this function)
re_core.c:98: `p3_sw_top' undeclared (first use in this function)
re_core.c:99: `p3_sw_aux1' undeclared (first use in this function)
re_core.c:100: `p3_sw_aux2' undeclared (first use in this function)
re_core.c:101: `p4_x' undeclared (first use in this function)
re_core.c:102: `p4_y' undeclared (first use in this function)
re_core.c:103: `p4_wheel' undeclared (first use in this function)
re_core.c:104: `p4_aux' undeclared (first use in this function)
re_core.c:105: `p4_sw_trig' undeclared (first use in this function)
re_core.c:106: `p4_sw_top' undeclared (first use in this function)
re_core.c:107: `p4_sw_aux1' undeclared (first use in this function)
re_core.c:108: `p4_sw_aux2' undeclared (first use in this function)
re_core.c:110: `PORTAbits' undeclared (first use in this function)
re_core.c:115: `PORTFbits' undeclared (first use in this function)
re_core.c:126: `rc_dig_in17' undeclared (first use in this function)
re_core.c:127: `rc_dig_in18' undeclared (first use in this function)
re_core.c:133: `competition_mode' undeclared (first use in this function)
C:\mingw\bin\mingw32-make.exe: *** [re2_win] Error 1

C:\mcc18\EduCode>pause
Press any key to continue . . .

Anybody else get this? =/

[rbayer]

Originally Posted by MikeWasHere05

I get the errors...

Are you getting this with the default code, or with code you're compiling yourself. If it's stuff you've made, make sure you #include "re_hack.h".

If that doesn't work, send me an email with your user_routines.c and I'll try to see what's wrong.

-Rob

[rbayer]

Originally Posted by Rickertsen2

Yes exactly how in depth is the emulation? What are known things that will not work? Is it strictly a C VM or are you doing any emulation at the processor level? I suppose you would have to to run the .lib files.

As of right now, timers and interrupts don't work and variables of type "short long" won't work. The timers and interrupts thing will be fixed at some point, but I'm really not sure about how to do 3-byte variables on x86.

As for how this thing works, it's actually quite simple. You compile your code into native Windows/Linux/etc as a dynamically loadable module (DLL's in Windows speak). This library file contains a few RE2-specific functions (from recore.c) that the main program uses to interface with your code. The driver program simply calls these functions once ever 26ms (for the slow-loop function) or whenever your computer has free cycles (for the fast-loop function). The majority of the work here is being done by gcc, so anything that's ANSI-C should compile. Whether or not it works as expected depends on whether you're using a PIC-specific feature (timers, interrupts, etc).

-Rob

[doyler]

wow, that was awesome, thanks a lot