mangavalkandClaude Opus 5.5
935526eab5
Simulation - sim/: the unchanged robot firmware compiled into hexapod_sim.dll against PC stand-ins (Arduino, Servo, Wire + register-level MPU6050, RF24 with matching-config radio), a kinematic body model (support plane + planted-foot odometry) that also drives the simulated IMU, and a headless smoke test (sim_smoke). build.ps1 builds and tests. - Hexapod_Simulation_Unity/ folded in (history kept in a bundle outside the repo). Assets/HexapodSim loads the DLL, drives the existing leg rig, and offers joystick / keyboard / robot-serial input plus a test panel. Robot (all found or confirmed in the simulation) - Config.h geometry taken from the Unity model. - IK femur elevation sign, gait stance direction, body pose rotation direction, yaw lever arm. - Stance feet integrated from the current command; gait restarts at mid-stance; heading integrates the applied turn rate, only while walking. - Leg clearance and reach checks (Limits::feetFeasible); walk command and body pose scaled as a whole, pose scale rate-limited, planted feet guarded so the body never snaps or legs collide. - Robot-gyro self-leveling as an integrator. - Heading mode: steering relative to the body; S walks backward. - Standing height from the remote (STANCE_HEIGHT_RANGE_MM). Protocol v3 (reflash both boards) - CmdPacket gains body_height (22 bytes). Remote - Height slider (Nextion hHeight/nHeight, serial [ ]). - Fixed unspecified I2C read order in RemoteIMU. LEGACY/: owner's old Nextion HMI and remote hardware assets. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
68 lines
2.8 KiB
CMake
68 lines
2.8 KiB
CMake
# Builds the unchanged robot firmware (robot/) into a PC library for the
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# Unity simulation, against the hardware stand-ins in shim/.
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#
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# cmake -S sim -B sim/build -G Ninja -DCMAKE_BUILD_TYPE=Release
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# cmake --build sim/build
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# sim/build/sim_smoke.exe headless smoke test
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#
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# Output: sim/build/hexapod_sim.dll (Unity loads it from there; see sim/README.md).
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cmake_minimum_required(VERSION 3.16)
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project(hexapod_sim CXX)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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if(NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE Release)
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endif()
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set(REPO_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/..)
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file(GLOB ROBOT_SOURCES CONFIGURE_DEPENDS ${REPO_ROOT}/robot/*.cpp)
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# Each robot/*.cpp is compiled through a one-line wrapper in the build dir.
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# Compiling it in place would make robot/ the main source directory, and on
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# Windows' case-insensitive filesystem GCC's own <limits.h> chain
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# (syslimits.h -> #include_next) then picks up robot/Limits.h.
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set(ROBOT_WRAPPERS)
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foreach(src ${ROBOT_SOURCES})
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get_filename_component(name ${src} NAME_WE)
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set(wrapper ${CMAKE_CURRENT_BINARY_DIR}/robot_src/${name}.cpp)
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file(CONFIGURE OUTPUT ${wrapper} CONTENT "// generated by sim/CMakeLists.txt\n#include \"${src}\"\n")
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list(APPEND ROBOT_WRAPPERS ${wrapper})
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endforeach()
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# Everything shared by the DLL and the test exe (robot.ino via robot_ino.cpp).
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add_library(robot_core OBJECT
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${ROBOT_WRAPPERS}
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robot_ino.cpp
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SimHardware.cpp
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SimBody.cpp
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HexapodSimApi.cpp
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)
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# shim/ first so <Arduino.h>, <Servo.h>, <RF24.h>... resolve to the stand-ins.
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target_include_directories(robot_core PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}/shim
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${CMAKE_CURRENT_SOURCE_DIR}
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${REPO_ROOT}/shared/HexapodProtocol
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)# robot/ is deliberately NOT an include directory (not even -iquote: GCC's
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# #include_next searches those too). Sim sources include "../robot/..." directly.
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target_compile_definitions(robot_core PUBLIC HEXAPOD_SIM=1)
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set_target_properties(robot_core PROPERTIES POSITION_INDEPENDENT_CODE ON)
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if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
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target_compile_options(robot_core PRIVATE -Wall -Wextra -Wno-unused-parameter)
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endif()
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set_source_files_properties(robot_ino.cpp PROPERTIES OBJECT_DEPENDS ${REPO_ROOT}/robot/robot.ino)
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add_library(hexapod_sim SHARED $<TARGET_OBJECTS:robot_core>)
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set_target_properties(hexapod_sim PROPERTIES PREFIX "") # hexapod_sim.dll, not libhexapod_sim.dll
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add_executable(sim_smoke tests/sim_smoke.cpp $<TARGET_OBJECTS:robot_core>)
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target_include_directories(sim_smoke PRIVATE ${CMAKE_CURRENT_SOURCE_DIR} ${REPO_ROOT}/shared/HexapodProtocol
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${CMAKE_CURRENT_SOURCE_DIR}/shim)
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if(MINGW)
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# Self-contained binaries: no libstdc++/libgcc/winpthread DLLs needed next to them.
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foreach(t hexapod_sim sim_smoke)
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target_link_options(${t} PRIVATE -static -static-libgcc -static-libstdc++)
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endforeach()
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endif()
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