Desktop: enable the CLI in desktop build

this gives access to the CLI menus. You can start the SIL with the -s
switch to set the slider position to CLI

libraries/Desktop/Makefile.desktop

@@ -12,7 +12,7 @@ nogps:
 	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DGPS_PROTOCOL=GPS_PROTOCOL_NONE -DLOGGING_ENABLED=DISABLED"
 
 hil:
-	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
+	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DLOGGING_ENABLED=DISABLED"
     
 hilsen:
 	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_SENSORS -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"

libraries/Desktop/support/Arduino.cpp

@@ -5,6 +5,7 @@
 #include "avr/pgmspace.h"
 #include <BetterStream.h>
 #include <sys/time.h>
+#include "desktop.h"
 
 extern "C" {
 
@@ -21,20 +22,20 @@ void pinMode(uint8_t pin, uint8_t mode)
 
 long unsigned int millis(void)
 {
-	extern struct timeval sketch_start_time;
 	struct timeval tp;
 	gettimeofday(&tp,NULL);
 	return 1.0e3*((tp.tv_sec + (tp.tv_usec*1.0e-6)) - 
-		      (sketch_start_time.tv_sec + (sketch_start_time.tv_usec*1.0e-6)));
+		      (desktop_state.sketch_start_time.tv_sec +
+		       (desktop_state.sketch_start_time.tv_usec*1.0e-6)));
 }
 
 long unsigned int micros(void)
 {
-	extern struct timeval sketch_start_time;
 	struct timeval tp;
 	gettimeofday(&tp,NULL);
 	return 1.0e6*((tp.tv_sec + (tp.tv_usec*1.0e-6)) - 
-		      (sketch_start_time.tv_sec + (sketch_start_time.tv_usec*1.0e-6)));
+		      (desktop_state.sketch_start_time.tv_sec +
+		       (desktop_state.sketch_start_time.tv_usec*1.0e-6)));
 }
 
 void delay(long unsigned msec)

libraries/Desktop/support/desktop.h

@@ -1,2 +1,10 @@
+
+struct desktop_state {
+	bool slider; // slider switch state, True means CLI mode
+	struct timeval sketch_start_time;
+};
+
+extern struct desktop_state desktop_state;
+
 void desktop_serial_select_setup(fd_set *fds, int *fd_high);
 

libraries/Desktop/support/main.cpp

@@ -4,17 +4,43 @@
 #include <sys/time.h>
 #include <sched.h>
 #include <wiring.h>
+#include <getopt.h>
 #include "desktop.h"
 
 void setup(void);
 void loop(void);
 
-struct timeval sketch_start_time;
+// the state of the desktop simulation
+struct desktop_state desktop_state;
 
-int main(void)
+static void usage(void)
 {
-	gettimeofday(&sketch_start_time, NULL);
+	printf("Options:\n");
+	printf("\t-s          enable CLI slider switch\n");
+}
+
+int main(int argc, char * const argv[])
+{
+	int opt;
+
+	// default state
+	desktop_state.slider = false;
+	gettimeofday(&desktop_state.sketch_start_time, NULL);
+
+	while ((opt = getopt(argc, argv, "sh")) != -1) {
+		switch (opt) {
+		case 's':
+			desktop_state.slider = true;
+			break;
+		default:
+			usage();
+			break;
+		}
+	}
+
+	// run main setup() function from sketch
 	setup();
+
 	while (true) {
 		struct timeval tv;
 		fd_set fds;