3 # liberator:hostside> ssh bessar 'cd things/trains-bessar/hostside && ./stopgap-controller' | ./gui-displayer -
11 set ch(speeddirnevery) 30
17 # 0 1 (settings) M0 M1 (manual, settings) unset (random) M (manual)
30 set pq {} ;# unset: cdu charged and waiting
33 set askspeeds {10 30 50 80 100 126}
34 #set speeddirn ffff80c3fbcced7f
35 #set speeddirn_fixed {speed126 2 80 0}
36 set speeddirn_fixed {}
38 # unset pointpos($point)
39 # unset segdetect($seg) ;# unset: shown D0; {}: shown D1; or: after id, D1->0
46 global watchdog polarity segdetect
51 if {[info exists watchdog]} { gui "P 1" }
53 foreach seg [array names segdetect] {
65 set b [binary format H* $m]
76 global errorInfo errorCode
77 puts stderr "$m\n$errorCode\n$errorInfo"
87 fconfigure $p -blocking yes
95 catch { after cancel $watchdog; unset watchdog }
99 fileevent $p readable {}
102 proc gui_polarity {} {
105 switch -exact $pname {
106 l { lappend 0 X1 X3 X5 X7 X9; lappend 0 X2 X4 X6 X8 X10 }
107 x { lappend 1 X1 X3 X5 X7 X9; lappend 0 X2 X4 X6 X8 X10 }
108 y { lappend 0 X1 X3 X5 X7 X9; lappend 1 X2 X4 X6 X8 X10 }
111 foreach seg [set $v] {
117 proc polarity {newpname} {
119 debug "polarising $newpname"
120 if {![string compare $pname $newpname]} return
121 tellpic $polmsg($newpname)
126 proc pt_now {how point pos xtra} {
127 set msg a0[lindex $point $pos]
128 debug "$how point $point pos=$pos msg=$msg$xtra"
129 gui "M [lindex $point 2] [expr {!$pos}]"
132 proc pt_must {point newpos} {
133 upvar #0 pointpos($point) pos
135 if {[info exists pos] && $pos == $newpos} return
137 if {[info exists pq]} {
138 lappend pq [list $point $pos]
139 debug "queue point $point pos=$pos l=[llength $pq]"
142 pt_now immed $point $pos {}
145 proc pt_ifthenmust {ifpoint ifposwant thenpoint thenpos} {
146 upvar #0 pointpos($ifpoint) ifpos
147 if {![info exists ifpos] || $ifpos != $ifposwant} return
148 pt_must $thenpoint $thenpos
151 proc badwatchdog {} {
153 puts "watchdog - oh well"
154 if {![info exists pq]} { set pq {} }
161 set pq [lrange $pq 1 end]
162 pt_now nowdo [lindex $v 0] [lindex $v 1] " l=[llength $pq]"
171 set c [read $rand 1]; if {![string length $c]} { error "eof on rand" }
176 proc pt_maybe {point oneisright} {
177 global pointasked lastptchosen
178 if {![info exists pointasked]} {
179 if {![string compare $point $lastptchosen]} return
180 set lastptchosen $point
182 set pos [expr [regexp {^[89a-f]} $x] ? 1 : 0]
183 debug "chose point $point pos=$pos (x=$x)"
184 } elseif {[regexp {^M([01])$} $pointasked dummy pos]} {
185 if {[lsearch -exact {40 02} [lindex $point 0]] >= 0} {
186 set pos [expr {!$pos}]
187 debug "chose point $point pos=$pos manual-rl"
189 debug "chose point $point pos=$pos manual-lr"
192 } elseif {![string compare $pointasked M]} {
193 debug "leave point $point manual"
197 debug "fixed point $point pos=$pos"
203 upvar #0 segdetect($seg) segd
204 if {![info exists segd]} {
205 debug "segment $seg = already"
206 } elseif {[string length $segd]} {
207 debug "segment $seg = pending already"
209 debug "segment $seg = soon"
210 set segd [after 100 s0t $seg]
214 upvar #0 segdetect($seg) segd
215 debug "segment $seg = now"
220 upvar #0 segdetect($seg) segd
221 if {![info exists segd]} {
223 debug "segment $seg ! (overwrites =)"
224 } elseif {[string length $segd]} {
225 debug "segment $seg ! (cancels =)"
228 debug "segment $seg ! already"
235 proc pm_maydetect {d seg} {
256 #proc pm_nodetect {seg} {
258 # if {![string compare $seg [lindex $segsasgot 1]]} {
259 # set segsasgot [list [lindex $segsasgot 1] [lindex $segsasgot 0]]
263 proc pm_detect {seg} {
264 global segs pname segsasgot
265 if {[string compare $seg [lindex $segsasgot 1]]} {
266 set segsasgot [list [lindex $segsasgot 1] $seg]
268 if {[lsearch -exact $segs $seg] < 0} {
271 debug "pm_detect $seg ($segsasgot) ($segs) $pname$seg"
272 # if {[lsearch -exact {
273 # 06 09 0a 04 02 07 14 20
276 # } $seg] < 0} return
277 switch -exact $pname$seg {
278 l16 - l1c - l08 - l0b { polarity y }
279 l10 - l1a - l03 - l05 { polarity x }
280 x07 - x04 - x0a { polarity l }
281 x16 - x1c - x14 - x0b { polarity y }
282 y06 - y04 - y0a { polarity l }
283 y20 - y10 - y1a - y05 { polarity x }
286 04 - 0a { pt_must "00 01 X7" 1; pt_must "40 41 X8" 1 }
287 05 { pt_must "00 01 X7" 0 }
288 0b { pt_must "40 41 X8" 0 }
289 16 - 1c { pt_must "02 03 A5" 0 }
290 1a - 10 { pt_must "42 43 A6" 0 }
291 14 { pt_ifthenmust "02 03 A5" 1 "42 43 A6" 1 }
292 20 { pt_ifthenmust "42 43 A6" 1 "02 03 A5" 1 }
294 switch -exact [join $segs -] {
295 02-07 { pt_maybe "02 03 A5" 1 }
296 07-02 { pt_maybe "00 01 X7" 0 }
297 09-06 { pt_maybe "42 43 A6" 0 }
298 06-09 { pt_maybe "40 41 X8" 1 }
303 # global nmrawhich speeddirn funcs
305 # for {set i 0} {$i < $m} {incr i} {
306 # tellpic_q [lindex [list $speeddirn $funcs] $nmrawhich]
307 # set nmrawhich [expr {!$nmrawhich}]
312 global watchdog testonly speeddirn funcs nmradiv
313 catch { after cancel $watchdog }
314 set watchdog [after 50 watchdog]
315 tellpic_q 9808 ;# 128ms
316 if {[incr nmradiv] > 35} {
317 tellpic_q $speeddirn$funcs
323 debug "got hello, starting up"
337 switch -glob [lindex $m 0] {
338 01 - 02 { tellnmra $m }
339 09 { fp $m; pm_hello }
340 07 { puts "short circuit"; exit 1 }
341 0d { fp $m; badwatchdog }
342 28 { fp $m; pm_charged }
343 9[0-7] { fp $m; pm_maydetect 0 $v }
344 9? { fp $m; pm_maydetect 1 $v }
345 0a - [234567]? { puts "pic debug $m" }
346 * { fp $m; fail "pic unknown $m" }
350 proc onreadp_test {} {
351 if {![gets stdin m]} { return }
359 if {![string length $c]} {
360 if {[eof $p]} { error "eof on device" }
364 if {![info exists rand]} {
369 if {[regexp {^[0-7]} $x]} {
370 if {![regexp {^x} $m]} {
378 proc newspeeddirn {} {
380 set speed [expr {round(($b1 * $b1) / 65535.0 * 100.0 + 26.0)}]
382 set dirn [expr {$b2 / 128}]
384 debug "speeddirn b1=$b1 speed=$speed b2=$b2 dirn=$dirn"
385 return "speed126 2 $speed $dirn"
390 set value [expr {($b3 & 127) * 16}]
391 debug "funcs b3=$b3 value=[format %x $value]"
392 return "funcs5to8 2 $value"
395 proc maybechange {thing force} {
397 upvar #0 ${thing}_fixed fixed
398 if {![info exists fixed]} {
400 debug "maybechange $thing forced ..."
402 set rb 0x[randbyte][randbyte]
405 1.0 / (($ch(${thing}every) - $ch(minint)*0.001) * $ch(scale))
407 debug "maybechange $thing rb=$rb no"
410 debug "maybechange $thing rb=$rb yes ..."
414 debug "fixed $thing $fixed"
416 if {![llength $l]} { return 0 }
418 set bin [eval exec ./hostside-old -s/dev/stdout $l]
419 binary scan $bin H* x
420 debug "changed $thing=$x"
427 catch { after cancel $chwa }
428 if {[maybechange speeddirn 0] || [maybechange funcs 0]} {
429 set interval $ch(minint)
433 set chwa [after $interval changewhat]
437 if {[gets stdin l] < 0} {
440 fail "stopgap-controller got eof, quitting"
441 fileevent stdin readable {}
449 global port p testonly
450 fconfigure stdout -buffering none
452 set p [open $port {RDWR NONBLOCK} 0]
454 exec stty -F $port min 1 time 0 -istrip -ocrnl -onlcr -onocr -opost \
455 -ctlecho -echo -echoe -echok -echonl -iexten -isig \
457 9600 clocal cread crtscts -hup -parenb cs8 -cstopb \
458 -ixoff bs0 cr0 ff0 nl0 -ofill -olcuc
460 fconfigure $p -encoding binary -translation binary \
461 -blocking false -buffering none
463 fileevent $p readable onreadp
464 fconfigure stdin -blocking false
465 fileevent stdin readable onreadcmd
468 fconfigure stdin -blocking false
469 fileevent stdin readable onreadp_test
472 after 250 setup_complete
475 proc setup_complete {} {
477 set rand [open /dev/urandom {RDONLY} 0]
478 fconfigure $rand -encoding binary -translation binary
484 # for keyboard control
486 proc ask_speed {updown} {
487 global speeddirn_fixed askspeeds askspeedix
488 set ll [llength $askspeeds]
489 if {![info exists askspeedix]} {
490 set askspeedix [expr {
491 int($ll * 0.5 - 0.5 + 0.5 * $updown)
494 incr askspeedix $updown
495 if {$askspeedix < 0} { set askspeedix 0 }
496 if {$askspeedix >= $ll} { set askspeedix [expr {$ll - 1}] }
498 set speed [lindex $askspeeds $askspeedix]
499 set speeddirn_fixed [list speed126 2 $speed 0]
500 maybechange speeddirn 1
503 proc ask_randspeed {} {
504 global speeddirn_fixed askspeedix
505 catch { unset speeddirn_fixed }
506 catch { unset askspeedix }
507 maybechange speeddirn 1
510 proc ask_manual {rightp} { global pointasked; set pointasked M$rightp }
511 proc ask_figureeight {} { global pointasked; set pointasked 0 }
512 proc ask_loop {} { global pointasked; set pointasked 1 }
513 proc ask_randpath {} { global pointasked; catch { unset pointasked } }