3 # liberator:hostside> ssh bessar 'cd things/trains-bessar/hostside && ./stopgap-controller' | ./gui-displayer -
13 set ch(speeddirnevery) 30
18 set pointprobs {0 0x020 0x080 0x0e0 0x100}
20 set pointabs 1 ;# 0 or 1
24 set pointprob [lindex $pointprobs $pointprobix]
34 set pq {} ;# unset: cdu charged and waiting
37 set askspeeds {1 30 50 80 100 126}
38 #set speeddirn ffff80c3fbcced7f
39 #set speeddirn_fixed {speed126 2 80 0}
40 set speeddirn_fixed {}
42 # unset pointpos($point)
43 # unset segdetect($seg) ;# unset: shown D0; {}: shown D1; or: after id, D1->0
45 set funcsr1 {0x061 0x020 0x000 0x040 0x060}
46 set funcsl1 {0x182 0x080 0x000 0x100 0x180}
47 set funcsr2 {0x021 0x020 0x000}
48 set funcsl2 {0x042 0x040 0x000}
56 global watchdog polarity segdetect
61 if {[info exists watchdog]} { gui "P 1" }
63 foreach seg [array names segdetect] {
75 set b [binary format H* $m]
86 global errorInfo errorCode
87 puts stderr "$m\n$errorCode\n$errorInfo"
97 fconfigure $p -blocking yes
105 catch { after cancel $watchdog; unset watchdog }
109 fileevent $p readable {}
112 proc gui_polarity {} {
115 switch -exact $pname {
116 l { lappend 0 X1 X3 X5 X7 X9; lappend 0 X2 X4 X6 X8 X10 }
117 x { lappend 1 X1 X3 X5 X7 X9; lappend 0 X2 X4 X6 X8 X10 }
118 y { lappend 0 X1 X3 X5 X7 X9; lappend 1 X2 X4 X6 X8 X10 }
121 foreach seg [set $v] {
127 proc polarity {newpname} {
129 debug "polarising $newpname"
130 if {![string compare $pname $newpname]} return
131 tellpic $polmsg($newpname)
136 proc pt_now {how point pos xtra} {
137 set msg a0[lindex $point $pos]
138 debug "$how point $point pos=$pos msg=$msg$xtra"
139 gui "M [lindex $point 2] [expr {!$pos}]"
142 proc pt_must {point newpos} {
143 upvar #0 pointpos($point) pos
145 if {[info exists pos] && $pos == $newpos} return
147 if {[info exists pq]} {
148 lappend pq [list $point $pos]
149 debug "queue point $point pos=$pos l=[llength $pq]"
152 pt_now immed $point $pos {}
155 proc pt_ifthenmust {ifpoint ifposwant thenpoint thenpos} {
156 upvar #0 pointpos($ifpoint) ifpos
157 if {![info exists ifpos] || $ifpos != $ifposwant} return
158 pt_must $thenpoint $thenpos
161 proc badwatchdog {} {
163 puts "watchdog - oh well"
164 if {![info exists pq]} { set pq {} }
171 set pq [lrange $pq 1 end]
172 pt_now nowdo [lindex $v 0] [lindex $v 1] " l=[llength $pq]"
181 set c [read $rand 1]; if {![string length $c]} { error "eof on rand" }
186 proc pt_maybe {point oneisright} {
187 upvar #0 pointpos($point) oldpos
188 global lastptchosen pointprob pointabs
189 if {![string compare $point $lastptchosen]} return
190 set lastptchosen $point
192 set pos [expr {$x < $pointprob ? 1 : 0}]
194 debug "chose point $point $pos (abs x=$x prob=$pointprob)"
195 set pos [expr {!$pos}]
196 } elseif {[info exists oldpos] && !$oldpos} {
197 debug "chose point $point $pos (0-> x=$x prob=$pointprob)"
199 set pos [expr {!$pos}]
200 debug "chose point $point $pos (1-> x=$x prob=$pointprob)"
206 upvar #0 segdetect($seg) segd
207 if {![info exists segd]} {
208 debug "segment $seg = already"
209 } elseif {[string length $segd]} {
210 debug "segment $seg = pending already"
212 debug "segment $seg = soon"
213 set segd [after 100 s0t $seg]
217 upvar #0 segdetect($seg) segd
218 debug "segment $seg = now"
223 upvar #0 segdetect($seg) segd
224 if {![info exists segd]} {
226 debug "segment $seg ! (overwrites =)"
227 } elseif {[string length $segd]} {
228 debug "segment $seg ! (cancels =)"
231 debug "segment $seg ! already"
238 proc pm_maydetect {d seg} {
259 #proc pm_nodetect {seg} {
261 # if {![string compare $seg [lindex $segsasgot 1]]} {
262 # set segsasgot [list [lindex $segsasgot 1] [lindex $segsasgot 0]]
266 proc pm_detect {seg} {
267 global segs pname segsasgot
268 if {[string compare $seg [lindex $segsasgot 1]]} {
269 set segsasgot [list [lindex $segsasgot 1] $seg]
271 if {[lsearch -exact $segs $seg] < 0} {
274 debug "pm_detect $seg ($segsasgot) ($segs) $pname$seg"
275 # if {[lsearch -exact {
276 # 06 09 0a 04 02 07 14 20
279 # } $seg] < 0} return
280 switch -exact $pname$seg {
281 l16 - l1c - l08 - l0b { polarity y }
282 l10 - l1a - l03 - l05 { polarity x }
283 x07 - x04 - x0a { polarity l }
284 x16 - x1c - x14 - x0b { polarity y }
285 y06 - y04 - y0a { polarity l }
286 y20 - y10 - y1a - y05 { polarity x }
289 04 - 0a { pt_must "00 01 X7" 1; pt_must "40 41 X8" 1 }
290 05 { pt_must "00 01 X7" 0 }
291 0b { pt_must "40 41 X8" 0 }
292 16 - 1c { pt_must "02 03 A5" 0 }
293 1a - 10 { pt_must "42 43 A6" 0 }
294 14 { pt_ifthenmust "02 03 A5" 1 "42 43 A6" 1 }
295 20 { pt_ifthenmust "42 43 A6" 1 "02 03 A5" 1 }
297 switch -exact [join $segs -] {
298 02-07 { pt_maybe "02 03 A5" 1 }
299 07-02 { pt_maybe "00 01 X7" 0 }
300 09-06 { pt_maybe "42 43 A6" 0 }
301 06-09 { pt_maybe "40 41 X8" 1 }
306 # global nmrawhich speeddirn funcs
308 # for {set i 0} {$i < $m} {incr i} {
309 # tellpic_q [lindex [list $speeddirn $funcs] $nmrawhich]
310 # set nmrawhich [expr {!$nmrawhich}]
315 global watchdog testonly speeddirn funcs nmradiv
316 catch { after cancel $watchdog }
317 set watchdog [after 50 watchdog]
318 tellpic_q 9808 ;# 128ms
319 if {[incr nmradiv] > 35} {
320 tellpic_q $speeddirn$funcs
326 debug "got hello, starting up"
340 switch -glob [lindex $m 0] {
341 01 - 02 { tellnmra $m }
342 09 { fp $m; pm_hello }
343 07 { puts "short circuit"; exit 1 }
344 0d { fp $m; badwatchdog }
345 28 { fp $m; pm_charged }
346 9[0-7] { fp $m; pm_maydetect 0 $v }
347 9? { fp $m; pm_maydetect 1 $v }
348 0a - [234567]? { puts "pic debug $m" }
349 * { fp $m; fail "pic unknown $m" }
353 proc onreadp_test {} {
354 if {![gets stdin m]} { return }
362 if {![string length $c]} {
363 if {[eof $p]} { error "eof on device" }
367 if {![info exists rand]} {
372 if {[regexp {^[0-7]} $x]} {
373 if {![regexp {^x} $m]} {
381 proc newspeeddirn {} {
382 global loco askspeedix
383 set maxspeed [expr {$askspeedix == -1 ? 126.0 : 50.0}]
387 round(($b1 * $b1) / 65535.0 * ($maxspeed - $minspeed) + $minspeed)
390 set dirn [expr {$b2 / 128}]
392 debug "speeddirn b1=$b1 speed=$speed b2=$b2 dirn=$dirn"
393 return "speed126 $loco $speed $dirn"
396 proc funcs_removebits {lr headent} {
398 set funcsval [format 0x%x [expr {$funcsval & ~$headent}]]
400 proc funcs_addbits {lr list} {
402 set headent [lindex $list 0]
406 set rand 0x[randbyte]0
407 set add [expr {$add & $rand}]
408 set val [expr {$val | $add}]
409 debug "funcs $lr v=$funcsval add=$add new=$val rand=$rand ($list)"
411 set val [expr {$val | $add}]
412 debug "funcs $lr v=$funcsval add=$add new=$val ($list)"
417 proc funcsnmralist {} {
419 return "funcs5to8 $loco $funcsval"
425 upvar #0 funcs${lr}${loco} list
426 set now [lindex $list 0]
427 funcs_removebits $lr $now
428 funcs_addbits $lr $list
430 return [funcsnmralist]
433 proc nmrachange {thing argstring} {
435 set bin [eval exec ./hostside-old -s/dev/stdout $argstring]
436 binary scan $bin H* x
437 debug "changed $thing=$x ($argstring)"
441 proc maybechange {thing force} {
443 upvar #0 ${thing}_fixed fixed
444 if {![info exists fixed]} {
446 debug "maybechange $thing forced ..."
448 set rb 0x[randbyte][randbyte]
451 1.0 / (($ch(${thing}every) - $ch(minint)*0.001) * $ch(scale))
453 debug "maybechange $thing rb=$rb no"
456 debug "maybechange $thing rb=$rb yes ..."
460 debug "fixed $thing $fixed"
462 if {![llength $l]} { return 0 }
470 catch { after cancel $chwa }
471 if {[maybechange speeddirn 0] + [maybechange funcs 0]} {
472 set interval $ch(minint)
476 set chwa [after $interval changewhat]
480 if {[gets stdin l] < 0} {
483 fail "stopgap-controller got eof, quitting"
484 fileevent stdin readable {}
492 global port p testonly stateshowpipe
493 fconfigure stdout -buffering none
495 set p [open $port {RDWR NONBLOCK} 0]
497 exec stty -F $port min 1 time 0 -istrip -ocrnl -onlcr -onocr -opost \
498 -ctlecho -echo -echoe -echok -echonl -iexten -isig \
500 9600 clocal cread crtscts -hup -parenb cs8 -cstopb \
501 -ixoff bs0 cr0 ff0 nl0 -ofill -olcuc
503 fconfigure $p -encoding binary -translation binary \
504 -blocking false -buffering none
506 fileevent $p readable onreadp
507 fconfigure stdin -blocking false
508 fileevent stdin readable onreadcmd
509 set stateshowpipe [open /tmp/train-state w]
510 fconfigure $stateshowpipe -buffering none
513 fconfigure stdin -blocking false
514 fileevent stdin readable onreadp_test
515 set stateshowpipe [open /dev/null w]
518 after 250 setup_complete
521 proc setup_complete {} {
524 set rand [open /dev/urandom {RDONLY} 0]
525 fconfigure $rand -encoding binary -translation binary
530 # for keyboard control
532 proc updownfromlist {wholelistv ixv updown} {
533 upvar #0 $wholelistv wholelist
535 set ll [llength $wholelist]
536 if {![info exists ix]} {
539 int($ll * 0.5 - 0.5 + 0.5 * $updown)
544 if {$ix < 0} { set ix 0 }
545 if {$ix >= $ll} { set ix [expr {$ll - 1}] }
547 set val [lindex $wholelist $ix]
548 debug "updownfromlist ix:$old->$ix /$ll $val ($wholelist)"
552 proc ask_speed {updown} {
553 global speeddirn_fixed loco askspeedix
554 if {$askspeedix < 0} { unset askspeedix }
555 set speed [updownfromlist askspeeds askspeedix $updown]
556 set speeddirn_fixed [list speed126 $loco $speed 0]
557 maybechange speeddirn 1
560 proc ask_randspeed {} {
561 global speeddirn_fixed askspeedix
562 set askspeedix [expr {$askspeedix == -1 ? -2 : -1}]
563 catch { unset speeddirn_fixed }
564 maybechange speeddirn 1
567 proc ask_funcs {lr} {
569 upvar #0 funcs${lr}${loco} list
570 set now [lindex $list 0]
571 funcs_removebits $lr $now
572 set list [concat [lrange $list 1 end] $now]
573 funcs_addbits $lr $list
574 nmrachange funcs [funcsnmralist]
577 proc ask_pointprob {updown} {
579 set pointprob [updownfromlist pointprobs pointprobix $updown]
582 proc ask_pointrelabs {} {
584 set pointabs [expr {!$pointabs}]
588 global loco stateshowpipe pointprob pointabs askspeedix
589 upvar #0 funcsr$loco fr
590 upvar #0 funcsl$loco fl
591 puts -nonewline $stateshowpipe [format \
592 "\nL$loco P%03x%s F%03x S%s" \
593 $pointprob [lindex {R A} $pointabs] \
594 [expr {[lindex $fr 0] | [lindex $fl 0]}] \