fixes from bessar fettling session

[trains.git] / hostside / stopgap-controller

diff --git a/hostside/stopgap-controller b/hostside/stopgap-controller
index 36dfe29c05c4d7d3b6ab467827c9b5e191b67241..0c4f3342c2e3846e6b58429e665cecfc22a77c45 100755 (executable)
--- a/hostside/stopgap-controller
+++ b/hostside/stopgap-controller
@@ -1,11 +1,14 @@
 #!/usr/bin/tclsh8.2
+# used like this:
+# liberator:hostside> ssh bessar 'cd things/trains-bessar/hostside && ./stopgap-controller' | ./gui-displayer -
 
 set testonly 0
 #set testonly 1
 set port /dev/ttya0
+#set port /dev/ttyS0
 
 set ch(funcsevery) 10
-set ch(speeddirnevery) 12
+set ch(speeddirnevery) 30
 set ch(scale) 1
 
 set ch(minint) 5000
@@ -19,11 +22,14 @@ set polmsg(x) 90f802
 set polmsg(y) 90807c
 set pname l
 set m {}
+set nmradiv 0
 set segs {xx yy}
 set segsasgot {xx yy}
 set pq {} ;# unset: cdu charged and waiting
 set speeddirn ff7f
+#set speeddirn ffff80c3fbcced7f
 #set speeddirn_fixed {speed126 2 80 0}
+set speeddirn_fixed {}
 set funcs ff7f
 # unset pointpos($point)
 # unset segdetect($seg) ;# unset: shown D0; {}: shown D1; or: after id, D1->0
@@ -37,6 +43,7 @@ proc gui_init {} {
     gui "M A2 0"
     gui "M A5 0 J"
     gui "M A6 0 J"
+    gui "EOE"
     if {[info exists watchdog]} { gui "P 1" }
     gui_polarity
     foreach seg [array names segdetect] {
@@ -75,7 +82,7 @@ proc fail_now {} {
     debug "failing now"
     fconfigure $p -blocking yes
     gui "P 0"
-    tellpic 20
+    tellpic 10
     exit 1
 }
 
@@ -84,7 +91,7 @@ proc fail {m} {
     catch { after cancel $watchdog; unset watchdog }
     puts "failing $m"
     tellpic 9801 ;# 16ms
-    after 2000 fail_now
+    after 1000 fail_now
     fileevent $p readable {}
 }
 
@@ -137,6 +144,12 @@ proc pt_ifthenmust {ifpoint ifposwant thenpoint thenpos} {
     pt_must $thenpoint $thenpos
 }
 
+proc badwatchdog {} {
+    global pq
+    puts "watchdog - oh well"
+    if {![info exists pq]} { set pq {} }
+}
+
 proc pm_charged {} {
     global pq
     if {[llength $pq]} {
@@ -170,7 +183,7 @@ proc pt_maybe {point oneisright} {
     pt_must $point $pos
 }
 
-proc s0 {seg} {
+proc s0 {v seg} {
     upvar #0 segdetect($seg) segd
     if {![info exists segd]} {
        debug "segment $seg = already"
@@ -187,9 +200,10 @@ proc s0t {seg} {
     unset segd
     gui "D0 $seg"
 }
-proc s1 {seg} {
+proc s1 {v seg} {
     upvar #0 segdetect($seg) segd
     if {![info exists segd]} {
+       pm_detect $v
        debug "segment $seg ! (overwrites =)"
     } elseif {[string length $segd]} {
        debug "segment $seg ! (cancels =)"
@@ -204,25 +218,32 @@ proc s1 {seg} {
 
 proc pm_maydetect {d seg} {
     switch -exact $seg {
-       06 { s$d X10 }
-       09 { s$d X8 }
-       0a { s$d X6 }
-       04 { s$d X5 }
-       02 { s$d X7 }
-       07 { s$d X9 }
-       14 { s$d A5 }
-       20 { s$d A6 }
-       1a { s$d A4 }
-       10 { s$d A2 }
-       03 { s$d X1 }
-       05 { s$d X3 }
-       16 { s$d A3 }
-       1c { s$d A1 }
-       08 { s$d X2 }
-       0b { s$d X4 }
+       06 { s$d $seg X10 }
+       09 { s$d $seg X8 }
+       0a { s$d $seg X6 }
+       04 { s$d $seg X5 }
+       02 { s$d $seg X7 }
+       07 { s$d $seg X9 }
+       14 { s$d $seg A5 }
+       20 { s$d $seg A6 }
+       1a { s$d $seg A4 }
+       10 { s$d $seg A2 }
+       03 { s$d $seg X1 }
+       05 { s$d $seg X3 }
+       16 { s$d $seg A3 }
+       1c { s$d $seg A1 }
+       08 { s$d $seg X2 }
+       0b { s$d $seg X4 }
     }
 }
 
+#proc pm_nodetect {seg} {
+#    global segsasgot
+#    if {![string compare $seg [lindex $segsasgot 1]]} {
+#      set segsasgot [list [lindex $segsasgot 1] [lindex $segsasgot 0]]
+#    }
+#}
+
 proc pm_detect {seg} {
     global segs pname segsasgot
     if {[string compare $seg [lindex $segsasgot 1]]} {
@@ -232,6 +253,11 @@ proc pm_detect {seg} {
        set segs $segsasgot
     }
     debug "pm_detect $seg ($segsasgot) ($segs) $pname$seg"
+#    if {[lsearch -exact {
+#      06 09 0a 04 02 07 14 20
+#      0b 08 1c 16
+#      1a 10 03 05
+#    } $seg] < 0} return
     switch -exact $pname$seg {
        l16 - l1c - l08 - l0b { polarity y }
        l10 - l1a - l03 - l05 { polarity x }
@@ -250,32 +276,36 @@ proc pm_detect {seg} {
        20 { pt_ifthenmust "42 43 A6" 1 "02 03 A5" 1 }
     }
     switch -exact [join $segs -] {
-       02-07 { pt_maybe "00 01 X7" 0 }
-       07-02 { pt_maybe "02 03 A5" 1 }
-       09-06 { pt_maybe "40 41 X8" 1 }
-       06-09 { pt_maybe "42 43 A6" 0 }
+       02-07 { pt_maybe "02 03 A5" 1 }
+       07-02 { pt_maybe "00 01 X7" 0 }
+       09-06 { pt_maybe "42 43 A6" 0 }
+       06-09 { pt_maybe "40 41 X8" 1 }
     }
 }
 
 proc tellnmra {m} {
-    global nmrawhich speeddirn funcs
-    set m 0x$m
-    for {set i 0} {$i < $m} {incr i} {
-       tellpic_q [lindex [list $speeddirn $funcs] $nmrawhich]
-       set nmrawhich [expr {!$nmrawhich}]
-    }
+#    global nmrawhich speeddirn funcs
+#    set m 0x$m
+#    for {set i 0} {$i < $m} {incr i} {
+#      tellpic_q [lindex [list $speeddirn $funcs] $nmrawhich]
+#      set nmrawhich [expr {!$nmrawhich}]
+#    }
 }
 
 proc watchdog {} {
-    global watchdog testonly
+    global watchdog testonly speeddirn funcs nmradiv
     catch { after cancel $watchdog }
     set watchdog [after 50 watchdog]
     tellpic_q 9808 ;# 128ms
+    if {[incr nmradiv] > 35} {
+       tellpic_q $speeddirn$funcs
+       set nmradiv 0
+    }
 }
 
 proc pm_hello {} {
     debug "got hello, starting up"
-    tellpic 21
+    tellpic 11
     gui "P 1"
     watchdog
     changewhat
@@ -287,13 +317,15 @@ proc fp {m} {
 }
 
 proc frompic {m} {
+    set v [lindex $m 1]
     switch -glob [lindex $m 0] {
        01 - 02 { tellnmra $m }
        09 { fp $m; pm_hello }
        07 { puts "short circuit"; exit 1 }
+       0d { fp $m; badwatchdog }
        28 { fp $m; pm_charged }
-       9[0-7] { fp $m; pm_maydetect 0 [lindex $m 1] }
-       9? { fp $m; pm_detect [lindex $m 1]; pm_maydetect 1 [lindex $m 1] }
+       9[0-7] { fp $m; pm_maydetect 0 $v }
+       9? { fp $m; pm_maydetect 1 $v }
        0a - [234567]? { puts "pic debug $m" }
        * { fp $m; fail "pic unknown $m" }
     }
@@ -305,7 +337,7 @@ proc onreadp_test {} {
 }
 
 proc onreadp {} {
-    global p m
+    global p m rand
     while 1 {
        set c [read $p 1]
        if {![string length $c]} {
@@ -313,6 +345,10 @@ proc onreadp {} {
            return
        }
        binary scan $c H* x
+       if {![info exists rand]} {
+           fp ...$x
+           return
+       }
        lappend m $x
        if {[regexp {^[0-7]} $x]} {
            if {![regexp {^x} $m]} {
@@ -328,6 +364,7 @@ proc newspeeddirn {} {
     set speed [expr {round(($b1 * $b1) / 65535.0 * 100.0 + 26.0)}]
     set b2 0x[randbyte]
     set dirn [expr {$b2 / 128}]
+    set dirn 0
     debug "speeddirn b1=$b1 speed=$speed b2=$b2 dirn=$dirn"
     return "speed126 2 $speed $dirn"
 }
@@ -356,6 +393,7 @@ proc maybechange {thing} {
     } else {
        debug "fixed $thing $fixed"
        set l $fixed
+       if {![llength $l]} { return 0 }
     }
     set bin [eval exec ./hostside-old -s/dev/stdout $l]
     binary scan $bin H* x
@@ -375,8 +413,20 @@ proc changewhat {} {
     set chwa [after $interval changewhat]
 }
 
+proc onreadcmd {} {
+    if {[gets stdin l] < 0} {
+       if {[eof stdin]} {
+           puts "GUI exit 0"
+           fail "stopgap-controller got eof, quitting"
+           fileevent stdin readable {}
+       }
+       return
+    }
+    eval $l
+}
+
 proc setup {} {
-    global port p rand testonly
+    global port p testonly
     if {!$testonly} {
        set p [open $port {RDWR NONBLOCK} 0]
     
@@ -390,15 +440,37 @@ proc setup {} {
                -blocking false -buffering none
 
        fileevent $p readable onreadp
+       fconfigure stdin -blocking false
+       fileevent stdin readable onreadcmd
     } else {
        set p stdin
        fconfigure stdin -blocking false
        fileevent stdin readable onreadp_test
     }
 
+    after 250 setup_complete
+}
+
+proc setup_complete {} {
+    global rand
     set rand [open /dev/urandom {RDONLY} 0]
     fconfigure $rand -encoding binary -translation binary
+    tellpic 0a
+}
+
+
+#----------
+# for keyboard control
+
+proc ask_fast {} {
+    global speeddirn_fixed; set speeddirn_fixed {speed126 2 126 0}
+}
+proc ask_slow {} {
+    global speeddirn_fixed; set speeddirn_fixed {speed126 2 10 0}
 }
+proc ask_randspeed {} {
+    global speeddirn_fixed; catch { unset speeddirn_fixed }
+}    
 
 setup
 gui_init