#!/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
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
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] {
debug "failing now"
fconfigure $p -blocking yes
gui "P 0"
- tellpic 20
+ tellpic 10
exit 1
}
catch { after cancel $watchdog; unset watchdog }
puts "failing $m"
tellpic 9801 ;# 16ms
- after 2000 fail_now
+ after 1000 fail_now
fileevent $p readable {}
}
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 $pq]} {
}
proc tellnmra {m} {
- global nmrawhich speeddirn funcs
- set m 0x$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
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 $v }
9? { fp $m; pm_maydetect 1 $v }
}
proc onreadp {} {
- global p m
+ global p m rand
while 1 {
set c [read $p 1]
if {![string length $c]} {
return
}
binary scan $c H* x
+ if {![info exists rand]} {
+ fp ...$x
+ return
+ }
lappend m $x
if {[regexp {^[0-7]} $x]} {
if {![regexp {^x} $m]} {
set speed [expr {round(($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"
}
} 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
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]
-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