-#!/usr/bin/tclsh8.4
+#!/usr/bin/tclsh8.2
+# used like this:
+# liberator:hostside> ssh bessar 'cd things/trains-bessar/hostside && ./stopgap-controller' | ./gui-displayer -
-set testonly 1
+set testonly 0
+#set testonly 1
set port /dev/ttya0
+#set port /dev/ttyS0
set ch(funcsevery) 10
-set ch(speeddirnevery) 15
+set ch(speeddirnevery) 30
set ch(scale) 1
set ch(minint) 5000
# unset always
-
-set m xx
-set segs xx
-set polarity 908000
+# set always 0
+set nmrawhich 0
+set lastptchosen xx
+
+set polmsg(l) 908000
+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 {}
-set funcs {}
+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" }
- if {![regexp {^90} $polarity]} { gui_polarity }
+ gui_polarity
foreach seg [array names segdetect] {
gui "D1 $seg"
}
debug "failing now"
fconfigure $p -blocking yes
gui "P 0"
- tellpic 20
+ tellpic 10
exit 1
}
global watchdog p
catch { after cancel $watchdog; unset watchdog }
puts "failing $m"
- tellpic a001 ;# 16ms
- after 2000 fail_now
+ tellpic 9801 ;# 16ms
+ after 1000 fail_now
fileevent $p readable {}
}
proc gui_polarity {} {
- foreach seg {
- X8
- X9
- X10
- X1
- X2
- X3
- X4
- X5
- X6
- X7
- } {
- gui "R $seg"
+ global pname
+ set 1 {}
+ switch -exact $pname {
+ l { lappend 0 X1 X3 X5 X7 X9; lappend 0 X2 X4 X6 X8 X10 }
+ x { lappend 1 X1 X3 X5 X7 X9; lappend 0 X2 X4 X6 X8 X10 }
+ y { lappend 0 X1 X3 X5 X7 X9; lappend 1 X2 X4 X6 X8 X10 }
+ }
+ foreach v {0 1} {
+ foreach seg [set $v] {
+ gui "R $v $seg"
+ }
}
}
-proc polarity {m} {
- global polarity
- debug "polarising $m"
- tellpic $m
- if {[string compare $m $polarity]} {
- gui_polarity
- }
- set polarity $m
+proc polarity {newpname} {
+ global pname polmsg
+ debug "polarising $newpname"
+ if {![string compare $pname $newpname]} return
+ tellpic $polmsg($newpname)
+ set pname $newpname
+ gui_polarity
}
-proc polarity_l {} { polarity 908000 }
-proc polarity_x {} { polarity 97ff7f }
proc pt_now {how point pos xtra} {
set msg a0[lindex $point $pos]
pt_now immed $point $pos {}
set pq {}
}
+proc pt_ifthenmust {ifpoint ifposwant thenpoint thenpos} {
+ upvar #0 pointpos($ifpoint) ifpos
+ if {![info exists ifpos] || $ifpos != $ifposwant} return
+ pt_must $thenpoint $thenpos
+}
+
+proc badwatchdog {} {
+ global pq
+ puts "watchdog - oh well"
+ if {![info exists pq]} { set pq {} }
+}
proc pm_charged {} {
global pq
return $x
}
-proc pt_maybe {point} {
- global always
+proc pt_maybe {point oneisright} {
+ global always lastptchosen
if {[info exists always]} {
set pos $always
} else {
+ if {![string compare $point $lastptchosen]} return
+ set lastptchosen $point
set x [randbyte]
set pos [expr [regexp {^[89a-f]} $x] ? 1 : 0]
debug "chose point $point pos=$pos (x=$x)"
pt_must $point $pos
}
-proc s0 {seg} {
+proc s0 {v seg} {
upvar #0 segdetect($seg) segd
if {![info exists segd]} {
debug "segment $seg = already"
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 =)"
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
- switch -exact $seg {
- 07 - 06 { polarity_l }
- 16 - 1c - 1a - 10 - 03 - 05 - 08 - 0b { polarity_x }
+ global segs pname segsasgot
+ if {[string compare $seg [lindex $segsasgot 1]]} {
+ set segsasgot [list [lindex $segsasgot 1] $seg]
+ }
+ if {[lsearch -exact $segs $seg] < 0} {
+ 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 }
+ x07 - x04 - x0a { polarity l }
+ x16 - x1c - x14 - x0b { polarity y }
+ y06 - y04 - y0a { polarity l }
+ y20 - y10 - y1a - y05 { polarity x }
}
switch -exact $seg {
- 14 - 20 { pt_must "02 03 A5" 1; pt_must "42 43 A6" 1 }
04 - 0a { pt_must "00 01 X7" 1; pt_must "40 41 X8" 1 }
- 03 - 05 { pt_must "00 01 X7" 0 }
- 08 - 0b { pt_must "40 41 X8" 0 }
+ 05 { pt_must "00 01 X7" 0 }
+ 0b { pt_must "40 41 X8" 0 }
16 - 1c { pt_must "02 03 A5" 0 }
1a - 10 { pt_must "42 43 A6" 0 }
- }
- if {[lsearch -exact $segs $seg] < 0} {
- set segs [list [lindex $segs end] $seg]
+ 14 { pt_ifthenmust "02 03 A5" 1 "42 43 A6" 1 }
+ 20 { pt_ifthenmust "42 43 A6" 1 "02 03 A5" 1 }
}
switch -exact [join $segs -] {
- 07-02 { pt_maybe "00 01 X7" }
- 02-07 { pt_maybe "02 03 A5" }
- 06-09 { pt_maybe "40 41 X8" }
- 09-06 { pt_maybe "42 43 A6" }
+ 02-07 { pt_maybe "02 03 A5" 1 }
+ 07-02 { pt_maybe "00 01 X7" 0 }
+ 09-06 { pt_maybe "42 43 A6" 0 }
+ 06-09 { pt_maybe "40 41 X8" 1 }
}
}
+proc tellnmra {m} {
+# global nmrawhich speeddirn funcs
+# set m 0x$m
+# for {set i 0} {$i < $m} {incr i} {
+# tellpic_q [lindex [list $speeddirn $funcs] $nmrawhich]
+# set nmrawhich [expr {!$nmrawhich}]
+# }
+}
+
proc watchdog {} {
- global watchdog testonly speeddirn funcs
+ global watchdog testonly speeddirn funcs nmradiv
catch { after cancel $watchdog }
set watchdog [after 50 watchdog]
- tellpic_q 9808$speeddirn$funcs ;# 128ms
+ 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
+ tellnmra 01
}
-proc frompic {m} {
+proc fp {m} {
debug "<< $m"
+}
+
+proc frompic {m} {
+ set v [lindex $m 1]
switch -glob [lindex $m 0] {
- 09 { pm_hello }
- 28 { pm_charged }
- 9[0-7] { pm_maydetect 0 [lindex $m 1] }
- 9? { pm_detect [lindex $m 1]; pm_maydetect 1 [lindex $m 1] }
+ 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 }
0a - [234567]? { puts "pic debug $m" }
- * { fail "pic unknown $m" }
+ * { fp $m; fail "pic unknown $m" }
}
}
}
proc onreadp {} {
- global p m
+ global p m rand
while 1 {
set c [read $p 1]
- if {![string llength $c]} {
+ if {![string length $c]} {
if {[eof $p]} { error "eof on device" }
return
}
binary scan $c H* x
+ if {![info exists rand]} {
+ fp ...$x
+ return
+ }
lappend m $x
- if {[regexp {^[89a-f]} $x]} {
+ if {[regexp {^[0-7]} $x]} {
if {![regexp {^x} $m]} {
frompic $m
}
proc newspeeddirn {} {
set b1 0x[randbyte]
- set speed [expr {($b1 * $b1) / 516}]
+ set speed [expr {round(($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"
}
proc maybechange {thing} {
global $thing ch
- set rb 0x[randbyte][randbyte]
- if {
- $rb / 65536.0 >
- 1.0 / (($ch(${thing}every) - $ch(minint)*0.001) * $ch(scale))
- } {
- debug "maybechange $thing rb=$rb no"
- return 0
+ upvar #0 ${thing}_fixed fixed
+ if {![info exists fixed]} {
+ set rb 0x[randbyte][randbyte]
+ if {
+ $rb / 65536.0 >
+ 1.0 / (($ch(${thing}every) - $ch(minint)*0.001) * $ch(scale))
+ } {
+ debug "maybechange $thing rb=$rb no"
+ return 0
+ }
+ debug "maybechange $thing rb=$rb yes ..."
+ set l [new$thing]
+ } else {
+ debug "fixed $thing $fixed"
+ set l $fixed
+ if {![llength $l]} { return 0 }
}
- debug "maybechange $thing rb=$rb yes ..."
- set l [new$thing]
set bin [eval exec ./hostside-old -s/dev/stdout $l]
binary scan $bin H* x
debug "changed $thing=$x"
- set $thing $x
+ set $thing ff$x
return 1
}
proc changewhat {} {
- global ch
+ global ch chwa
+ catch { after cancel $chwa }
if {[maybechange speeddirn] || [maybechange funcs]} {
set interval $ch(minint)
} else {
set interval 1000
}
- after $interval 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]
-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
+}
- changewhat
+
+#----------
+# 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
~ijackson / trains.git / blobdiff