set testonly 0
#set testonly 1
set port /dev/ttya0
+#set port /dev/ttyS0
+
+set loco 2
set ch(funcsevery) 10
set ch(speeddirnevery) 30
set ch(scale) 1
set ch(minint) 5000
-# unset always
-# set always 0
+
+#unset pointasked
+# 0 1 (settings) M0 M1 (manual, settings) unset (random) M (manual)
+
set nmrawhich 0
set lastptchosen xx
set segsasgot {xx yy}
set pq {} ;# unset: cdu charged and waiting
set speeddirn ff7f
+#unset askspeedix
+set askspeeds {10 30 50 80 100 126}
#set speeddirn ffff80c3fbcced7f
#set speeddirn_fixed {speed126 2 80 0}
set speeddirn_fixed {}
# unset pointpos($point)
# unset segdetect($seg) ;# unset: shown D0; {}: shown D1; or: after id, D1->0
+set funcsr1 {0x061 0x020 0x000 0x040 0x060}
+set funcsl1 {0x181 0x080 0x000 0x100 0x180}
+set funcsr2 {0x021 0x020 0x000}
+set funcsl2 {0x041 0x040 0x000}
+set funcsval 0x000
+
proc gui {m} {
puts "GUI $m"
}
proc gui_init {} {
global watchdog polarity segdetect
gui "M A2 0"
-# gui "M A5 0 J"
-# gui "M A6 0 J"
+ 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] {
catch { after cancel $watchdog; unset watchdog }
puts "failing $m"
tellpic 9801 ;# 16ms
- after 10000 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 pt_maybe {point oneisright} {
- global always lastptchosen
- if {[info exists always]} {
- set pos $always
- } else {
+ global pointasked lastptchosen
+ if {![info exists pointasked]} {
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=$x)"
+ } elseif {[regexp {^M([01])$} $pointasked dummy pos]} {
+ if {[lsearch -exact {40 02} [lindex $point 0]] >= 0} {
+ set pos [expr {!$pos}]
+ debug "chose point $point pos=$pos manual-rl"
+ } else {
+ debug "chose point $point pos=$pos manual-lr"
+ }
+ set pointasked M
+ } elseif {![string compare $pointasked M]} {
+ debug "leave point $point manual"
+ return
+ } else {
+ set pos $pointasked
+ debug "fixed point $point pos=$pos"
}
pt_must $point $pos
}
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 $v }
}
proc newspeeddirn {} {
+ global loco
set b1 0x[randbyte]
set speed [expr {round(($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"
+ return "speed126 $loco $speed $dirn"
+}
+
+proc funcs_removebits {lr headent} {
+ global funcsval
+ set funcsval [format 0x%x [expr {$funcsval & ~$headent}]]
+}
+proc funcs_addbits {lr list} {
+ global loco funcsval
+ set headent [lindex $list 0]
+ set val $funcsval
+ set add $headent
+ if {$add & 0x01} {
+ set rand 0x[randbyte]0
+ set add [expr {$add & $rand}]
+ set val [expr {$val | $add}]
+ debug "funcs $lr v=$funcsval add=$add new=$val rand=$rand ($list)"
+ } else {
+ set val [expr {$val | $add}]
+ debug "funcs $lr v=$funcsval add=$add new=$val ($list)"
+ }
+ set funcsval $val
+}
+
+proc funcsnmralist {} {
+ global loco funcsval
+ return "funcs5to8 $loco $funcsval"
}
proc newfuncs {} {
- set b3 0x[randbyte]
- set value [expr {($b3 & 127) * 16}]
- debug "funcs b3=$b3 value=[format %x $value]"
- return "funcs5to8 2 $value"
+ global loco funcsval
+ foreach lr {l r} {
+ upvar #0 funcs${lr}${loco} list
+ set now [lindex $list 0]
+ funcs_removebits $lr $now
+ funcs_addbits $lr $list
+ }
+ return [funcsnmralist]
}
-proc maybechange {thing} {
+proc nmrachange {thing argstring} {
+ global $thing
+ set bin [eval exec ./hostside-old -s/dev/stdout $argstring]
+ binary scan $bin H* x
+ debug "changed $thing=$x ($argstring)"
+ set $thing ff$x
+}
+
+proc maybechange {thing force} {
global $thing ch
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
+ if {$force} {
+ debug "maybechange $thing forced ..."
+ } else {
+ 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 ..."
}
- debug "maybechange $thing rb=$rb yes ..."
set l [new$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
- debug "changed $thing=$x"
- set $thing ff$x
+ nmrachange $thing $l
return 1
}
proc changewhat {} {
global ch chwa
catch { after cancel $chwa }
- if {[maybechange speeddirn] || [maybechange funcs]} {
+ if {[maybechange speeddirn 0] + [maybechange funcs 0]} {
set interval $ch(minint)
} else {
set interval 1000
proc onreadcmd {} {
if {[gets stdin l] < 0} {
if {[eof stdin]} {
- puts stderr "stopgap-controller got eof, quitting"
puts "GUI exit 0"
- exit 0
+ fail "stopgap-controller got eof, quitting"
+ fileevent stdin readable {}
}
return
}
proc setup {} {
global port p testonly
+ fconfigure stdout -buffering none
if {!$testonly} {
set p [open $port {RDWR NONBLOCK} 0]
proc setup_complete {} {
global rand
+# exec [xset s off]
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 2 126 10}
+proc ask_speed {updown} {
+ global speeddirn_fixed askspeeds askspeedix loco
+ set ll [llength $askspeeds]
+ if {![info exists askspeedix]} {
+ set askspeedix [expr {
+ int($ll * 0.5 - 0.5 + 0.5 * $updown)
+ }]
+ } else {
+ incr askspeedix $updown
+ if {$askspeedix < 0} { set askspeedix 0 }
+ if {$askspeedix >= $ll} { set askspeedix [expr {$ll - 1}] }
+ }
+ set speed [lindex $askspeeds $askspeedix]
+ set speeddirn_fixed [list speed126 $loco $speed 0]
+ maybechange speeddirn 1
}
+
proc ask_randspeed {} {
- global speeddirn_fixed; catch { unset speeddirn_fixed }
+ global speeddirn_fixed askspeedix
+ catch { unset speeddirn_fixed }
+ catch { unset askspeedix }
+ maybechange speeddirn 1
}
+proc ask_funcs {lr} {
+ global loco
+ upvar #0 funcs${lr}${loco} list
+ set now [lindex $list 0]
+ funcs_removebits $lr $now
+ set list [concat [lrange $list 1 end] $now]
+ funcs_addbits $lr $list
+ nmrachange funcs [funcsnmralist]
+}
+
+proc ask_figureeight {} { global pointasked; set pointasked 0 }
+proc ask_loop {} { global pointasked; set pointasked 1 }
+proc ask_randpath {} { global pointasked; catch { unset pointasked } }
+
setup
gui_init
vwait end