3 # liberator:hostside> ssh bessar 'cd things/trains-bessar/hostside && ./stopgap-controller' | ./gui-displayer -
11 set ch(speeddirnevery) 30
28 set pq {} ;# unset: cdu charged and waiting
30 #set speeddirn ffff80c3fbcced7f
31 #set speeddirn_fixed {speed126 2 80 0}
32 set speeddirn_fixed {}
34 # unset pointpos($point)
35 # unset segdetect($seg) ;# unset: shown D0; {}: shown D1; or: after id, D1->0
42 global watchdog polarity segdetect
46 if {[info exists watchdog]} { gui "P 1" }
48 foreach seg [array names segdetect] {
60 set b [binary format H* $m]
71 global errorInfo errorCode
72 puts stderr "$m\n$errorCode\n$errorInfo"
82 fconfigure $p -blocking yes
90 catch { after cancel $watchdog; unset watchdog }
94 fileevent $p readable {}
97 proc gui_polarity {} {
100 switch -exact $pname {
101 l { lappend 0 X1 X3 X5 X7 X9; lappend 0 X2 X4 X6 X8 X10 }
102 x { lappend 1 X1 X3 X5 X7 X9; lappend 0 X2 X4 X6 X8 X10 }
103 y { lappend 0 X1 X3 X5 X7 X9; lappend 1 X2 X4 X6 X8 X10 }
106 foreach seg [set $v] {
112 proc polarity {newpname} {
114 debug "polarising $newpname"
115 if {![string compare $pname $newpname]} return
116 tellpic $polmsg($newpname)
121 proc pt_now {how point pos xtra} {
122 set msg a0[lindex $point $pos]
123 debug "$how point $point pos=$pos msg=$msg$xtra"
124 gui "M [lindex $point 2] [expr {!$pos}]"
127 proc pt_must {point newpos} {
128 upvar #0 pointpos($point) pos
130 if {[info exists pos] && $pos == $newpos} return
132 if {[info exists pq]} {
133 lappend pq [list $point $pos]
134 debug "queue point $point pos=$pos l=[llength $pq]"
137 pt_now immed $point $pos {}
140 proc pt_ifthenmust {ifpoint ifposwant thenpoint thenpos} {
141 upvar #0 pointpos($ifpoint) ifpos
142 if {![info exists ifpos] || $ifpos != $ifposwant} return
143 pt_must $thenpoint $thenpos
150 set pq [lrange $pq 1 end]
151 pt_now nowdo [lindex $v 0] [lindex $v 1] " l=[llength $pq]"
160 set c [read $rand 1]; if {![string length $c]} { error "eof on rand" }
165 proc pt_maybe {point oneisright} {
166 global always lastptchosen
167 if {[info exists always]} {
170 if {![string compare $point $lastptchosen]} return
171 set lastptchosen $point
173 set pos [expr [regexp {^[89a-f]} $x] ? 1 : 0]
174 debug "chose point $point pos=$pos (x=$x)"
180 upvar #0 segdetect($seg) segd
181 if {![info exists segd]} {
182 debug "segment $seg = already"
183 } elseif {[string length $segd]} {
184 debug "segment $seg = pending already"
186 debug "segment $seg = soon"
187 set segd [after 100 s0t $seg]
191 upvar #0 segdetect($seg) segd
192 debug "segment $seg = now"
197 upvar #0 segdetect($seg) segd
198 if {![info exists segd]} {
200 debug "segment $seg ! (overwrites =)"
201 } elseif {[string length $segd]} {
202 debug "segment $seg ! (cancels =)"
205 debug "segment $seg ! already"
212 proc pm_maydetect {d seg} {
233 #proc pm_nodetect {seg} {
235 # if {![string compare $seg [lindex $segsasgot 1]]} {
236 # set segsasgot [list [lindex $segsasgot 1] [lindex $segsasgot 0]]
240 proc pm_detect {seg} {
241 global segs pname segsasgot
242 if {[string compare $seg [lindex $segsasgot 1]]} {
243 set segsasgot [list [lindex $segsasgot 1] $seg]
245 if {[lsearch -exact $segs $seg] < 0} {
248 debug "pm_detect $seg ($segsasgot) ($segs) $pname$seg"
249 # if {[lsearch -exact {
250 # 06 09 0a 04 02 07 14 20
253 # } $seg] < 0} return
254 switch -exact $pname$seg {
255 l16 - l1c - l08 - l0b { polarity y }
256 l10 - l1a - l03 - l05 { polarity x }
257 x07 - x04 - x0a { polarity l }
258 x16 - x1c - x14 - x0b { polarity y }
259 y06 - y04 - y0a { polarity l }
260 y20 - y10 - y1a - y05 { polarity x }
263 04 - 0a { pt_must "00 01 X7" 1; pt_must "40 41 X8" 1 }
264 05 { pt_must "00 01 X7" 0 }
265 0b { pt_must "40 41 X8" 0 }
266 16 - 1c { pt_must "02 03 A5" 0 }
267 1a - 10 { pt_must "42 43 A6" 0 }
268 14 { pt_ifthenmust "02 03 A5" 1 "42 43 A6" 1 }
269 20 { pt_ifthenmust "42 43 A6" 1 "02 03 A5" 1 }
271 switch -exact [join $segs -] {
272 02-07 { pt_maybe "02 03 A5" 1 }
273 07-02 { pt_maybe "00 01 X7" 0 }
274 09-06 { pt_maybe "42 43 A6" 0 }
275 06-09 { pt_maybe "40 41 X8" 1 }
280 # global nmrawhich speeddirn funcs
282 # for {set i 0} {$i < $m} {incr i} {
283 # tellpic_q [lindex [list $speeddirn $funcs] $nmrawhich]
284 # set nmrawhich [expr {!$nmrawhich}]
289 global watchdog testonly speeddirn funcs nmradiv
290 catch { after cancel $watchdog }
291 set watchdog [after 50 watchdog]
292 tellpic_q 9808 ;# 128ms
293 if {[incr nmradiv] > 35} {
294 tellpic_q $speeddirn$funcs
300 debug "got hello, starting up"
314 switch -glob [lindex $m 0] {
315 01 - 02 { tellnmra $m }
316 09 { fp $m; pm_hello }
317 07 { puts "short circuit"; exit 1 }
318 28 { fp $m; pm_charged }
319 9[0-7] { fp $m; pm_maydetect 0 $v }
320 9? { fp $m; pm_maydetect 1 $v }
321 0a - [234567]? { puts "pic debug $m" }
322 * { fp $m; fail "pic unknown $m" }
326 proc onreadp_test {} {
327 if {![gets stdin m]} { return }
335 if {![string length $c]} {
336 if {[eof $p]} { error "eof on device" }
340 if {![info exists rand]} {
345 if {[regexp {^[0-7]} $x]} {
346 if {![regexp {^x} $m]} {
354 proc newspeeddirn {} {
356 set speed [expr {round(($b1 * $b1) / 65535.0 * 100.0 + 26.0)}]
358 set dirn [expr {$b2 / 128}]
360 debug "speeddirn b1=$b1 speed=$speed b2=$b2 dirn=$dirn"
361 return "speed126 2 $speed $dirn"
366 set value [expr {($b3 & 127) * 16}]
367 debug "funcs b3=$b3 value=[format %x $value]"
368 return "funcs5to8 2 $value"
371 proc maybechange {thing} {
373 upvar #0 ${thing}_fixed fixed
374 if {![info exists fixed]} {
375 set rb 0x[randbyte][randbyte]
378 1.0 / (($ch(${thing}every) - $ch(minint)*0.001) * $ch(scale))
380 debug "maybechange $thing rb=$rb no"
383 debug "maybechange $thing rb=$rb yes ..."
386 debug "fixed $thing $fixed"
388 if {![llength $l]} { return 0 }
390 set bin [eval exec ./hostside-old -s/dev/stdout $l]
391 binary scan $bin H* x
392 debug "changed $thing=$x"
399 catch { after cancel $chwa }
400 if {[maybechange speeddirn] || [maybechange funcs]} {
401 set interval $ch(minint)
405 set chwa [after $interval changewhat]
409 if {[gets stdin l] < 0} {
412 fail "stopgap-controller got eof, quitting"
413 fileevent stdin readable {}
421 global port p testonly
423 set p [open $port {RDWR NONBLOCK} 0]
425 exec stty -F $port min 1 time 0 -istrip -ocrnl -onlcr -onocr -opost \
426 -ctlecho -echo -echoe -echok -echonl -iexten -isig \
428 9600 clocal cread crtscts -hup -parenb cs8 -cstopb \
429 -ixoff bs0 cr0 ff0 nl0 -ofill -olcuc
431 fconfigure $p -encoding binary -translation binary \
432 -blocking false -buffering none
434 fileevent $p readable onreadp
435 fconfigure stdin -blocking false
436 fileevent stdin readable onreadcmd
439 fconfigure stdin -blocking false
440 fileevent stdin readable onreadp_test
443 after 250 setup_complete
446 proc setup_complete {} {
448 set rand [open /dev/urandom {RDONLY} 0]
449 fconfigure $rand -encoding binary -translation binary
455 # for keyboard control
458 global speeddirn_fixed; set speeddirn_fixed {speed126 2 126 0}
461 global speeddirn_fixed; set speeddirn_fixed {speed126 2 126 10}
463 proc ask_randspeed {} {
464 global speeddirn_fixed; catch { unset speeddirn_fixed }