package SCX::Reader;
+use strict;
+
use Time::HiRes qw(gettimeofday tv_interval);
use FileHandle;
+use IO::Handle;
+use POSIX;
use SCX::CRC;
our $PACKET_SIZE = 9; # 9 bytes + 0x05
-our $LOG_ROTATE = 600;
+our $LOG_FILE_LIMIT = 10_000_000; # bytes
sub new {
my ($class, $args) = @_;
- my $callback = $args->{callback}
- or die "callback arg not defined";
-
my $portname = $args->{portname}
or die "portname not specified";
die "stty died with code $? (no permissions?)";
}
- open my $tty, '<:raw', $portname
+ sysopen(my $fh, $portname, O_RDONLY|O_NONBLOCK)
or die "Can't open $portname: $!";
my $logfile = $args->{logfile};
open my $logfh, '>', "$logfile.$log_gen"
or die "Can't open $logfile.$log_gen: $!";
- my $now = gettimeofday;
-
my $self = {
portname => $portname,
- fh => $tty,
+ fh => $fh,
logfile => $logfile,
logfh => $logfh,
log_gen => $log_gen,
- log_start => $now,
- starttime => $now,
- callback => $callback,
+ track => $args->{track},
bytes => [],
};
sub fh { return shift->{fh}; }
+sub track { return shift->{track}; }
+
sub read {
my ($self) = @_;
die "Read error on $self->{portname}: $!"
if !$bytes_read;
+ $self->{last_read_time} = gettimeofday;
+
my @bytes = unpack("C*", $data);
+ # print join(' ', map { sprintf(" %02x", $_) } @bytes), "\n";
push @{ $self->{bytes} }, @bytes;
@bytes = @{ $self->{bytes} };
}
my @packet = splice @bytes, 0, $PACKET_SIZE+1;
- my $rv = &{ $self->{callback} }(@packet[1..$PACKET_SIZE]);
- $self->log_bytes(@packet, $rv);
+ my $rv = $self->handle_packet(@packet);
+ $self->log_bytes(\@packet, $rv);
+ $self->track->packet_received($self->{last_read_time});
+ }
+
+ if (@bad_bytes) {
+ while (@bytes && $bytes[0] != 0x55) {
+ push @bad_bytes, shift @bytes;
+ }
+ $self->log_bytes(\@bad_bytes, "cannot parse packet");
}
- $self->log_bad_bytes(\@bad_bytes, "Cannot parse packet");
@{ $self->{bytes} } = @bytes;
}
+sub log_print {
+ my ($self, @data) = @_;
+
+ my $size = $self->{logfh}->tell;
+
+ if ($size >= $LOG_FILE_LIMIT) {
+ close $self->{logfh};
+ $self->{log_gen} = $self->{log_gen} ? 0 : 1;
+ open my $fh, '>', $self->{logfile} . '.' . $self->{log_gen}
+ or die "Can't open $self->{logfile}.$self->{log_gen}: $!";
+ $self->{logfh} = $fh;
+ }
+
+ $self->{logfh}->print(sprintf('% 10.3f ', $self->{last_read_time}),
+ join(' ', @data, "\n"));
+ $self->{logfh}->flush;
+}
+
sub log_bytes {
my ($self, $bytes, $msg) = @_;
return if !@$bytes;
- $msg = defined $msg ? ' # ' . $msg : '';
+ $msg = defined $msg ? '# ' . $msg : '';
+
+ $self->log_print((map { sprintf("%02x", $_) } @$bytes), $msg);
+}
- my $now = gettimeofday;
+sub log_cmd {
+ my ($self, @args) = @_;
- if ($now - $self->{log_start} >= $LOG_ROTATE) {
- close $self->{logfh};
- $self->{log_gen} = $self->{log_gen} ? 0 : 1;
- open my $fh, '>', $logfile . '.' . $self->{log_gen}
- or die "Can't open $logfile.$self->{log_gen}: $!";
- $self->{logfh} = $fh;
- $self->{log_start} = $now;
+ $self->log_print('cmd', @args);
+}
+
+our %COMMANDS = (
+ 0xAA => \&bus_free_time_packet,
+ 0xCC => \&car_programming_packet,
+ 0xD0 => \&reset_packet,
+ 0xD3 => \&standings_packet,
+ 0xD4 => \&lap_time_packet,
+ 0xD5 => \&race_setup_packet,
+ 0xD6 => \&fuel_level_packet,
+ 0xD7 => \&brake_set_packet,
+ 0xDB => \&qualification_packet,
+ 0xDC => \&end_of_race_packet,
+ 0xDD => \&race_start_packet,
+ 0xDE => \&display_change_packet,
+ 0xEE => \&finish_line_packet,
+ 0xFF => \&controller_status_packet,
+);
+
+sub handle_packet {
+ my ($self, @data) = @_;
+
+ my $cmd = $data[1];
+ my @args = @data[2..7];
+
+ my $sub = $COMMANDS{$cmd};
+ return "Unknown packet"
+ if !defined $sub;
+
+ return &$sub($self, @args);
+}
+
+sub bus_free_time_packet {
+ my ($self, @bytes) = @_;
+
+ my $msg = 'Strange bus free time packet'
+ if $bytes[2] != 0xF0
+ || $bytes[3] != 0xF0
+ || $bytes[4] != 0xF0
+ || $bytes[5] != 0xF0;
+
+ return $msg; # No need to handle this, I think
+}
+
+sub car_programming_packet {
+ my ($self, @bytes) = @_;
+
+ my $msg = 'Strange car programming packet'
+ if ($bytes[0] & 0xF8) != 0 || ($bytes[0] & 0x07) > 5
+ || $bytes[1] != 0xFE
+ || $bytes[2] != 0xFF
+ || $bytes[3] != 0xFF
+ || $bytes[4] != 0xFF
+ || $bytes[5] != 0xFF;
+
+ return $msg; # No need to handle this
+}
+
+sub reset_packet {
+ my ($self, @bytes) = @_;
+
+ my $msg = 'Strange reset packet'
+ if $bytes[0] != 0xFF
+ || $bytes[3] != 0xAA
+ || $bytes[4] != 0xAA
+ || $bytes[5] != 0xAA;
+
+ $self->log_cmd('reset');
+ $self->track->reset;
+
+ return $msg;
+}
+
+sub standings_packet {
+ my ($self, @bytes) = @_;
+
+ my $msg = 'Strange standings packet'
+ if ($bytes[0] != 0xFF && ($bytes[0] & 0x07) > 5)
+ || ($bytes[1] != 0xFF && ($bytes[1] & 0x07) > 5)
+ || ($bytes[2] != 0xFF && ($bytes[2] & 0x07) > 5)
+ || ($bytes[3] != 0xFF && ($bytes[3] & 0x07) > 5)
+ || ($bytes[4] != 0xFF && ($bytes[4] & 0x07) > 5)
+ || ($bytes[5] != 0xFF && ($bytes[5] & 0x07) > 5);
+
+ my @standings;
+
+ push @standings, map { $_ != 0xFF ? $_ & (0x07) : () } @bytes;
+
+ return $msg; # We do internal standings handling
+}
+
+sub lap_time_packet {
+ my ($self, @bytes) = @_;
+
+ my $msg = 'Strange lap time packet'
+ if $bytes[0] > 5
+ || $bytes[1] & 0x01
+ || $bytes[2] & 0x01
+ || ($bytes[3] & 0xF0) != 0
+ || $bytes[4] & 0x01
+ || $bytes[5] & 0x01;
+
+ return $msg;
+}
+
+sub race_setup_packet {
+ my ($self, @bytes) = @_;
+
+ my $msg = 'Strange race setup packet'
+ if ($bytes[0] != 0x00 && $bytes[0] != 0xFF)
+ || $bytes[1] & 0xF0
+ || $bytes[2] & 0xF0
+ || $bytes[3] & 0xF0
+ || $bytes[4] != 0xFF
+ || $bytes[5] != 0xFF;
+
+ my $rounds = $bytes[0] == 0x00
+ ? 0
+ : ($bytes[1] & 0x0F) * 256
+ + ($bytes[2] & 0x0F) * 16
+ + ($bytes[3] & 0x0F);
+
+ $self->log_cmd('race_setup', $rounds);
+ $self->track->race_setup($rounds, $self->{last_read_time});
+
+ return $msg;
+}
+
+sub fuel_level_packet {
+ my ($self, @bytes) = @_;
+
+ my $msg = 'Strange fuel_level packet'
+ if ($bytes[0] >> 4) > 8
+ || ($bytes[0] & 0x0F) > 8
+ || ($bytes[1] >> 4) > 8
+ || ($bytes[1] & 0x0F) > 8
+ || ($bytes[2] >> 4) > 8
+ || ($bytes[2] & 0x0F) > 8
+ || ($bytes[5] != 0xAA && $bytes[5] != 0xFF);
+
+ my @fuel = (
+ $bytes[0] >> 4, $bytes[0] & 0x0f,
+ $bytes[1] >> 4, $bytes[1] & 0x0f,
+ $bytes[2] >> 4, $bytes[2] & 0x0f,
+ );
+
+ $self->log_cmd('fuel', @fuel);
+ for my $car (0..5) {
+ $self->track->car($car)->set_fuel($fuel[$car]);
+ }
+
+ return $msg;
+}
+
+
+sub brake_set_packet {
+ my ($self, @bytes) = @_;
+
+ return 'Unexpected brake_set packet (should be in the pit lane only)';
+}
+
+
+sub qualification_packet {
+ my ($self, @bytes) = @_;
+
+ my $msg = 'Strange qualification packet'
+ if $bytes[0] & 0xF0
+ || $bytes[1] & 0xF0
+ || $bytes[2] & 0xF0
+ || $bytes[3] > 6
+ || $bytes[4] != 0xFF
+ || $bytes[5] != 0xFF;
+
+ my $rounds = ($bytes[0] & 0x0F) * 256
+ + ($bytes[1] & 0x0F) * 16
+ + ($bytes[2] & 0x0F);
+ my $cars = $bytes[3];
+ $self->log_cmd('qualification_start', $rounds, $cars);
+ $self->track->qualification_setup($rounds, $cars,
+ $self->{last_read_time});
+
+ return $msg;
+}
+
+
+sub end_of_race_packet {
+ my ($self, @bytes) = @_;
+
+ my $msg = 'Strange end_of_race packet'
+ if $bytes[0] != 0xFF
+ || $bytes[1] != 0xFF
+ || $bytes[2] != 0xFF
+ || $bytes[3] != 0xFF
+ || $bytes[4] != 0xFF
+ || $bytes[5] != 0xFF;
+
+ $self->log_cmd('race_end');
+ $self->track->race_end;
+
+ return $msg;
+}
+
+
+sub race_start_packet {
+ my ($self, @bytes) = @_;
+
+ my $msg = 'Strange race_start packet'
+ if $bytes[0] != 0x00
+ || $bytes[1] != 0xAA
+ || $bytes[2] != 0xAA
+ || $bytes[3] != 0xAA
+ || $bytes[4] != 0xAA
+ || $bytes[5] != 0xAA;
+
+ $self->log_cmd('race_start');
+ $self->track->race_start($self->{last_read_time});
+
+ return $msg;
+}
+
+
+sub display_change_packet {
+ my ($self, @bytes) = @_;
+
+ my $msg = 'Strange display_change packet'
+ if $bytes[0] & 0xFE
+ || $bytes[1] != 0xFF
+ || $bytes[2] != 0xFF
+ || $bytes[3] != 0xFF
+ || $bytes[4] != 0xFF
+ || $bytes[5] != 0xFF;
+
+ return $msg; # FIXME - to be implemented
+}
+
+
+sub finish_line_packet {
+ my ($self, @bytes) = @_;
+
+ my $fail;
+ for my $byte (@bytes) {
+ $fail = 1
+ if $byte != 0xAA
+ && $byte != 0xE7
+ && $byte != 0xF0
+ && $byte != 0xFE
}
- $self->{logfh}->print(sprintf('% 10.3f', $now - $self->{starttime}),
- (map { sprintf(" %02x", $_) } @bytes),
- $msg, "\n");
+ my $msg = 'Strange finish_line packet'
+ if $fail;
+
+ my $regular = 1;
+ my @cars_finished;
+ for my $i (0..5) {
+ my $byte = $bytes[$i];
+
+ $regular = 0
+ if $byte != 0xAA && $byte != 0xE7 && $byte != 0xFE;
+
+ push @cars_finished, $i if $byte == 0xE7;
+ }
+
+ $self->log_cmd('finish_line', $regular, @cars_finished);
+ $self->track->finish_line(
+ $self->{last_read_time},
+ $regular,
+ @cars_finished
+ );
+
+ return $msg;
+}
+
+sub controller_status_packet {
+ my ($self, @bytes) = @_;
+
+ my $fail;
+ for my $byte (@bytes) {
+ next if $byte == 0xAA;
+ $fail = 1
+ if ($byte & 0xC0) != 0xC0
+ || ($byte & 0x0F) > 12
+ }
+
+ my $msg = 'Strange controller_status packet'
+ if $fail;
+
+ my @log_data;
+
+ for my $car (0..5) {
+ my $byte = $bytes[$car];
+
+ if ($byte == 0xAA) {
+ $self->track->car($car)->set_throttle(undef, undef,
+ $self->{last_read_time});
+ push @log_data, 'undef', '0';
+ next;
+ }
+
+ my $light = !($byte & 0x20);
+ my $backbutton = !($byte & 0x10);
+ my $throttle = $byte & 0x0f;
+
+ push @log_data, $throttle, $backbutton ? 1 : 0;
+ $self->track->car($car)->set_throttle($throttle, $backbutton,
+ $self->{last_read_time});
+ $self->track->car($car)->set_light($light);
+ }
+
+ $self->log_cmd('throttle', @log_data);
+
+ return $msg;
}
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https://www.fi.muni.cz/~kas/git / slotcarman.git / blobdiff