SCX/Reader.pm

   1 #!/usr/bin/perl -w
   2
   3 package SCX::Reader;
   4
   5 use strict;
   6
   7 use Time::HiRes qw(gettimeofday tv_interval);
   8 use FileHandle;
   9 use IO::Handle;
  10 use POSIX;
  11 use SCX::CRC;
  12
  13 our $PACKET_SIZE = 9; # 9 bytes + 0x05
  14 our $LOG_ROTATE  = 600;
  15
  16 sub new {
  17         my ($class, $args) = @_;
  18
  19         my $portname = $args->{portname}
  20                 or die "portname not specified";
  21
  22         system 'stty', '-F', $portname, '115200', 'raw';
  23         if ($?) {
  24                 die "stty died with code $? (no permissions?)";
  25         }
  26
  27         sysopen(my $fh, $portname, O_RDONLY|O_NONBLOCK)
  28                 or die "Can't open $portname: $!";
  29
  30         my $logfile = $args->{logfile};
  31         my $log_gen = 0;
  32
  33         open my $logfh, '>', "$logfile.$log_gen"
  34         or die "Can't open $logfile.$log_gen: $!";
  35
  36         my $now = gettimeofday;
  37
  38         my $self = {
  39                 portname  => $portname,
  40                 fh        => $fh,
  41                 logfile   => $logfile,
  42                 logfh     => $logfh,
  43                 log_gen   => $log_gen,
  44                 log_start => $now,
  45                 starttime => $now,
  46                 track     => $args->{track},
  47                 bytes     => [],
  48         };
  49
  50         bless $self, $class;
  51
  52         return $self;
  53 }
  54
  55 sub fh { return shift->{fh}; }
  56
  57 sub track { return shift->{track}; }
  58
  59 sub read {
  60         my ($self) = @_;
  61
  62         my $data;
  63         my $bytes_read = sysread $self->fh, $data, $PACKET_SIZE;
  64         die "Read error on $self->{portname}: $!"
  65                 if !$bytes_read;
  66
  67         my @bytes = unpack("C*", $data);
  68
  69         # print join(' ', map { sprintf(" %02x", $_) } @bytes), "\n";
  70         push @{ $self->{bytes} }, @bytes;
  71         @bytes = @{ $self->{bytes} };
  72
  73         my @bad_bytes;
  74
  75         while (@bytes > $PACKET_SIZE) {
  76                 if ($bytes[0] != 0x55) {
  77                         push @bad_bytes, shift @bytes;
  78                         next;
  79                 }
  80                 my $cmd = $bytes[1];
  81
  82                 if ($bytes[$PACKET_SIZE] != 0x05
  83                         || SCX::CRC::digest(@bytes[0..$PACKET_SIZE-2])
  84                                 != $bytes[$PACKET_SIZE-1]) {
  85                         push @bad_bytes, shift @bytes;
  86                         next;
  87                 }
  88
  89                 if (@bad_bytes) { # Report previous bad bytes first
  90                         $self->log_bytes(\@bad_bytes, "Cannot parse packet");
  91                         @bad_bytes = ();
  92                 }
  93
  94                 my @packet = splice @bytes, 0, $PACKET_SIZE+1;
  95                 my $rv = $self->handle_packet(@packet);
  96                 $self->log_bytes(\@packet, $rv);
  97         }
  98         if (@bad_bytes) {
  99                 while (@bytes && $bytes[0] != 0x55) {
 100                         push @bad_bytes, shift @bytes;
 101                 }
 102                 $self->log_bytes(\@bad_bytes, "cannot parse packet");
 103         }
 104
 105         @{ $self->{bytes} } = @bytes;
 106 }
 107
 108 sub log_bytes {
 109         my ($self, $bytes, $msg) = @_;
 110
 111         return if !@$bytes;
 112
 113         $msg = defined $msg ? ' # ' . $msg : '';
 114
 115         my $now = gettimeofday;
 116
 117         if ($now - $self->{log_start} >= $LOG_ROTATE) {
 118                 close $self->{logfh};
 119                 $self->{log_gen} = $self->{log_gen} ? 0 : 1;
 120                 open my $fh, '>', $self->{logfile} . '.' . $self->{log_gen}
 121                         or die "Can't open $self->{logfile}.$self->{log_gen}: $!";
 122                 $self->{logfh} = $fh;
 123                 $self->{log_start} = $now;
 124         }
 125
 126         $self->{logfh}->print(sprintf('% 10.3f', $now - $self->{starttime}),
 127                 (map { sprintf(" %02x", $_) } @$bytes),
 128                 $msg, "\n");
 129         $self->{logfh}->flush;
 130 }
 131
 132 our %COMMANDS = (
 133         0xAA => \&bus_free_time_packet,
 134         0xCC => \&car_programming_packet,
 135         0xD0 => \&reset_packet,
 136         0xD3 => \&standings_packet,
 137         0xD4 => \&lap_time_packet,
 138         0xD5 => \&race_setup_packet,
 139         0xD6 => \&fuel_level_packet,
 140         0xD7 => \&brake_set_packet,
 141         0xDB => \&qualification_packet,
 142         0xDC => \&end_of_race_packet,
 143         0xDD => \&race_start_packet,
 144         0xDE => \&display_change_packet,
 145         0xEE => \&finish_line_packet,
 146         0xFF => \&controller_status_packet,
 147 );
 148
 149 sub handle_packet {
 150         my ($self, @data) = @_;
 151
 152         my $cmd = $data[1];
 153         my @args = @data[2..7];
 154
 155         my $sub = $COMMANDS{$cmd};
 156         return "Unknown packet"
 157                 if !defined $sub;
 158
 159         return &$sub($self, @args);
 160 }
 161
 162 sub bus_free_time_packet {
 163         my ($self, @bytes) = @_;
 164
 165         my $msg = 'Strange bus free time packet'
 166                 if $bytes[2] != 0xF0
 167                 || $bytes[3] != 0xF0
 168                 || $bytes[4] != 0xF0
 169                 || $bytes[5] != 0xF0;
 170
 171         return $msg; # No need to handle this, I think
 172 }
 173
 174 sub car_programming_packet {
 175         my ($self, @bytes) = @_;
 176
 177         my $msg = 'Strange car programming packet'
 178                 if ($bytes[0] & 0xF8) != 0 || ($bytes[0] & 0x07) > 5
 179                 || $bytes[1] != 0xFE
 180                 || $bytes[2] != 0xFF
 181                 || $bytes[3] != 0xFF
 182                 || $bytes[4] != 0xFF
 183                 || $bytes[5] != 0xFF;
 184
 185         return $msg;
 186 }
 187
 188 sub reset_packet {
 189         my ($self, @bytes) = @_;
 190
 191         my $msg = 'Strange reset packet'
 192                 if $bytes[0] != 0xFF
 193                 || $bytes[3] != 0xAA
 194                 || $bytes[4] != 0xAA
 195                 || $bytes[5] != 0xAA;
 196
 197         return $msg; # FIXME - to be implemented
 198 }
 199
 200 sub standings_packet {
 201         my ($self, @bytes) = @_;
 202
 203         my $msg = 'Strange standings packet'
 204                 if ($bytes[0] != 0xFF && ($bytes[0] & 0x07) > 5)
 205                 || ($bytes[1] != 0xFF && ($bytes[1] & 0x07) > 5)
 206                 || ($bytes[2] != 0xFF && ($bytes[2] & 0x07) > 5)
 207                 || ($bytes[3] != 0xFF && ($bytes[3] & 0x07) > 5)
 208                 || ($bytes[4] != 0xFF && ($bytes[4] & 0x07) > 5)
 209                 || ($bytes[5] != 0xFF && ($bytes[5] & 0x07) > 5);
 210
 211         my @standings;
 212
 213         push @standings, map { $_ != 0xFF ? $_ & (0x07) : () } @bytes;
 214
 215         return $msg; # FIXME - to be implemented
 216 }
 217
 218 sub lap_time_packet {
 219         my ($self, @bytes) = @_;
 220
 221         my $msg = 'Strange lap time packet'
 222                 if $bytes[0] > 5
 223                 || $bytes[1] & 0x01
 224                 || $bytes[2] & 0x01
 225                 || ($bytes[3] & 0xF0) != 0
 226                 || $bytes[4] & 0x01
 227                 || $bytes[5] & 0x01;
 228
 229         my $nonzero = grep { $_ != 0 } @bytes;
 230
 231         my $car = $bytes[0];
 232         my $round = 256*$bytes[1] + $bytes[2]
 233                 + ($bytes[3] & 2 ? 256 : 0)
 234                 + ($bytes[3] & 1 ? 1 : 0);
 235         my $time = 256*$bytes[4] + $bytes[5]
 236                 + ($bytes[3] & 8 ? 256 : 0)
 237                 + ($bytes[3] & 4 ? 1 : 0);
 238         if ($time == 65535) {
 239                 $self->track->car($car)->enter_pit_lane;
 240         } else {
 241                 $time *= 0.01024;
 242
 243                 if ($nonzero) {
 244                         $self->track->car($car)->set_lap($round);
 245                         $self->track->car($car)->set_laptime($time);
 246                 } else {
 247                         # FIXME - probably reset race time or whatever
 248                         # all-zeros packet is sent after the race setup
 249                 }
 250         }
 251
 252         return $msg;
 253 }
 254
 255
 256 sub race_setup_packet {
 257         my ($self, @bytes) = @_;
 258
 259         my $msg = 'Strange race setup packet'
 260                 if ($bytes[0] != 0x00 && $bytes[0] != 0xFF)
 261                 || $bytes[1] & 0xF0
 262                 || $bytes[2] & 0xF0
 263                 || $bytes[3] & 0xF0
 264                 || $bytes[4] != 0xFF
 265                 || $bytes[5] != 0xFF;
 266
 267         $self->track->race_setup($bytes[0] == 0x00
 268                 ? 0
 269                 : $bytes[1] & 0x0F * 256
 270                         + $bytes[2] & 0x0F * 16
 271                         + $bytes[3] & 0x0F);
 272
 273         return $msg; # FIXME - to be implemented
 274 }
 275
 276
 277 sub fuel_level_packet {
 278         my ($self, @bytes) = @_;
 279
 280         my $msg = 'Strange fuel_level packet'
 281                 if ($bytes[0] >> 4) > 8
 282                 || ($bytes[0] & 0x0F) > 8
 283                 || ($bytes[1] >> 4) > 8
 284                 || ($bytes[1] & 0x0F) > 8
 285                 || ($bytes[2] >> 4) > 8
 286                 || ($bytes[2] & 0x0F) > 8
 287                 || ($bytes[5] != 0xAA && $bytes[5] != 0xFF);
 288
 289         my @fuel = (
 290                 $bytes[0] >> 4, $bytes[0] & 0x0f,
 291                 $bytes[1] >> 4, $bytes[1] & 0x0f,
 292                 $bytes[2] >> 4, $bytes[2] & 0x0f,
 293         );
 294
 295         for my $car (0..5) {
 296                 $self->track->car($car)->set_fuel($fuel[$car]);
 297         }
 298
 299         return $msg;
 300 }
 301
 302
 303 sub brake_set_packet {
 304         my ($self, @bytes) = @_;
 305
 306         return 'Unexpected brake_set packet (should be in the pit lane only)';
 307 }
 308
 309
 310 sub qualification_packet {
 311         my ($self, @bytes) = @_;
 312
 313         my $msg = 'Strange qualification packet'
 314                 if $bytes[0] & 0xF0
 315                 || $bytes[1] & 0xF0
 316                 || $bytes[2] & 0xF0
 317                 || $bytes[3] > 5
 318                 || $bytes[4] != 0xFF
 319                 || $bytes[5] != 0xFF;
 320
 321         for my $car (0..5) {
 322                 $self->track->car($car)->set_lap(undef);
 323                 $self->track->car($car)->set_laptime(undef);
 324         }
 325
 326         return $msg; # FIXME - to be implemented
 327 }
 328
 329
 330 sub end_of_race_packet {
 331         my ($self, @bytes) = @_;
 332
 333         my $msg = 'Strange end_of_race packet'
 334                 if $bytes[0] != 0xFF
 335                 || $bytes[1] != 0xFF
 336                 || $bytes[2] != 0xFF
 337                 || $bytes[3] != 0xFF
 338                 || $bytes[4] != 0xFF
 339                 || $bytes[5] != 0xFF;
 340
 341         $self->track->race_end;
 342
 343         return $msg; # FIXME - to be implemented
 344 }
 345
 346
 347 sub race_start_packet {
 348         my ($self, @bytes) = @_;
 349
 350         my $msg = 'Strange race_start packet'
 351                 if $bytes[0] != 0x00
 352                 || $bytes[1] != 0xAA
 353                 || $bytes[2] != 0xAA
 354                 || $bytes[3] != 0xAA
 355                 || $bytes[4] != 0xAA
 356                 || $bytes[5] != 0xAA;
 357
 358         $self->track->race_start;
 359
 360         return $msg; # FIXME - to be implemented
 361 }
 362
 363
 364 sub display_change_packet {
 365         my ($self, @bytes) = @_;
 366
 367         my $msg = 'Strange display_change packet'
 368                 if $bytes[0] & 0xFE
 369                 || $bytes[1] != 0xFF
 370                 || $bytes[2] != 0xFF
 371                 || $bytes[3] != 0xFF
 372                 || $bytes[4] != 0xFF
 373                 || $bytes[5] != 0xFF;
 374
 375         return $msg; # FIXME - to be implemented
 376 }
 377
 378
 379 sub finish_line_packet {
 380         my ($self, @bytes) = @_;
 381
 382         my $fail;
 383         for my $byte (@bytes) {
 384                 $fail = 1
 385                         if $byte != 0xAA
 386                         && $byte != 0xE7
 387                         && $byte != 0xF0
 388                         && $byte != 0xFE
 389         }
 390
 391         my $msg = 'Strange finish_line packet'
 392                 if $fail;
 393
 394         my $pit_lane_entry;
 395         my @cars_finished;
 396         for my $i (0..5) {
 397                 my $byte = $bytes[$i];
 398
 399                 $pit_lane_entry = 1 if $byte == 0xF0;
 400                 push @cars_finished, $i if $byte == 0xE7;
 401         }
 402
 403         if ($pit_lane_entry) {
 404                 for my $car (@cars_finished) {
 405                         $self->track->car($car)->enter_pit_lane;
 406                 }
 407         }
 408
 409         return $msg; # FIXME - to be implemented
 410 }
 411
 412 sub controller_status_packet {
 413         my ($self, @bytes) = @_;
 414
 415         my $fail;
 416         for my $byte (@bytes) {
 417                 next if $byte == 0xAA;
 418                 $fail = 1
 419                         if ($byte & 0xC0) != 0xC0
 420                         || ($byte & 0x0F) > 12
 421         }
 422
 423         my $msg = 'Strange controller_status packet'
 424                 if $fail;
 425
 426         my @fuel = (
 427                 $bytes[1] >> 4, $bytes[1] & 0x0f,
 428                 $bytes[2] >> 4, $bytes[2] & 0x0f,
 429                 $bytes[3] >> 4, $bytes[3] & 0x0f,
 430         );
 431
 432         for my $car (0..5) {
 433                 my $byte = $bytes[$car];
 434
 435                 if ($byte == 0xAA) {
 436                         $self->track->car($car)->set_throttle(undef);
 437                         next;
 438                 }
 439
 440                 my $light = !($byte & 0x20);
 441                 my $backbutton = !($byte & 0x10);
 442                 my $throttle = $byte & 0x0f;
 443
 444                 $self->track->car($car)->set_throttle($throttle);
 445                 $self->track->car($car)->set_light($light);
 446                 $self->track->car($car)->set_backbutton($backbutton);
 447         }
 448
 449         return $msg;
 450 }
 451
 452 1;
 453