use strict;
-use Time::HiRes qw(gettimeofday tv_interval);
-use FileHandle;
-use IO::Handle;
-use POSIX;
-use SCX::CRC;
+use Time::HiRes qw(time);
+use Fcntl qw(F_GETFL F_SETFL O_NONBLOCK O_RDONLY);
our $PACKET_SIZE = 9; # 9 bytes + 0x05
-our $LOG_FILE_LIMIT = 10_000_000; # bytes
sub new {
my ($class, $args) = @_;
- my $portname = $args->{portname}
- or die "portname not specified";
+ my $filename = $args->{filename}
+ or die "filename not specified";
- system 'stty', '-F', $portname, '115200', 'raw';
- if ($?) {
- die "stty died with code $? (no permissions?)";
- }
-
- sysopen(my $fh, $portname, O_RDONLY|O_NONBLOCK)
- or die "Can't open $portname: $!";
-
- my $logfile = $args->{logfile};
- my $log_gen = 0;
+ my $parser = $args->{parser}
+ or die "parser not specified";
+
+ my $fh;
+
+ if ($filename eq '-') {
+ open($fh, '<&=STDIN');
+ my $flags = fcntl($fh, F_GETFL, 0);
+ fcntl($fh, F_SETFL, $flags | O_NONBLOCK);
+ } else {
+ system 'stty', '-F', $filename, '115200', 'raw';
+ if ($?) {
+ die "stty died with code $? (no permissions?)";
+ }
- open my $logfh, '>', "$logfile.$log_gen"
- or die "Can't open $logfile.$log_gen: $!";
+ sysopen($fh, $filename, O_RDONLY|O_NONBLOCK)
+ or die "Can't open $filename: $!";
+ }
my $self = {
- portname => $portname,
+ filename => $filename,
fh => $fh,
- logfile => $logfile,
- logfh => $logfh,
- log_gen => $log_gen,
- track => $args->{track},
- bytes => [],
+ parser => $parser,
};
bless $self, $class;
sub fh { return shift->{fh}; }
-sub track { return shift->{track}; }
-
sub read {
my ($self) = @_;
my $data;
my $bytes_read = sysread $self->fh, $data, $PACKET_SIZE;
- die "Read error on $self->{portname}: $!"
+ die "Read error on $self->{filename}: $!"
if !$bytes_read;
- $self->{last_read_time} = gettimeofday;
+ my $now = time;
my @bytes = unpack("C*", $data);
- # print join(' ', map { sprintf(" %02x", $_) } @bytes), "\n";
- push @{ $self->{bytes} }, @bytes;
- @bytes = @{ $self->{bytes} };
-
- my @bad_bytes;
-
- while (@bytes > $PACKET_SIZE) {
- if ($bytes[0] != 0x55) {
- push @bad_bytes, shift @bytes;
- next;
- }
- my $cmd = $bytes[1];
-
- if ($bytes[$PACKET_SIZE] != 0x05
- || SCX::CRC::digest(@bytes[0..$PACKET_SIZE-2])
- != $bytes[$PACKET_SIZE-1]) {
- push @bad_bytes, shift @bytes;
- next;
- }
-
- if (@bad_bytes) { # Report previous bad bytes first
- $self->log_bytes(\@bad_bytes, "Cannot parse packet");
- @bad_bytes = ();
- }
-
- my @packet = splice @bytes, 0, $PACKET_SIZE+1;
- 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");
- }
-
- @{ $self->{bytes} } = @bytes;
-}
-
-sub log_print {
- my ($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 : '';
-
- $self->log_print((map { sprintf("%02x", $_) } @$bytes), $msg);
-}
-
-sub log_cmd {
- my ($self, @args) = @_;
-
- $self->log_print('cmd', @args);
-}
-
-our %COMMANDS = (
- 0xAA => \&bus_free_time_packet,
- 0xCC => \&car_programming_packet,
- 0xD0 => \&reset_packet,
- 0xD3 => \&standings_packet,
- 0xD4 => \&lap_time_packet,
- 0xD5 => \&race_setup_packet,
- 0xD6 => \&fuel_level_packet,
- 0xD7 => \&brake_set_packet,
- 0xDB => \&qualification_packet,
- 0xDC => \&end_of_race_packet,
- 0xDD => \&race_start_packet,
- 0xDE => \&display_change_packet,
- 0xEE => \&finish_line_packet,
- 0xFF => \&controller_status_packet,
-);
-
-sub handle_packet {
- my ($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
- }
-
- 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;
+ $self->{parser}->add_data($now, @bytes);
}
1;
https://www.fi.muni.cz/~kas/git / slotcarman.git / blobdiff