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|
#! @TCL_SHELL@
#
# $Id$
#
package require Itcl
namespace import itcl::*
proc locateInDirs {name dirs} {
foreach dir ${dirs} {
set toTest ${dir}/${name}
if { [file exists ${toTest}] } {
return ${toTest}
}
}
error "unable to locate ${name}"
}
proc toChar { value } {
return [format %c $value]
}
proc toASCII { char } {
scan $char %c value
return $value
}
# Dummy Class to satisfy GUI port
class UpdateControl {
protected {
variable objname
variable win
variable parent
}
public {
constructor { _parent _objname _win } {
set parent $_parent
set win $_win
set objname $_objname
}
}
}
class AnalogNet {
protected {
variable inState
variable objname
variable win
variable parent
}
public {
constructor { _parent _objname _win } {
set parent $_parent
set win $_win
set objname $_objname
}
}
method ChangeValue { newValue } {
set inState $newValue
}
}
class Net {
protected {
variable inState
variable objname
variable win
variable parent
}
public {
constructor { _parent _objname _win } {
set parent $_parent
set win $_win
set objname $_objname
}
}
method ChangeValue { newValue } {
set inState $newValue
}
}
class SerialRx {
protected {
variable inState
variable objname
variable win
variable parent
}
public {
constructor { _parent _objname _win } {
set parent $_parent
set win $_win
set objname $_objname
# set all ADC's to 0
for {set adc 0} {$adc <= 7} {incr adc} {
$parent SendToSimulator [format "adc%d" $adc] 0
}
}
method WriteADCs { base } {
for {set adc 0} {$adc <= 7} {incr adc} {
$parent SendToSimulator [format "adc%d" $adc] \
[format "%f" [expr 0.5 * (($adc + $base) % 8)]]
}
}
method ChangeValue { newValue } {
set inState $newValue
#puts "SerialRx: ${newValue}"
puts -nonewline [toChar ${newValue}]
flush stdout
# If we see 0-9, change the ADC0 value.
if { ${newValue} >= 0x30 && ${newValue} <= 0x39 } {
WriteADCs [expr ${newValue} - 0x30 - 1]
}
if { ${newValue} == 0x45 } {
$parent SendToSimulator "exit" "0"
exit 0
}
}
}
}
class SerialTx {
protected {
variable objname
variable win
variable parent
variable inState
}
public {
constructor { _parent _objname _win } {
set parent $_parent
set win $_win
set objname $_objname
}
method ChangeValue { newValue } {
set inState $newValue
puts "SerialTx: ${newValue}"
}
}
}
class Master {
protected {
variable sock
}
public {
constructor { _sock } {
#puts "Constructor from Master called!"
set sock $_sock
#set sock [socket localhost $socketNo]
fileevent $sock readable "$this ReadFromSimulavr"
fconfigure $sock -blocking 0
# set initial ADC0 value
SendToSimulator adc0 0
SendToSimulator adc1 0
}
method ReadFromSimulavr { } {
if { ![eof $sock] } {
gets $sock x
#puts "FDBK RECV: --->$x<---"
set readList [split $x]
set offset [string first " " $x ]
set sub [string range $x $offset end ]
# puts "offset: $offset rest: $sub"
# create class objName parent win objName
set front [lrange $x 1 2]
set back [lrange $x 3 end]
set objName [lindex $x 2]
switch [lindex $readList 0] {
create {
#puts "FDBK CREATE: $front $this $objName $back"
if { [catch { eval "$front $this $objName $back" }] } {
puts "exception .. are we missing class $front?"
}
}
set {
#puts "FDBK SET: [lindex $readList 1] ChangeValue [lindex $readList 2]"
catch {
eval "[lindex $readList 1] ChangeValue [lindex $readList 2]"
}
}
default {
#puts "FDBK DEFAULT: >$x<"
eval $x
}
}
puts -nonewline $sock "__ack X "
flush $sock
} else {
error "Error condition in io input handler"
}
}
method SendToSimulator { id val } {
#puts "GUI SEND: Update the var $id to $val"
puts -nonewline $sock "$id $val "
flush $sock
update
}
}
}
# create a server socket
socket -server NewConnection 7777
proc NewConnection { _sock _address _port } {
puts "New Connection on Simulation Feedback Server established!"
puts "Socket: $_sock from Address $_address and port $_port"
Master guiMaster_$_sock $_sock
}
vwait forever
|
