20060303a

1 files changed, 367 insertions, 0 deletions

diff --git a/appl/demo/lego/clockface.b b/appl/demo/lego/clockface.b
new file mode 100644
index 00000000..1f2aa105
--- /dev/null
+++ b/appl/demo/lego/clockface.b
@@ -0,0 +1,367 @@
+# Model 1
+implement Clockface;
+
+include "sys.m";
+include "draw.m";
+
+Clockface : module {
+	init : fn (ctxt : ref Draw->Context, argv : list of string);
+};
+
+sys : Sys;
+
+hmpath : con "motor/0";		# hour-hand motor
+mmpath : con "motor/2";		# minute-hand motor
+allmpath : con "motor/012";	# all motors (for stopall msg)
+
+hbpath : con "sensor/0";		# hour-hand sensor
+mbpath : con "sensor/2";		# minute-hand sensor
+lspath: con "sensor/1";		# light sensor;
+
+ONTHRESH : con 780;		# light sensor thresholds
+OFFTHRESH : con 740;
+NCLICKS : con 120;
+MINCLICKS : con 2;			# min number of clicks required to stop a motor
+
+Hand : adt {
+	motor : ref Sys->FD;
+	sensor : ref Sys->FD;
+	fwd : array of byte;
+	rev : array of byte;
+	stop : array of byte;
+	pos : int;
+};
+
+lightsensor : ref Sys->FD;
+allmotors : ref Sys->FD;
+hourhand : ref Hand;
+minutehand : ref Hand;
+
+reqch: chan of (string, chan of int);
+
+init(nil : ref Draw->Context, argv : list of string)
+{
+	sys = load Sys Sys->PATH;
+	sys->pctl(Sys->NEWPGRP, nil);
+
+	argv = tl argv;
+	if (len argv != 1) {
+		sys->print("usage: lego_dir\n");
+		raise("fail:usage");
+	}
+
+	# set up our control file
+	if (sys->bind("#s", ".", Sys->MBEFORE) == -1) {
+		sys->print("failed to bind srv device: %r\n");
+		return;
+	}
+	f2c := sys->file2chan(".", "clockface");
+	if (f2c == nil) {
+		sys->print("cannot create legolink channel: %r\n");
+		return;
+	}
+
+	legodir := hd argv;
+	if (legodir[len legodir -1] != '/')
+		legodir[len legodir] = '/';
+
+	# get the motor files
+	sys->print("opening motor files\n");
+	hm := sys->open(legodir + hmpath, Sys->OWRITE);
+	mm := sys->open(legodir +mmpath, Sys->OWRITE);
+	allmotors = sys->open(legodir + allmpath, Sys->OWRITE);
+	if (hm == nil || mm == nil || allmotors == nil) {
+		sys->print("cannot open motor files\n");
+		raise("fail:error");
+	}
+
+	# get the sensor files
+	sys->print("opening sensor files\n");
+	hb := sys->open(legodir + hbpath, Sys->ORDWR);
+	mb := sys->open(legodir + mbpath, Sys->ORDWR);
+	lightsensor = sys->open(legodir + lspath, Sys->ORDWR);
+
+	if (hb == nil || mb == nil) {
+		sys->print("cannot open sensor files\n");
+		raise("fail:error");
+	}
+
+	hourhand = ref Hand(hm, hb, array of byte "f7", array of byte "r7", array of byte "s7", 0);
+	minutehand = ref Hand(mm, mb, array of byte "f7", array of byte "r7", array of byte "s7", 0);
+
+	sys->print("setting sensor types\n");
+	setsensortypes(hourhand, minutehand, lightsensor);
+
+	reqch = chan of (string, chan of int);
+	spawn sethands();
+#	reqch <-= ("reset", nil);
+	spawn srvlink(f2c);
+}
+
+srvlink(f2c : ref Sys->FileIO)
+{
+	for (;;) alt {
+	(offset, count, fid, rc) := <- f2c.read =>
+		if (rc == nil)
+			continue;
+		if (offset != 0) {
+			rc <-= (nil, nil);
+			continue;
+		}
+		rc <- = (array of byte gettime(), nil);
+
+	(offset, data, fid, wc) := <- f2c.write =>
+		if (wc == nil)
+			continue;
+		if (offset != 0) {
+			wc <-= (0, "bad offset");
+			continue;
+		}
+		spawn settime(wc, string data, len data);
+	}
+}
+
+gettime(): string
+{
+	hpos := hourhand.pos;
+	mpos := minutehand.pos;
+
+	h := 12 * hpos / NCLICKS;
+	m := 60 * mpos / NCLICKS;
+
+	time := "??:??";
+	for (hadj := -1; hadj <= 1; hadj++) {
+		hpos2 := (((h+hadj) * NCLICKS) / 12) + ((m * NCLICKS) / (12 * 60));
+		dhpos := hpos - hpos2;
+		if (dhpos >= -2 && dhpos <= 2) {
+			# allow 2 clicks of imprecision either way
+			time = sys->sprint("%.2d:%.2d", h+hadj, m);
+			break;
+		}	
+	}
+	return sys->sprint("%s %d %d", time, hpos*360/NCLICKS, mpos*360/NCLICKS);
+}
+
+settime(wc: Sys->Rwrite, time: string, wn: int)
+{
+	done := chan of int;
+	reqch <-= (time, done);
+	<- done;
+	wc <-= (wn, nil);
+}
+
+str2clicks(s : string) : (int, int)
+{
+	h, m : int = 0;
+	(n, toks) := sys->tokenize(s, ":");
+	if (n > 1) {
+		h = int hd toks;
+		toks = tl toks;
+		n--;
+	}
+	if (n > 0) {
+		m = int hd toks;
+	}
+	h = ((h * NCLICKS) / 12) + ((m * NCLICKS) / (12 * 60));
+	m = (m * NCLICKS)/60;
+	return (h, m);
+}
+
+sethands()
+{
+	for (;;) {
+		(time, rc) := <- reqch;
+		if (time == "reset" || time == "reset\n") {
+			reset();
+			time = "12:00";
+		}
+		(hclk, mclk) := str2clicks(time);
+		for (i := 0; i < 6; i++) {
+			hdelta := clickdistance(hourhand.pos, hclk, NCLICKS);
+			mdelta := clickdistance(minutehand.pos, mclk, NCLICKS);
+			if (hdelta == 0 && mdelta == 0)
+				break;
+			if (hdelta != 0)
+				sethand(hourhand, hdelta);
+			if (mdelta != 0)
+				sethand(minutehand, mdelta);
+		}
+		releaseall();
+		if (rc != nil)
+			rc <- = 1;
+	}
+}
+
+clickdistance(start, stop, mod : int) : int
+{
+	if (start > stop)
+		stop += mod;
+	d := (stop - start) % mod;
+	if (d > mod/2)
+		d -= mod;
+	return d;
+}
+
+setsensortypes(h1, h2 : ref Hand, ls : ref Sys->FD)
+{
+	button := array of byte "b0";
+	light := array of byte "l0";
+
+	sys->seek(h1.sensor, big 0, Sys->SEEKSTART);
+	sys->write(h1.sensor, button, len button);
+	sys->seek(h2.sensor, big 0, Sys->SEEKSTART);
+	sys->write(h2.sensor, button, len button);
+	sys->seek(ls, big 0, Sys->SEEKSTART);
+	sys->write(ls, light, len light);
+}
+
+HOUR_ADJUST : con 1;
+MINUTE_ADJUST : con 3;
+reset()
+{
+	# run the motors until hands are well away from 12 o'clock (below threshold)
+	setsensortypes(hourhand, minutehand, lightsensor);
+	val := readsensor(lightsensor);
+	if (val > OFFTHRESH) {
+		triggered := chan of int;
+		sys->print("wait for hands clear of light sensor\n");
+		spawn lightwait(triggered, lightsensor, 0);
+		forward(minutehand);
+		reverse(hourhand);
+		val = <- triggered;
+		stopall();
+		sys->print("sensor %d\n", val);
+	}
+
+	resethand(hourhand);
+	hourhand.pos += HOUR_ADJUST;
+	resethand(minutehand);
+	minutehand.pos += MINUTE_ADJUST;
+}
+
+sethand(hand : ref Hand, delta : int)
+{
+	triggered := chan of int;
+	dir := 1;
+	if (delta < 0) {
+		dir = -1;
+		delta = -delta;
+	}
+	if (delta > MINCLICKS) {
+		spawn handwait(triggered, hand, delta - MINCLICKS);
+		if (dir > 0)
+			forward(hand);
+		else
+			reverse(hand);
+		<- triggered;
+		stop(hand);
+	hand.pos += dir * readsensor(hand.sensor);
+	} else {
+		startval := readsensor(hand.sensor);
+		if (dir > 0)
+			forward(hand);
+		else
+			reverse(hand);
+		stop(hand);
+		hand.pos += dir * (readsensor(hand.sensor) - startval);
+	}
+	if (hand.pos < 0)
+		hand.pos += NCLICKS;
+	hand.pos %= NCLICKS;
+}
+
+resethand(hand : ref Hand)
+{
+	triggered := chan of int;
+	val : int;
+
+	# run the hand until the light sensor is above threshold
+	sys->print("running hand until light sensor activated\n");
+	spawn lightwait(triggered, lightsensor, 1);
+	forward(hand);
+	val = <- triggered;
+	stop(hand);
+	sys->print("sensor %d\n", val);
+
+	startclick := readsensor(hand.sensor);
+
+	# advance until light sensor drops below threshold
+	sys->print("running hand until light sensor clear\n");
+	spawn lightwait(triggered, lightsensor, 0);
+	forward(hand);
+	val = <- triggered;
+	stop(hand);
+	sys->print("sensor %d\n", val);
+	
+	stopclick := readsensor(hand.sensor);
+	nclicks := stopclick - startclick;
+	sys->print("startpos %d, endpos %d (nclicks %d)\n", startclick, stopclick, nclicks);
+
+	hand.pos = nclicks/2;
+}
+
+stop(hand : ref Hand)
+{
+	sys->seek(hand.motor, big 0, Sys->SEEKSTART);
+	sys->write(hand.motor, hand.stop, len hand.stop);
+}
+
+stopall()
+{
+	msg := array of byte "s0s0s0";
+	sys->seek(allmotors, big 0, Sys->SEEKSTART);
+	sys->write(allmotors, msg, len msg);
+}
+
+releaseall()
+{
+	msg := array of byte "F0F0F0";
+	sys->seek(allmotors, big 0, Sys->SEEKSTART);
+	sys->write(allmotors, msg, len msg);
+}
+
+forward(hand : ref Hand)
+{
+	sys->seek(hand.motor, big 0, Sys->SEEKSTART);
+	sys->write(hand.motor, hand.fwd, len hand.fwd);
+}
+
+reverse(hand : ref Hand)
+{
+	sys->seek(hand.motor, big 0, Sys->SEEKSTART);
+	sys->write(hand.motor, hand.rev, len hand.rev);
+}
+
+readsensor(fd : ref Sys->FD) : int
+{
+	buf := array [4] of byte;
+	sys->seek(fd, big 0, Sys->SEEKSTART);
+	n := sys->read(fd, buf, len buf);
+	if (n <= 0)
+		return -1;
+	return int string buf[0:n];
+}
+
+handwait(reply : chan of int, hand : ref Hand, clicks : int)
+{
+	blk := array of byte ("b" + string clicks);
+	sys->seek(hand.sensor, big 0, Sys->SEEKSTART);
+	sys->print("handwait(%s)\n", string blk);
+	if (sys->write(hand.sensor, blk, len blk) != len blk)
+	sys->print("handwait write error: %r\n");
+	reply <- = readsensor(hand.sensor);
+}
+
+lightwait(reply : chan of int, fd : ref Sys->FD, on : int)
+{
+	thresh := "";
+	if (on)
+		thresh = "l>" + string ONTHRESH;
+	else
+		thresh = "l<" + string OFFTHRESH;
+	blk := array of byte (thresh);
+	sys->print("lightwait(%s)\n", string blk);
+	sys->seek(fd, big 0, Sys->SEEKSTART);
+	sys->write(fd, blk, len blk);
+	reply <- = readsensor(fd);
+}
\ No newline at end of file