riojoy/src/RioJoy.Core/RioRuntime.cs

using RioJoy.Core.Calibration;
using RioJoy.Core.Mapping;
using RioJoy.Core.Protocol;
using RioJoy.Core.Serial;

namespace RioJoy.Core;

/// <summary>
/// Ties the live RIO link to the input/output pipeline for one active profile:
/// serial button/keypad packets drive the <see cref="InputRouter"/>; analog
/// replies drive the <see cref="AxisCalibrator"/> and the six joystick axes; RIO
/// commands trigger calibration resets and serial requests. This is the runtime
/// assembled per-profile by the tray app (Phase 5).
/// </summary>
public sealed class RioRuntime : IRioCommandSink, IDisposable
{
    private readonly RioSerialLink _link;
    private readonly IJoystickSink _joystick;
    private readonly AxisCalibrator _calibrator;
    private readonly InputRouter _router;
    private bool _started;

    public RioRuntime(
        RioSerialLink link,
        RioInputMap map,
        IInputSink input,
        IJoystickSink joystick,
        AxisCalibrator? calibrator = null)
    {
        _link = link ?? throw new ArgumentNullException(nameof(link));
        ArgumentNullException.ThrowIfNull(map);
        ArgumentNullException.ThrowIfNull(input);
        _joystick = joystick ?? throw new ArgumentNullException(nameof(joystick));
        _calibrator = calibrator ?? new AxisCalibrator();

        var lamp = new SerialLampSink(link);
        _router = new InputRouter(map, input, joystick, lamp, this);
    }

    /// <summary>Raised when a diagnostic toggle RIO command fires (raw-axes / poll-rate).</summary>
    public event Action<RioCommandCode>? DiagnosticToggle;

    /// <summary>Subscribe to the link and set all lamps to their idle state.</summary>
    public void Start()
    {
        if (_started)
            return;
        _started = true;

        _link.PacketReceived += OnPacket;
        _link.AnalogReceived += OnAnalog;
        _router.InitializeLamps();
    }

    /// <summary>Unsubscribe from the link.</summary>
    public void Stop()
    {
        if (!_started)
            return;
        _started = false;

        _link.PacketReceived -= OnPacket;
        _link.AnalogReceived -= OnAnalog;
    }

    public void Dispose() => Stop();

    /// <summary>Invoke a RIO command directly (e.g. from the tray menu).</summary>
    public void Trigger(RioCommandCode command) => ((IRioCommandSink)this).Execute(command);

    private void OnAnalog(AnalogReport report)
    {
        AxisOutputs axes = _calibrator.Update(report);
        _joystick.SetAxis(JoyAxis.X, axes.X);
        _joystick.SetAxis(JoyAxis.Y, axes.Y);
        _joystick.SetAxis(JoyAxis.Z, axes.Z);
        _joystick.SetAxis(JoyAxis.Rx, axes.Rx);
        _joystick.SetAxis(JoyAxis.Ry, axes.Ry);
        _joystick.SetAxis(JoyAxis.Rz, axes.Rz);
    }

    private void OnPacket(RioPacket packet)
    {
        ReadOnlySpan<byte> p = packet.Payload.Span;
        switch (packet.Command)
        {
            case RioCommand.ButtonPressed when p[0] < RioAddress.ButtonCount:
                _router.Press(RioAddress.FromButton(p[0]));
                break;
            case RioCommand.ButtonReleased when p[0] < RioAddress.ButtonCount:
                _router.Release(RioAddress.FromButton(p[0]));
                break;
            case RioCommand.KeyPressed when IsKeypad(p):
                _router.Press(RioAddress.FromKeypad(p[0], p[1]));
                break;
            case RioCommand.KeyReleased when IsKeypad(p):
                _router.Release(RioAddress.FromKeypad(p[0], p[1]));
                break;
        }
    }

    private static bool IsKeypad(ReadOnlySpan<byte> p) => p[0] is 0 or 1 && p[1] <= 0x0F;

    // IRioCommandSink: RIO commands routed from a button (RIOcmd port).
    void IRioCommandSink.Execute(RioCommandCode command)
    {
        switch (command)
        {
            case RioCommandCode.ResetAllAxes:
            case RioCommandCode.ResetThrottle:
            case RioCommandCode.ResetLeftPedal:
            case RioCommandCode.ResetRightPedal:
            case RioCommandCode.ResetVerticalJoystick:
            case RioCommandCode.ResetHorizontalJoystick:
                _calibrator.Reset(command);
                FireAndForget(_link.ResetAsync((RioResetTarget)(byte)command));
                break;

            case RioCommandCode.GeneralReset:
                FireAndForget(_link.ResetAsync(RioResetTarget.All));
                _router.InitializeLamps();
                break;

            case RioCommandCode.RequestVersionAndCheck:
                FireAndForget(_link.RequestVersionAsync());
                FireAndForget(_link.RequestCheckAsync());
                break;

            case RioCommandCode.ToggleRawAxesReadout:
            case RioCommandCode.TogglePollRateReadout:
                DiagnosticToggle?.Invoke(command);
                break;
        }
    }

    private static void FireAndForget(Task task) =>
        task.ContinueWith(static t => _ = t.Exception, TaskContinuationOptions.OnlyOnFaulted);
}