CydandClaude Fable 5
3b2af7b79a
Prepares RioJoy.Core for the net40 (Windows XP) target, which has no System.Memory, ValueTask, or System.Text.Json: - IRioTransport and the whole protocol/framing layer now use byte[] + Task (RioPacket.Payload, PacketParser/Builder, RioChecksum, replies, AnalogReport, RioHidReport). At 9600 baud Span bought nothing; the SerialPortTransport bridge copies disappear entirely. - ConfigStore/OverlayTemplateStore switch to Newtonsoft 13 with the same conventions (indented, PascalCase, string enums, null-skipping); verified against the real STJ-written config.json and regions.json (load + round-trip). System.Memory and System.Text.Json packages dropped. 275 tests green. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
76 lines
2.9 KiB
C#
76 lines
2.9 KiB
C#
namespace RioJoy.Core.Protocol;
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/// <summary>
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/// The five raw analog axes decoded from an <see cref="RioCommand.AnalogReply"/>
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/// payload. Values are the 14-bit signed raw counts straight off the RIO, before
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/// any calibration/deadzone mapping (that math is Phase 4). Port of
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/// <c>AnalogEvent</c> / <c>CombinePair</c> (riovjoy2.cpp#L1116); see
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/// docs/PROTOCOL.md §4.
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/// </summary>
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public readonly struct AnalogReport
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{
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public short Throttle { get; }
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public short LeftPedal { get; }
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public short RightPedal { get; }
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public short JoystickY { get; }
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public short JoystickX { get; }
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public AnalogReport(short throttle, short leftPedal, short rightPedal, short joystickY, short joystickX)
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{
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Throttle = throttle;
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LeftPedal = leftPedal;
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RightPedal = rightPedal;
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JoystickY = joystickY;
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JoystickX = joystickX;
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}
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/// <summary>
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/// Decode a 14-bit signed axis value from a (low, high) byte pair, each
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/// carrying 7 data bits. Port of <c>CombinePair</c> (riovjoy2.cpp#L1116):
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/// combine the 7-bit halves then sign-extend bit 13.
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/// </summary>
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public static short CombinePair(byte low, byte high)
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{
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int raw = (low & 0x7F) | (high << 7); // 14 bits
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if ((raw & 0x2000) != 0) // bit 13 set → negative
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raw |= ~0x3FFF; // sign-extend into the high bits
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return (short)raw;
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}
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/// <summary>
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/// Try to decode an <see cref="RioCommand.AnalogReply"/> payload (10 bytes:
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/// 5 axes × low,high in the order throttle, left pedal, right pedal,
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/// joystick Y, joystick X). Returns <see langword="false"/> if any byte equals
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/// <c>0xFE</c> (<see cref="RioControl.Restart"/>), which the RIO uses as an
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/// "invalid sample" sentinel — the legacy code ignores such replies.
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/// </summary>
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public static bool TryParse(byte[] payload, out AnalogReport report)
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{
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if (payload is null) throw new ArgumentNullException(nameof(payload));
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if (payload.Length != RioCommandTable.PayloadLength(RioCommand.AnalogReply))
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throw new ArgumentException(
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$"AnalogReply payload must be {RioCommandTable.PayloadLength(RioCommand.AnalogReply)} bytes.",
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nameof(payload));
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foreach (byte b in payload)
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{
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if (b == (byte)RioControl.Restart)
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{
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report = default;
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return false;
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}
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}
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report = new AnalogReport(
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throttle: CombinePair(payload[0], payload[1]),
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leftPedal: CombinePair(payload[2], payload[3]),
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rightPedal: CombinePair(payload[4], payload[5]),
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joystickY: CombinePair(payload[6], payload[7]),
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joystickX: CombinePair(payload[8], payload[9]));
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return true;
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}
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public override string ToString() =>
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$"T:{Throttle} L:{LeftPedal} R:{RightPedal} Y:{JoystickY} X:{JoystickX}";
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}
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