hacked in my disambiguator

2 files changed, 9 insertions, 131 deletions

diff --git a/tools/disambiguate/Makefile b/tools/disambiguate/Makefile
index e719469..8e8661c 100644
--- a/tools/disambiguate/Makefile
+++ b/tools/disambiguate/Makefile
@@ -1,4 +1,4 @@
-disambiguate: disambiguate.c
+disambiguate: disambiguate.c ../../src/disambiguator.c
 	gcc -Wall -Wextra -Werror -g -o $@ $^ -lm
 
 test: disambiguate
diff --git a/tools/disambiguate/disambiguate.c b/tools/disambiguate/disambiguate.c
index 9a52c16..dcaf9d8 100644
--- a/tools/disambiguate/disambiguate.c
+++ b/tools/disambiguate/disambiguate.c
@@ -2,134 +2,7 @@
 #include <stdlib.h>
 #include <string.h>
 #include <math.h>
-
-#define DIS_NUM_VALUES 64
-
-typedef enum {
-	D_SYNC_J0 = 0,
-	D_SYNC_K0 = 1,
-	D_SYNC_J1 = 2,
-	D_SYNC_K1 = 3,
-	D_SYNC_J2 = 4,
-	D_SYNC_K2 = 5,
-	D_SYNC_J3 = 6,
-	D_SYNC_K3 = 7,
-} sync_pulse;
-
-typedef enum {
-	D_STATE_INVALID = 0,
-	D_STATE_LOCKED = 1,
-	D_STATE_UNLOCKED = -1,
-} dis_state;
-
-typedef enum {
-	P_UNKNOWN = 0,
-	P_SYNC = 1,
-	P_SWEEP = 2,
-} pulse_type;
-
-typedef struct disambiguator_ {
-	long times[DIS_NUM_VALUES];
-	int scores[DIS_NUM_VALUES];
-	dis_state state;
-	long last;
-	int max_confidence;
-} disambiguator;
-
-typedef struct classified_pulse_ {
-	pulse_type t;
-	int length;
-} classified_pulse;
-
-void disambiguator_init(disambiguator * d) {
-	memset(&(d->times), 0x0, sizeof(d->times));
-	memset(&(d->scores), 0x0, sizeof(d->times));
-	d->state = D_STATE_UNLOCKED;
-	d->last = 0;
-	d->max_confidence = 0;
-}
-
-void disambiguator_discard(disambiguator * d, long age) {
-	int confidence = 0;
-	for (unsigned int i = 0; i < DIS_NUM_VALUES; ++i) {
-		if (d->times[i] != 0 && d->times[i] < age) {
-			d->times[i] = 0;
-			d->scores[i] = 0;
-		} else {
-			if (d->scores[i] > confidence) {
-				confidence = d->scores[i];
-			}
-		}
-	}
-	d->max_confidence = confidence;
-}
-
-int disambiguator_find_nearest(disambiguator * d, long time, int max_diff) {
-	int diff = max_diff; // max allowed diff for a match
-	int idx = -1;
-	for (unsigned int i = 0; i < DIS_NUM_VALUES; ++i) {
-		if (d->times[i] == 0) continue;
-
-		int a = abs(d->times[i] - time);
-		if (a < diff) {
-			idx = i;
-			diff = a;
-		}
-	}
-
-	return idx;
-}
-
-pulse_type disambiguator_step(disambiguator * d, long time, int length) {
-	if (length < 2750) {
-		return d->state == D_STATE_LOCKED ? P_SWEEP : P_UNKNOWN;
-	}
-
-	disambiguator_discard(d, time - 10000000);
-	int idx = disambiguator_find_nearest(d, time - 400000, 100);
-
-	if (time - d->last > 401000) {
-		d->state = D_STATE_UNLOCKED;
-	}
-
-	if (idx == -1) {
-		for (int i = 0; i < DIS_NUM_VALUES; ++i) {
-			if (d->times[i] == 0) {
-				d->times[i] = time;
-				break;
-			}
-		}
-
-		return d->state == D_STATE_LOCKED ? P_SWEEP : P_UNKNOWN;
-	} else {
-		// double l = length;
-		// char cc = round(l / 500) - 6;
-		// printf("MATCH: %li %d %d (0b%d%d%d)\n", time - d->times[idx], d->scores[idx], length, (cc >> 2) & 0x1, (cc >> 1) & 0x1, cc & 0x1);
-		d->scores[idx]++;
-		if (d->scores[idx] >= 30) {
-			d->state = D_STATE_LOCKED;
-			// printf("MATCH: %li %d\n", time - d->times[idx], scores[idx]);
-		}
-/*
-		for (unsigned int i = 0; i < DIS_NUM_VALUES; ++i) {
-			if (d->scores[i] > 0 && d->times[i] != 0)
-				printf("TS %2d %li %d\n", i, d->times[i], d->scores[i]);
-		}
-*/
-		d->times[idx] = time;
-		d->last = time;
-		return d->state == D_STATE_LOCKED ? (
-			d->scores[idx] >= d->max_confidence ? P_SYNC : P_SWEEP
-		) : P_UNKNOWN;
-	}
-
-	return d->state == D_STATE_LOCKED ? P_SWEEP : P_UNKNOWN;
-}
-
-sync_pulse length_to_pulse(int length) {
-	double l = length - 3000;
-	return round(l/500);
-}
+#include "../../include/disambiguator.h"
 
 int main() {
 
@@ -139,7 +12,7 @@ int main() {
 		return -1;
 	}
 
-	long last = 0;
+	long last = 0, lastl = 0;
 
 	disambiguator d;
 	disambiguator_init(&d);
@@ -153,6 +26,10 @@ int main() {
 		if (fscanf(f, "%s %d %d %d %li", controller, &sensor, &unknown, &length, &time) != 5) {
 			break;
 		}
+		if (lastl > time) {
+			printf("BACKWARDS: %li %li\n", lastl, time);
+		}
+		lastl = time;
 
 		switch (disambiguator_step(&d, time, length)) {
 			default:
@@ -163,7 +40,8 @@ int main() {
 				{
 					double l = length;
 					char cc = round(l / 500) - 6;
-					printf("SYNC  %s %2d %10li    %c%d %10li\n", controller, sensor, time, cc & 0x1 ? 'j' : 'k', (cc >> 1) & 0x3, time-last);
+					int ll = (length+125)/250;
+					printf("SYNC  %s %2d %10li %5d %c%d %10li %d %d\n", controller, sensor, time, length, (cc & 0x1) ? 'k' : 'j', (cc >> 1) & 0x3, time-last, ll & 1, (ll >> 1) - 6);
 					last = time;
 				}
 				continue;