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use std::sync::atomic::AtomicU8;
pub static ACTIVE_VOFA_MODE: AtomicU8 = AtomicU8::new(0); // 0 = FireWater, 1 = JustFloat, 2 = IndexFloat
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum VofaMode {
FireWater = 0,
JustFloat = 1,
IndexFloat = 2,
}
impl VofaMode {
pub fn to_u8(self) -> u8 {
self as u8
}
pub fn from_u8(val: u8) -> Self {
match val {
0 => VofaMode::FireWater,
1 => VofaMode::JustFloat,
_ => VofaMode::IndexFloat,
}
}
}
#[derive(Debug, Clone)]
pub struct VofaImage {
pub id: usize,
pub width: usize,
pub height: usize,
pub format: u8,
pub data: Vec<u8>,
}
pub struct VofaParser {
buffer: Vec<u8>,
mode: VofaMode,
index_float_buffer: Vec<f32>,
pub latest_image: Option<VofaImage>,
}
impl VofaParser {
pub fn new(mode: VofaMode) -> Self {
Self {
buffer: Vec::new(),
mode,
index_float_buffer: Vec::new(),
latest_image: None,
}
}
pub fn take_latest_image(&mut self) -> Option<VofaImage> {
self.latest_image.take()
}
pub fn set_mode(&mut self, mode: VofaMode) {
if self.mode != mode {
self.mode = mode;
self.buffer.clear();
self.index_float_buffer.clear();
}
}
pub fn feed(&mut self, data: &[u8]) -> Vec<Vec<f32>> {
self.buffer.extend_from_slice(data);
let mut frames = Vec::new();
loop {
match self.mode {
VofaMode::FireWater => {
// FireWater is CSV-like: val1,val2,val3...\n (or \r\n)
if let Some(pos) = self.buffer.iter().position(|&b| b == b'\n') {
let is_image_frame =
if let Ok(line_str) = std::str::from_utf8(&self.buffer[..pos]) {
let trimmed = line_str.trim();
if let Some(colon_pos) = trimmed.find(':') {
let name = trimmed[..colon_pos].trim();
if name == "image" {
let datas: Vec<usize> = trimmed[colon_pos + 1..]
.split(',')
.filter_map(|s| s.trim().parse::<usize>().ok())
.collect();
if datas.len() == 5 {
Some((datas[0], datas[1], datas[2], datas[3], datas[4]))
} else {
None
}
} else {
None
}
} else {
None
}
} else {
None
};
if let Some((
image_id,
image_size,
image_width,
image_height,
image_format,
)) = is_image_frame
{
if self.buffer.len() < pos + 1 + image_size {
break; // Wait for full image data
}
self.buffer.drain(..=pos);
let image_data = self.buffer.drain(..image_size).collect::<Vec<u8>>();
self.latest_image = Some(VofaImage {
id: image_id,
width: image_width,
height: image_height,
format: image_format as u8,
data: image_data,
});
} else {
let line_bytes = self.buffer.drain(..=pos).collect::<Vec<u8>>();
if let Ok(line_str) = std::str::from_utf8(&line_bytes) {
let trimmed = line_str.trim();
let data_part = if let Some(colon_pos) = trimmed.find(':') {
&trimmed[colon_pos + 1..]
} else {
trimmed
};
let parsed: Vec<f32> = data_part
.split(',')
.filter_map(|s| s.trim().parse::<f32>().ok())
.collect();
if !parsed.is_empty() {
frames.push(parsed);
}
}
}
} else {
break;
}
}
VofaMode::JustFloat => {
// JustFloat is binary floats ending with NaN: [0x00, 0x00, 0x80, 0x7F]
let tail = [0x00, 0x00, 0x80, 0x7F];
if let Some(pos) = self.buffer.windows(4).position(|w| w == tail) {
let is_image = if pos == 20 {
if self.buffer.len() >= pos + 8 {
self.buffer[pos + 4..pos + 8] == tail
} else {
// Heuristics on metadata to see if we should wait for the second NaN
let size = i32::from_le_bytes(
self.buffer[4..8].try_into().unwrap_or([0; 4]),
);
let width = i32::from_le_bytes(
self.buffer[8..12].try_into().unwrap_or([0; 4]),
);
let height = i32::from_le_bytes(
self.buffer[12..16].try_into().unwrap_or([0; 4]),
);
let format = i32::from_le_bytes(
self.buffer[16..20].try_into().unwrap_or([0; 4]),
);
let looks_like_image_header = size > 0
&& (width > 0 || width == -1)
&& (height > 0 || height == -1)
&& (format >= 0 && format <= 34);
if looks_like_image_header {
break; // wait for more data
}
false
}
} else {
false
};
if is_image {
let image_id =
i32::from_le_bytes(self.buffer[0..4].try_into().unwrap_or([0; 4]))
as usize;
let image_size =
i32::from_le_bytes(self.buffer[4..8].try_into().unwrap_or([0; 4]))
as usize;
let image_width =
i32::from_le_bytes(self.buffer[8..12].try_into().unwrap_or([0; 4]))
as usize;
let image_height = i32::from_le_bytes(
self.buffer[12..16].try_into().unwrap_or([0; 4]),
) as usize;
let image_format = i32::from_le_bytes(
self.buffer[16..20].try_into().unwrap_or([0; 4]),
) as u8;
if self.buffer.len() < pos + 8 + image_size {
break; // Wait for full image payload
}
self.buffer.drain(..pos + 8);
let image_data = self.buffer.drain(..image_size).collect::<Vec<u8>>();
self.latest_image = Some(VofaImage {
id: image_id,
width: image_width,
height: image_height,
format: image_format,
data: image_data,
});
} else {
let frame_bytes = self.buffer.drain(..pos + 4).collect::<Vec<u8>>();
let val_bytes = &frame_bytes[..frame_bytes.len() - 4];
let mut vals = Vec::new();
for chunk in val_bytes.chunks_exact(4) {
let val = f32::from_le_bytes(chunk.try_into().unwrap());
vals.push(val);
}
if !vals.is_empty() {
frames.push(vals);
}
}
} else {
break;
}
}
VofaMode::IndexFloat => {
// IndexFloat is binary floats ending with NaN: [0x00, 0x00, 0x80, 0x7F]
let tail = [0x00, 0x00, 0x80, 0x7F];
if let Some(pos) = self.buffer.windows(4).position(|w| w == tail) {
let frame_bytes = self.buffer.drain(..pos + 4).collect::<Vec<u8>>();
if frame_bytes.len() >= 8 && frame_bytes.len() % 4 == 0 {
let val_bytes = &frame_bytes[..frame_bytes.len() - 4];
let start_index_val =
f32::from_le_bytes(val_bytes[0..4].try_into().unwrap());
let start_index = start_index_val as usize;
let data_bytes = &val_bytes[4..];
let data_count = data_bytes.len() / 4;
if self.index_float_buffer.len() < start_index + data_count {
self.index_float_buffer
.resize(start_index + data_count, 0.0);
}
for (idx, chunk) in data_bytes.chunks_exact(4).enumerate() {
let val = f32::from_le_bytes(chunk.try_into().unwrap());
self.index_float_buffer[start_index + idx] = val;
}
frames.push(self.index_float_buffer.clone());
}
} else {
break;
}
}
}
}
frames
}
#[allow(dead_code)]
pub fn clear(&mut self) {
self.buffer.clear();
self.index_float_buffer.clear();
}
}
#[cfg(test)]
mod tests {
use super::*;
#[test]
fn test_firewater_parser() {
let mut parser = VofaParser::new(VofaMode::FireWater);
// Test normal CSV
let res = parser.feed(b"1.2,3.4\n");
assert_eq!(res, vec![vec![1.2, 3.4]]);
// Test CSV with label prefix
let res = parser.feed(b"d:5.6,7.8\n");
assert_eq!(res, vec![vec![5.6, 7.8]]);
// Test CSV with spaces and CRLF
let res = parser.feed(b" my_label : 10.0 , 20.0 \r\n");
assert_eq!(res, vec![vec![10.0, 20.0]]);
}
#[test]
fn test_firewater_image_parser() {
let mut parser = VofaParser::new(VofaMode::FireWater);
// Feed partial image data header and verify no image yet
let res = parser.feed(b"image:0,6,2,3,0\nabcd");
assert!(res.is_empty());
assert!(parser.take_latest_image().is_none());
// Feed the rest of the image data
let res = parser.feed(b"ef");
assert!(res.is_empty());
let img = parser.take_latest_image().expect("Should parse image");
assert_eq!(img.id, 0);
assert_eq!(img.width, 2);
assert_eq!(img.height, 3);
assert_eq!(img.format, 0);
assert_eq!(img.data, b"abcdef");
}
#[test]
fn test_justfloat_image_parser() {
let mut parser = VofaParser::new(VofaMode::JustFloat);
// Pre-frame variables
let img_id: i32 = 1;
let img_size: i32 = 6;
let img_width: i32 = 2;
let img_height: i32 = 3;
let img_format: i32 = 24; // Grayscale8
let mut buf = Vec::new();
buf.extend_from_slice(&img_id.to_le_bytes());
buf.extend_from_slice(&img_size.to_le_bytes());
buf.extend_from_slice(&img_width.to_le_bytes());
buf.extend_from_slice(&img_height.to_le_bytes());
buf.extend_from_slice(&img_format.to_le_bytes());
buf.extend_from_slice(&[0x00, 0x00, 0x80, 0x7F]); // First NaN
buf.extend_from_slice(&[0x00, 0x00, 0x80, 0x7F]); // Second NaN
// Feed partial pre-frame data and verify no image yet
let res = parser.feed(&buf[..buf.len() - 4]); // omit last 4 bytes of NaN
assert!(res.is_empty());
assert!(parser.take_latest_image().is_none());
// Feed rest of preframe and partial payload (4 bytes of b"abcdef")
let mut part2 = Vec::new();
part2.extend_from_slice(&[0x00, 0x00, 0x80, 0x7F]); // complete header
part2.extend_from_slice(b"abcd");
let res = parser.feed(&part2);
assert!(res.is_empty());
assert!(parser.take_latest_image().is_none());
// Feed final 2 bytes of payload
let res = parser.feed(b"ef");
assert!(res.is_empty());
let img = parser.take_latest_image().expect("Should parse image");
assert_eq!(img.id, 1);
assert_eq!(img.width, 2);
assert_eq!(img.height, 3);
assert_eq!(img.format, 24);
assert_eq!(img.data, b"abcdef");
}
}