プリメイドAI (Premaid AI) のモーションフォーマット(.pma)を解析する

PMAAnalyze.rb

#!/usr/bin/env ruby -
# coding: utf-8

# Premaid AI - .pma file analyzer.

SERVO_OFFSET = 7500

class PMAFile
    def initialize
        @buf  = ""
        @data = []
    end

    def load( filename )
        @buf = File.read( filename )
        parse()
    end

    def parse()
        if ( @buf =~ /=(\S\S\s.+)/ )
            $1.split.each do |m|
                @data << m.hex
            end
        end
    end

    def dump
        i = 0
        @data.size.times do |t|

            len = @data[i];  i += 1
            break if len == 0xff 
            xor = len
            (len-2).times { |t| xor ^= @data[i+t] }     # チェックバイト計算

            cmd = @data[i];  i += 1
    
            printf("---- Cmd[%02x] Len:%02x(%2d) ", cmd, len, len)
    
            case cmd
            when 0x18 then
                @data[i]; i += 1
                frame = @data[i]; i += 1
                printf("\n  [Pos] Frame:%3d\n", frame)
                ((len-4)/3).times {
                    servo_id    = @data[i]; i+= 1
                    servo_angle = @data[i]; i+= 1
                    servo_angle += @data[i]<<8; i+= 1
                    printf("    Servo ID[%2d] Pos:%6d (%6d)\n", servo_id, servo_angle, servo_angle-SERVO_OFFSET)
                }
            when 0x19 then
                printf("\n  [ServoParam]\n")
                ((len-3)).times {
                    d = @data[i] ; i += 1
                    printf("%3d,", d)
                }
            else    # UNKNOWN
                (len-3).times do |b|
                    param = @data[i]; i += 1
                    printf("%02x ", param)
                end
            end
            parity = @data[i]; i+= 1
            printf("<Parity:%02x=%02x>", parity, xor)
            if parity != xor
                printf("Error: Parse error!\n")
                return
            end
            puts
        
        end
    end
end

    
    
if ARGV.size < 1
    STDERR.print "Usage: #{$0} [Premaid AI .pma file]...\n"
    exit
else
    ARGV.each do |filename|
        printf("Filename[%s]\n", filename)

        pma = PMAFile.new
        pma.load( filename )
        pma.dump
    end
end