4 #include <msp/io/print.h>
5 #include <msp/time/units.h>
6 #include <msp/time/utils.h>
7 #include "intellibox.h"
9 #include "vehicletype.h"
16 Intellibox::Intellibox(const Options &opts):
17 serial(opts.get<string>(string(), "ttyUSB0")),
20 update_sensors(false),
23 static unsigned baud[]= { 2400, 4800, 9600, 19200, 0 };
25 serial.set_stop_bits(2);
29 for(unsigned i=0; baud[i]; ++i)
31 serial.set_baud_rate(baud[i]);
34 if(IO::poll(serial, IO::P_INPUT, 500*Time::msec))
36 IO::print("IB detected at %d bits/s\n", baud[i]);
38 p50 = (serial.read(buf, 2)==2);
45 throw runtime_error("IB not detected");
48 serial.write("xZzA1\r", 6);
53 void Intellibox::set_power(bool p)
57 command(CMD_POWER_ON);
59 command(CMD_POWER_OFF);
60 signal_power.emit(power);
63 void Intellibox::halt(bool h)
68 for(map<unsigned, Locomotive>::iterator i=locos.begin(); i!=locos.end(); ++i)
70 set_loco_speed(i->first, 0);
73 signal_halt.emit(halted);
76 const char *Intellibox::enumerate_protocols(unsigned i) const
86 unsigned Intellibox::get_protocol_speed_steps(const string &proto_name) const
88 Protocol proto = map_protocol(proto_name);
96 unsigned Intellibox::add_loco(unsigned addr, const string &proto_name, const VehicleType &type)
98 Protocol proto = map_protocol(proto_name);
100 if(!locos.count(addr))
102 Locomotive &loco = locos[addr];
103 loco.protocol = proto;
104 if(type.get_max_function()>4)
106 loco.ext_func = true;
107 locos[addr+1].protocol = NONE;
110 unsigned char data[2];
112 data[1] = (addr>>8)&0xFF;
113 command(CMD_LOK_STATUS, addr, data, 2);
119 void Intellibox::remove_loco(unsigned addr)
124 void Intellibox::set_loco_speed(unsigned addr, unsigned speed)
126 Locomotive &loco = locos[addr];
127 if(loco.protocol==NONE)
130 if(speed==loco.speed)
132 if(loco.pending_half_step)
134 loco.pending_half_step = 0;
135 loco.half_step_delay = Time::TimeStamp();
136 signal_loco_speed.emit(addr, speed, loco.reverse);
143 if(loco.protocol==MM_27)
148 if(speed>loco.speed && !(speed&1))
150 loco.pending_half_step = -1;
153 else if(speed<loco.speed && (speed&1))
155 loco.pending_half_step = 1;
159 loco.pending_half_step = 0;
160 loco.half_step_delay = Time::TimeStamp();
162 loco_command(addr, (speed+1)/2, loco.reverse, loco.funcs, false);
164 else if(loco.protocol==MM)
169 loco_command(addr, speed, loco.reverse, loco.funcs, false);
174 void Intellibox::set_loco_reverse(unsigned addr, bool rev)
176 Locomotive &loco = locos[addr];
177 if(loco.protocol==NONE || rev==loco.reverse)
182 loco_command(addr, 0, rev, loco.funcs, false);
185 void Intellibox::set_loco_function(unsigned addr, unsigned func, bool state)
187 Locomotive &loco = locos[addr];
188 if(loco.protocol==NONE)
192 loco.funcs |= 1<<func;
194 loco.funcs &= ~(1<<func);
196 loco_command(addr, loco.speed, loco.reverse, loco.funcs, true);
197 else if(loco.ext_func && func<=8)
198 loco_command(addr+1, 0, false, (loco.funcs>>4)&0x1E, true);
199 signal_loco_function.emit(addr, func, state);
202 unsigned Intellibox::add_turnout(unsigned addr, const TrackType &type)
204 return add_turnout(addr, type.get_state_bits(), false);
207 void Intellibox::remove_turnout(unsigned addr)
209 turnouts.erase(addr);
212 unsigned Intellibox::add_turnout(unsigned addr, unsigned bits, bool signal)
214 if(!turnouts.count(addr))
216 Turnout &turnout = turnouts[addr];
218 turnout.signal = signal;
220 unsigned char data[2];
222 data[1] = (addr>>8)&0xFF;
223 command(CMD_TURNOUT_STATUS, addr, data, 2);
224 for(unsigned i=1; i<turnout.bits; ++i)
226 turnouts[addr+i].bits = 0;
231 command(CMD_TURNOUT_STATUS, addr+i, data, 2);
238 void Intellibox::turnout_state_changed(unsigned addr, const Turnout &turnout) const
241 signal_signal.emit(addr, turnout.state);
243 signal_turnout.emit(addr, turnout.state);
246 void Intellibox::set_turnout(unsigned addr, unsigned state)
248 Turnout &turnout = turnouts[addr];
249 unsigned mask = (1<<turnout.bits)-1;
250 if(((state^turnout.state)&mask)==0 || ((state^turnout.pending)&mask)==0 || !turnout.synced)
252 turnout.state = state;
253 turnout.pending = state;
254 turnout_state_changed(addr, turnout);
258 turnout.state = (turnout.state&mask) | (state&~mask);
259 turnout.pending = state;
260 turnout.active = true;
261 turnout.off_timeout = Time::TimeStamp();
263 for(unsigned i=0; i<turnout.bits; ++i)
264 if((state^turnout.state)&(1<<i))
265 turnout_command(addr+i, !(state&(1<<i)), true);
268 unsigned Intellibox::get_turnout(unsigned addr) const
270 map<unsigned, Turnout>::const_iterator i = turnouts.find(addr);
271 if(i!=turnouts.end())
272 return i->second.state;
276 unsigned Intellibox::add_signal(unsigned addr, const SignalType &)
278 return add_turnout(addr, 1, true);
281 void Intellibox::remove_signal(unsigned addr)
283 remove_turnout(addr);
286 void Intellibox::set_signal(unsigned addr, unsigned state)
288 set_turnout(addr, state);
291 unsigned Intellibox::get_signal(unsigned addr) const
293 return get_turnout(addr);
296 unsigned Intellibox::add_sensor(unsigned addr)
298 if(!sensors.count(addr))
301 update_sensors = true;
307 void Intellibox::remove_sensor(unsigned addr)
310 update_sensors = true;
313 bool Intellibox::get_sensor(unsigned addr) const
315 map<unsigned, Sensor>::const_iterator i = sensors.find(addr);
317 return i->second.state;
321 void Intellibox::tick()
323 const Time::TimeStamp t = Time::now();
325 if(t>next_event_query)
327 next_event_query = t+200*Time::msec;
331 for(map<unsigned, Locomotive>::iterator i=locos.begin(); i!=locos.end(); ++i)
332 if(i->second.protocol==MM_27 && i->second.pending_half_step && i->second.half_step_delay && t>i->second.half_step_delay)
334 i->second.speed += i->second.pending_half_step;
335 i->second.pending_half_step = 0;
336 i->second.half_step_delay = Time::TimeStamp();
337 loco_command(i->first, (i->second.speed+1)/2, i->second.reverse, i->second.funcs, false);
340 for(map<unsigned, Turnout>::iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
341 if(i->second.active && i->second.off_timeout && t>i->second.off_timeout)
343 i->second.active = false;
344 i->second.off_timeout = Time::TimeStamp();
345 for(unsigned j=0; j<i->second.bits; ++j)
346 turnout_command(i->first+j, !(i->second.state&(1<<j)), false);
349 for(map<unsigned, Sensor>::iterator i=sensors.begin(); i!=sensors.end(); ++i)
350 if(i->second.off_timeout && t>i->second.off_timeout)
352 i->second.state = false;
353 i->second.off_timeout = Time::TimeStamp();
354 signal_sensor.emit(i->first, false);
359 unsigned max_addr = (--sensors.end())->first;
360 unsigned char data[2];
362 data[1] = (max_addr+7)/8;
363 command(CMD_SENSOR_PARAM_SET, data, 2);
364 command(CMD_SENSOR_REPORT);
365 update_sensors = false;
368 if(!queue.empty() && command_sent)
370 if(IO::poll(serial, IO::P_INPUT, Time::zero))
373 queue.erase(queue.begin());
374 command_sent = false;
382 const CommandSlot &slot = queue.front();
383 serial.write(reinterpret_cast<const char *>(slot.data), slot.length);
388 void Intellibox::flush()
390 for(list<CommandSlot>::iterator i=queue.begin(); i!=queue.end(); ++i)
392 serial.write(reinterpret_cast<const char *>(i->data), i->length);
394 while(first ? IO::poll(serial, IO::P_INPUT) : IO::poll(serial, IO::P_INPUT, Time::zero))
397 serial.read(data, 16);
403 command_sent = false;
406 Intellibox::Protocol Intellibox::map_protocol(const string &name) const
410 else if(name=="MM-27")
413 throw invalid_argument("Intellibox::map_protocol");
416 void Intellibox::command(Command cmd)
421 void Intellibox::command(Command cmd, const unsigned char *data, unsigned len)
423 command(cmd, 0, data, len);
426 void Intellibox::command(Command cmd, unsigned addr, const unsigned char *data, unsigned len)
432 copy(data, data+len, slot.data+1);
434 queue.push_back(slot);
437 void Intellibox::loco_command(unsigned addr, unsigned speed, bool rev, unsigned funcs, bool setf)
439 unsigned char data[4];
441 data[1] = (addr>>8)&0xFF;
448 data[2] = (speed*19-18)/2;
450 data[3] = (rev ? 0 : 0x20) | ((funcs&1) ? 0x10 : 0);
453 data[3] |= 0x80 | ((funcs>>1)&0xF);
455 command(CMD_LOK, addr, data, 4);
458 void Intellibox::turnout_command(unsigned addr, bool state, bool active)
460 unsigned char data[2];
462 data[1] = ((addr>>8)&0x7) | (active ? 0x40 : 0) | (state ? 0x80 : 0);
463 command(CMD_TURNOUT, addr, data, 2);
466 void Intellibox::process_reply(const Time::TimeStamp &t)
468 Command cmd = queue.front().cmd;
472 unsigned char status;
473 read_all(&status, 1);
475 signal_power.emit(power);
477 else if(cmd==CMD_EVENT)
479 for(unsigned i=0;; ++i)
487 command(CMD_EVENT_LOK);
489 command(CMD_EVENT_TURNOUT);
491 command(CMD_EVENT_SENSOR);
503 else if(cmd==CMD_EVENT_LOK)
507 unsigned char data[5];
514 else if(cmd==CMD_EVENT_TURNOUT)
518 for(unsigned i=0; i<count; ++i)
520 unsigned char data[2];
523 unsigned addr = data[0]+((data[1]&7)<<8);
525 for(; !turnouts[addr].bits; --addr, mask<<=1) ;
526 Turnout &turnout = turnouts[addr];
528 unsigned bit = !(data[1]&0x80);
529 turnout.state = (turnout.state&~mask) | (bit*mask);
530 turnout.pending = turnout.state;
531 turnout_state_changed(addr,turnout);
534 else if(cmd==CMD_EVENT_SENSOR)
543 unsigned char data[2];
545 for(unsigned i=0; i<16; ++i)
547 unsigned addr = mod*16+i-15;
548 bool state = (data[i/8]>>(7-i%8))&1;
550 Sensor &sensor = sensors[addr];
553 sensor.off_timeout = Time::TimeStamp();
556 sensor.state = state;
557 signal_sensor(addr, state);
560 else if(sensor.state)
561 sensor.off_timeout = t+700*Time::msec;
565 else if(cmd==CMD_LOK)
570 if(err==ERR_NO_ERROR)
572 unsigned addr = queue.front().addr;
573 Locomotive &loco = locos[addr];
576 signal_loco_speed.emit(addr, loco.speed+loco.pending_half_step, loco.reverse);
577 if(loco.pending_half_step)
578 loco.half_step_delay = Time::now()+500*Time::msec;
584 else if(cmd==CMD_TURNOUT)
589 unsigned addr = queue.front().addr;
591 for(; !turnouts[addr].bits; --addr, mask<<=1) ;
592 Turnout &turnout = turnouts[addr];
594 if(err==ERR_NO_ERROR)
596 turnout.state = (turnout.state&~mask) | (turnout.pending&mask);
599 if(turnout.state==turnout.pending)
600 turnout_state_changed(addr, turnout);
601 turnout.off_timeout = t+500*Time::msec;
604 else if(err==ERR_NO_I2C_SPACE)
605 queue.push_back(queue.front());
608 turnout.pending = (turnout.pending&~mask) | (turnout.state&mask);
612 else if(cmd==CMD_TURNOUT_STATUS)
617 if(err==ERR_NO_ERROR)
622 unsigned addr = queue.front().addr;
624 for(; !turnouts[addr].bits; --addr, mask<<=1) ;
625 Turnout &turnout = turnouts[addr];
627 bool bit = !(data&0x04);
628 if(bit!=((turnout.state&mask)!=0))
630 turnout.state = (turnout.state&~mask) | (bit*mask);
631 turnout.pending = turnout.state;
632 turnout_state_changed(addr, turnout);
635 turnout.synced = true;
640 else if(cmd==CMD_LOK_STATUS)
645 if(err==ERR_NO_ERROR)
647 unsigned char data[3];
650 unsigned addr = queue.front().addr;
651 Locomotive &loco = locos[addr];
653 unsigned speed = (data[0]<=1 ? 0 : data[0]*2/19+1);
654 bool reverse = !(data[1]&0x20);
655 bool speed_changed = (speed!=loco.speed || reverse!=loco.reverse);
658 loco.reverse = reverse;
660 unsigned funcs = (data[1]&0xF)<<1;
663 unsigned funcs_changed = loco.funcs^funcs;
667 signal_loco_speed.emit(addr, loco.speed, loco.reverse);
668 for(unsigned i=0; i<5; ++i)
669 if(funcs_changed&(1<<i))
670 signal_loco_function.emit(addr, i, loco.funcs&(1<<i));
677 unsigned expected_bytes = 0;
678 if(cmd==CMD_FUNC_STATUS)
680 if(cmd==CMD_TURNOUT_GROUP_STATUS)
682 if(cmd==CMD_LOK_CONFIG)
688 if(err==ERR_NO_ERROR)
690 unsigned char data[8];
691 read_all(data, expected_bytes);
698 unsigned Intellibox::read_all(unsigned char *buf, unsigned len)
702 pos += serial.read(reinterpret_cast<char *>(buf+pos), len-pos);
707 unsigned Intellibox::read_status(Error *err)
710 unsigned ret = read_all(&c, 1);
711 *err = static_cast<Error>(c);
715 void Intellibox::error(Command cmd, Error err)
717 const char *cmd_str = 0;
720 case CMD_LOK: cmd_str = "CMD_LOK"; break;
721 case CMD_LOK_STATUS: cmd_str = "CMD_LOK_STATUS"; break;
722 case CMD_LOK_CONFIG: cmd_str = "CMD_LOK_CONFIG"; break;
723 case CMD_FUNC: cmd_str = "CMD_FUNC"; break;
724 case CMD_FUNC_STATUS: cmd_str = "CMD_FUNC_STATUS"; break;
725 case CMD_TURNOUT: cmd_str = "CMD_TURNOUT"; break;
726 case CMD_TURNOUT_FREE: cmd_str = "CMD_TURNOUT_FREE"; break;
727 case CMD_TURNOUT_STATUS: cmd_str = "CMD_TURNOUT_STATUS"; break;
728 case CMD_TURNOUT_GROUP_STATUS: cmd_str = "CMD_TURNOUT_GROUP_STATUS"; break;
729 case CMD_SENSOR_STATUS: cmd_str = "CMD_SENSOR_STATUS"; break;
730 case CMD_SENSOR_REPORT: cmd_str = "CMD_SENSOR_REPORT"; break;
731 case CMD_SENSOR_PARAM_SET: cmd_str = "CMD_SENSOR_PARAM_SET"; break;
732 case CMD_STATUS: cmd_str = "CMD_STATUS"; break;
733 case CMD_POWER_OFF: cmd_str = "CMD_POWER_OFF"; break;
734 case CMD_POWER_ON: cmd_str = "CMD_POWER_ON"; break;
735 case CMD_NOP: cmd_str = "CMD_NOP"; break;
736 case CMD_EVENT: cmd_str = "CMD_EVENT"; break;
737 case CMD_EVENT_LOK: cmd_str = "CMD_EVENT_LOK"; break;
738 case CMD_EVENT_TURNOUT: cmd_str = "CMD_EVENT_TURNOUT"; break;
739 case CMD_EVENT_SENSOR: cmd_str = "CMD_EVENT_SENSOR"; break;
740 default: cmd_str = "(unknown command)";
743 const char *err_str = 0;
746 case ERR_NO_ERROR: err_str = "ERR_NO_ERROR"; break;
747 case ERR_SYS_ERROR: err_str = "ERR_SYS_ERROR"; break;
748 case ERR_BAD_PARAM: err_str = "ERR_BAD_PARAM"; break;
749 case ERR_POWER_OFF: err_str = "ERR_POWER_OFF"; break;
750 case ERR_NO_LOK_SPACE: err_str = "ERR_NO_LOK_SPACE"; break;
751 case ERR_NO_TURNOUT_SPACE: err_str = "ERR_NO_TURNOUT_SPACE"; break;
752 case ERR_NO_DATA: err_str = "ERR_NO_DATA"; break;
753 case ERR_NO_SLOT: err_str = "ERR_NO_SLOT"; break;
754 case ERR_BAD_LOK_ADDR: err_str = "ERR_BAD_LOK_ADDR"; break;
755 case ERR_LOK_BUSY: err_str = "ERR_LOK_BUSY"; break;
756 case ERR_BAD_TURNOUT_ADDR: err_str = "ERR_BAD_TURNOUT_ADDR"; break;
757 case ERR_BAD_SO_VALUE: err_str = "ERR_BAD_SO_VALUE"; break;
758 case ERR_NO_I2C_SPACE: err_str = "ERR_NO_I2C_SPACE"; break;
759 case ERR_LOW_TURNOUT_SPACE: err_str = "ERR_LOW_TURNOUT_SPACE"; break;
760 case ERR_LOK_HALTED: err_str = "ERR_LOK_HALTED"; break;
761 case ERR_LOK_POWER_OFF: err_str = "ERR_LOK_POWER_OFF"; break;
762 default: cmd_str = "(unknown error)";
765 IO::print("Error: %s: %s\n", cmd_str, err_str);
769 Intellibox::Locomotive::Locomotive():
779 Intellibox::Turnout::Turnout():
789 Intellibox::Sensor::Sensor():