source/libmarklin/intellibox.cpp

   1 /* $Id$
   2
   3 This file is part of the MSP Märklin suite
   4 Copyright © 2010  Mikkosoft Productions, Mikko Rasa
   5 Distributed under the GPL
   6 */
   7
   8 #include <fcntl.h>
   9 #include <termios.h>
  10 #include <sys/poll.h>
  11 #include <msp/io/print.h>
  12 #include <msp/time/units.h>
  13 #include <msp/time/utils.h>
  14 #include "intellibox.h"
  15
  16 using namespace std;
  17 using namespace Msp;
  18
  19 namespace Marklin {
  20
  21 Intellibox::Intellibox(const string &dev):
  22         power(false),
  23         halted(false),
  24         update_sensors(false),
  25         command_sent(false)
  26 {
  27         serial_fd = ::open(dev.c_str(), O_RDWR);
  28         if(serial_fd<0)
  29                 throw Exception("Couldn't open serial port\n");
  30
  31         static unsigned baud[]=
  32         {
  33                  2400, B2400,
  34                  4800, B4800,
  35                  9600, B9600,
  36                 19200, B19200,
  37                 0
  38         };
  39
  40         termios attr;
  41         tcgetattr(serial_fd, &attr);
  42         cfmakeraw(&attr);
  43         attr.c_cflag |= CSTOPB;
  44
  45         bool ok = false;
  46         bool p50 = false;
  47         for(unsigned i=0; baud[i]; i+=2)
  48         {
  49                 cfsetospeed(&attr, baud[i+1]);
  50                 tcsetattr(serial_fd, TCSADRAIN, &attr);
  51
  52                 write(serial_fd, "\xC4", 1);
  53
  54                 pollfd pfd = { serial_fd, POLLIN, 0 };
  55                 if(poll(&pfd, 1, 500)>0)
  56                 {
  57                         IO::print("IB detected at %d bits/s\n", baud[i]);
  58                         char buf[2];
  59                         p50 = (read(serial_fd, buf, 2)==2);
  60                         ok = true;
  61                         break;
  62                 }
  63         }
  64
  65         if(!ok)
  66                 throw Exception("IB not detected");
  67
  68         if(p50)
  69                 write(serial_fd, "xZzA1\r", 6);
  70
  71         command(CMD_STATUS);
  72 }
  73
  74 void Intellibox::set_power(bool p)
  75 {
  76         power = p;
  77         if(power)
  78                 command(CMD_POWER_ON);
  79         else
  80                 command(CMD_POWER_OFF);
  81         signal_power.emit(power);
  82 }
  83
  84 void Intellibox::halt(bool h)
  85 {
  86         halted = h;
  87         if(halted)
  88         {
  89                 for(map<unsigned, Locomotive>::iterator i=locos.begin(); i!=locos.end(); ++i)
  90                         if(i->second.speed)
  91                                 set_loco_speed(i->first, 0);
  92         }
  93
  94         signal_halt.emit(halted);
  95 }
  96
  97 void Intellibox::add_loco(unsigned addr)
  98 {
  99         if(!locos.count(addr))
 100         {
 101                 locos[addr];
 102
 103                 unsigned char data[2];
 104                 data[0] = addr&0xFF;
 105                 data[1] = (addr>>8)&0xFF;
 106                 command(CMD_LOK_STATUS, addr, data, 2);
 107         }
 108 }
 109
 110 void Intellibox::set_loco_speed(unsigned addr, unsigned speed)
 111 {
 112         Locomotive &loco = locos[addr];
 113         if(speed==loco.speed)
 114                 return;
 115         if(speed && halted)
 116                 return;
 117
 118         loco.speed = speed;
 119         loco_command(addr, speed, loco.reverse, loco.funcs|0x100);
 120 }
 121
 122 void Intellibox::set_loco_reverse(unsigned addr, bool rev)
 123 {
 124         Locomotive &loco = locos[addr];
 125         if(rev==loco.reverse)
 126                 return;
 127
 128         loco.reverse = rev;
 129         loco_command(addr, loco.speed, rev, loco.funcs|0x100);
 130 }
 131
 132 void Intellibox::set_loco_function(unsigned addr, unsigned func, bool state)
 133 {
 134         Locomotive &loco = locos[addr];
 135         if(state)
 136                 loco.funcs |= 1<<func;
 137         else
 138                 loco.funcs &= ~(1<<func);
 139         loco_command(addr, loco.speed, loco.reverse, loco.funcs);
 140         signal_loco_function.emit(addr, func, state);
 141 }
 142
 143 void Intellibox::add_turnout(unsigned addr)
 144 {
 145         if(!turnouts.count(addr))
 146         {
 147                 turnouts[addr];
 148
 149                 unsigned char data[2];
 150                 data[0] = addr&0xFF;
 151                 data[1] = (addr>>8)&0xFF;
 152                 command(CMD_TURNOUT_STATUS, addr, data, 2);
 153         }
 154 }
 155
 156 void Intellibox::set_turnout(unsigned addr, bool state)
 157 {
 158         Turnout &turnout = turnouts[addr];
 159         if(state==turnout.state || state==turnout.pending)
 160                 return;
 161
 162         turnout.pending = state;
 163         turnout.active = true;
 164
 165         turnout_command(addr, state, true);
 166 }
 167
 168 bool Intellibox::get_turnout(unsigned addr) const
 169 {
 170         map<unsigned, Turnout>::const_iterator i = turnouts.find(addr);
 171         if(i!=turnouts.end())
 172                 return i->second.state;
 173         return false;
 174 }
 175
 176 void Intellibox::add_sensor(unsigned addr)
 177 {
 178         if(!sensors.count(addr))
 179         {
 180                 sensors[addr];
 181                 update_sensors = true;
 182         }
 183 }
 184
 185 bool Intellibox::get_sensor(unsigned addr) const
 186 {
 187         map<unsigned, Sensor>::const_iterator i = sensors.find(addr);
 188         if(i!=sensors.end())
 189                 return i->second.state;
 190         return false;
 191 }
 192
 193 void Intellibox::tick()
 194 {
 195         const Time::TimeStamp t = Time::now();
 196
 197         if(t>next_event_query)
 198         {
 199                 next_event_query = t+200*Time::msec;
 200                 command(CMD_EVENT);
 201         }
 202
 203         for(map<unsigned, Turnout>::iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
 204                 if(i->second.active && i->second.off_timeout && t>i->second.off_timeout)
 205                 {
 206                         i->second.active = false;
 207                         i->second.off_timeout = Time::TimeStamp();
 208                         turnout_command(i->first, i->second.state, false);
 209                 }
 210
 211         for(map<unsigned, Sensor>::iterator i=sensors.begin(); i!=sensors.end(); ++i)
 212                 if(i->second.off_timeout && t>i->second.off_timeout)
 213                 {
 214                         i->second.state = false;
 215                         i->second.off_timeout = Time::TimeStamp();
 216                         signal_sensor.emit(i->first, false);
 217                 }
 218
 219         if(update_sensors)
 220         {
 221                 unsigned max_addr = (--sensors.end())->first;
 222                 unsigned char data[2];
 223                 data[0] = 0;
 224                 data[1] = (max_addr+7)/8;
 225                 command(CMD_SENSOR_PARAM_SET, data, 2);
 226                 command(CMD_SENSOR_REPORT);
 227                 update_sensors = false;
 228         }
 229
 230         if(!queue.empty() && command_sent)
 231         {
 232                 pollfd pfd = { serial_fd, POLLIN, 0 };
 233                 if(poll(&pfd, 1, 0)>0)
 234                 {
 235                         process_reply(t);
 236                         queue.erase(queue.begin());
 237                         command_sent = false;
 238                 }
 239                 else
 240                         return;
 241         }
 242
 243         if(!queue.empty())
 244         {
 245                 const CommandSlot &slot = queue.front();
 246                 write(serial_fd, slot.data, slot.length);
 247                 command_sent = true;
 248         }
 249 }
 250
 251 void Intellibox::flush()
 252 {
 253         Time::TimeStamp t = Time::now();
 254         for(list<CommandSlot>::iterator i=queue.begin(); i!=queue.end(); ++i)
 255         {
 256                 write(serial_fd, i->data, i->length);
 257                 pollfd pfd = { serial_fd, POLLIN, 0 };
 258                 bool first = true;
 259                 while(poll(&pfd, 1, (first ? -1 : 0))>0)
 260                 {
 261                         char data[16];
 262                         read(serial_fd, data, 16);
 263                         first = false;
 264                 }
 265         }
 266
 267         queue.clear();
 268         command_sent = false;
 269 }
 270
 271 void Intellibox::command(Command cmd)
 272 {
 273         command(cmd, 0, 0);
 274 }
 275
 276 void Intellibox::command(Command cmd, const unsigned char *data, unsigned len)
 277 {
 278         command(cmd, 0, data, len);
 279 }
 280
 281 void Intellibox::command(Command cmd, unsigned addr, const unsigned char *data, unsigned len)
 282 {
 283         CommandSlot slot;
 284         slot.cmd = cmd;
 285         slot.addr = addr;
 286         slot.data[0] = cmd;
 287         copy(data, data+len, slot.data+1);
 288         slot.length = 1+len;
 289         queue.push_back(slot);
 290 }
 291
 292 void Intellibox::loco_command(unsigned addr, unsigned speed, bool rev, unsigned funcs)
 293 {
 294         unsigned char data[4];
 295         data[0] = addr&0xFF;
 296         data[1] = (addr>>8)&0xFF;
 297
 298         if(speed==0)
 299                 data[2] = 0;
 300         else if(speed==1)
 301                 data[2] = 2;
 302         else
 303                 data[2] = (speed*19-18)/2;
 304
 305         data[3] = (rev ? 0 : 0x20) | ((funcs&1) ? 0x10 : 0);
 306
 307         if(!(funcs&0x100))
 308                 data[3] |= 0x80 | ((funcs>>1)&0xF);
 309
 310         command(CMD_LOK, addr, data, 4);
 311 }
 312
 313 void Intellibox::turnout_command(unsigned addr, bool state, bool active)
 314 {
 315         unsigned char data[2];
 316         data[0] = addr&0xFF;
 317         data[1] = ((addr>>8)&0x7) | (active ? 0x40 : 0) | (state ? 0x80 : 0);
 318         command(CMD_TURNOUT, addr, data, 2);
 319 }
 320
 321 void Intellibox::process_reply(const Time::TimeStamp &t)
 322 {
 323         Command cmd = queue.front().cmd;
 324
 325         if(cmd==CMD_STATUS)
 326         {
 327                 unsigned char status;
 328                 read_all(&status, 1);
 329                 power = status&0x08;
 330                 signal_power.emit(power);
 331         }
 332         else if(cmd==CMD_EVENT)
 333         {
 334                 for(unsigned i=0;; ++i)
 335                 {
 336                         unsigned char byte;
 337                         read_all(&byte, 1);
 338
 339                         if(i==0)
 340                         {
 341                                 if(byte&0x01)
 342                                         command(CMD_EVENT_LOK);
 343                                 if(byte&0x20)
 344                                         command(CMD_EVENT_TURNOUT);
 345                                 if(byte&0x04)
 346                                         command(CMD_EVENT_SENSOR);
 347                         }
 348                         else if(i==1)
 349                         {
 350                                 if(byte&0x40)
 351                                         command(CMD_STATUS);
 352                         }
 353
 354                         if(!(byte&0x80))
 355                                 break;
 356                 }
 357         }
 358         else if(cmd==CMD_EVENT_LOK)
 359         {
 360                 while(1)
 361                 {
 362                         unsigned char data[5];
 363                         read_all(data, 1);
 364                         if(data[0]==0x80)
 365                                 break;
 366                         read_all(data+1, 4);
 367                 }
 368         }
 369         else if(cmd==CMD_EVENT_TURNOUT)
 370         {
 371                 unsigned char count;
 372                 read_all(&count, 1);
 373                 for(unsigned i=0; i<count; ++i)
 374                 {
 375                         unsigned char data[2];
 376                         read_all(data, 2);
 377
 378                         unsigned addr = data[0]+((data[1]&7)<<8);
 379                         signal_turnout.emit(addr, (data[1]&0x80)!=0);
 380                 }
 381         }
 382         else if(cmd==CMD_EVENT_SENSOR)
 383         {
 384                 while(1)
 385                 {
 386                         unsigned char mod;
 387                         read_all(&mod, 1);
 388                         if(!mod)
 389                                 break;
 390
 391                         unsigned char data[2];
 392                         read_all(data, 2);
 393                         for(unsigned i=0; i<16; ++i)
 394                         {
 395                                 unsigned addr = mod*16+i-15;
 396                                 bool state = (data[i/8]>>(7-i%8))&1;
 397
 398                                 Sensor &sensor = sensors[addr];
 399                                 if(state)
 400                                 {
 401                                         sensor.off_timeout = Time::TimeStamp();
 402                                         if(!sensor.state)
 403                                         {
 404                                                 sensor.state = state;
 405                                                 signal_sensor(addr, state);
 406                                         }
 407                                 }
 408                                 else if(sensor.state)
 409                                         sensor.off_timeout = t+700*Time::msec;
 410                         }
 411                 }
 412         }
 413         else if(cmd==CMD_LOK)
 414         {
 415                 unsigned char err;
 416                 read_all(&err, 1);
 417
 418                 if(err==ERR_NO_ERROR)
 419                 {
 420                         unsigned addr = queue.front().addr;
 421                         Locomotive &loco = locos[addr];
 422                         signal_loco_speed.emit(addr, loco.speed, loco.reverse);
 423                 }
 424         }
 425         else if(cmd==CMD_TURNOUT)
 426         {
 427                 unsigned char err;
 428                 read_all(&err, 1);
 429
 430                 unsigned addr = queue.front().addr;
 431                 Turnout &turnout = turnouts[addr];
 432
 433                 if(err==ERR_NO_ERROR)
 434                 {
 435                         turnout.state = turnout.pending;
 436                         if(turnout.active)
 437                         {
 438                                 signal_turnout.emit(addr, turnout.state);
 439                                 turnout.off_timeout = t+500*Time::msec;
 440                         }
 441                 }
 442                 else if(err==ERR_NO_I2C_SPACE)
 443                         queue.push_back(queue.front());
 444                 else
 445                         turnout.pending = turnout.state;
 446         }
 447         else if(cmd==CMD_TURNOUT_STATUS)
 448         {
 449                 unsigned char err;
 450                 read_all(&err, 1);
 451
 452                 if(err==ERR_NO_ERROR)
 453                 {
 454                         unsigned char data;
 455                         read_all(&data, 1);
 456
 457                         unsigned addr = queue.front().addr;
 458                         bool state = data&0x04;
 459
 460                         Turnout &turnout = turnouts[addr];
 461                         if(state!=turnout.state)
 462                         {
 463                                 turnout.state = state;
 464                                 signal_turnout.emit(addr, turnout.state);
 465                         }
 466                 }
 467         }
 468         else if(cmd==CMD_LOK_STATUS)
 469         {
 470                 unsigned char err;
 471                 read_all(&err, 1);
 472
 473                 if(err==ERR_NO_ERROR)
 474                 {
 475                         unsigned char data[3];
 476                         read_all(data, 3);
 477
 478                         unsigned addr = queue.front().addr;
 479                         Locomotive &loco = locos[addr];
 480
 481                         unsigned speed = (data[0]<=1 ? 0 : data[0]*2/19+1);
 482                         bool reverse = !(data[1]&0x20);
 483                         if(speed!=loco.speed || reverse!=loco.reverse)
 484                         {
 485                                 loco.speed = speed;
 486                                 loco.reverse = reverse;
 487                                 signal_loco_speed.emit(addr, loco.speed, loco.reverse);
 488                         }
 489
 490                         unsigned funcs = (data[1]&0xF)<<1;
 491                         if(data[1]&0x10)
 492                                 funcs |= 1;
 493                         if(funcs!=loco.funcs)
 494                         {
 495                                 unsigned changed = loco.funcs^funcs;
 496                                 loco.funcs = funcs;
 497                                 for(unsigned i=0; i<5; ++i)
 498                                         if(changed&(1<<i))
 499                                                 signal_loco_function.emit(addr, i, loco.funcs&(1<<i));
 500                         }
 501                 }
 502         }
 503         else
 504         {
 505                 unsigned expected_bytes = 0;
 506                 if(cmd==CMD_FUNC_STATUS)
 507                         expected_bytes = 1;
 508                 if(cmd==CMD_TURNOUT_GROUP_STATUS)
 509                         expected_bytes = 2;
 510                 if(cmd==CMD_LOK_CONFIG)
 511                         expected_bytes = 4;
 512
 513                 unsigned char err;
 514                 read_all(&err, 1);
 515
 516                 if(err==ERR_NO_ERROR)
 517                 {
 518                         unsigned char data[8];
 519                         read_all(data, expected_bytes);
 520                 }
 521         }
 522 }
 523
 524 unsigned Intellibox::read_all(unsigned char *buf, unsigned len)
 525 {
 526         unsigned pos = 0;
 527         while(pos<len)
 528                 pos += read(serial_fd, buf+pos, len-pos);
 529
 530         return pos;
 531 }
 532
 533
 534 Intellibox::Locomotive::Locomotive():
 535         speed(0),
 536         reverse(false),
 537         funcs(0)
 538 { }
 539
 540
 541 Intellibox::Turnout::Turnout():
 542         state(false),
 543         active(false)
 544 { }
 545
 546
 547 Intellibox::Sensor::Sensor():
 548         state(false)
 549 { }
 550
 551 } // namespace Marklin