1 #include <msp/core/maputils.h>
2 #include <msp/datafile/writer.h>
3 #include <msp/fs/redirectedpath.h>
4 #include <msp/fs/stat.h>
5 #include <msp/io/print.h>
6 #include <msp/time/utils.h>
7 #include "arducontrol.h"
15 ArduControl::ProtocolInfo ArduControl::protocol_info[2] =
18 { 0x3FFF, 126, 15 } // MFX
21 ArduControl::ArduControl(const Options &opts):
22 serial(opts.get<string>(string(), "ttyUSB0")),
23 debug(opts.get<unsigned>("debug")),
24 state_file("arducontrol.state"),
28 command_timeout(200*Time::msec),
33 if(FS::exists(state_file))
34 DataFile::load(*this, state_file.str());
36 unsigned max_address = 0;
37 for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
38 max_address = max(max_address, i->address);
39 mfx_search.set_next_address(max_address+1);
42 cmd.command[0] = READ_POWER_STATE;
44 command_queue.push(cmd);
46 cmd.command[0] = MFX_SET_STATION_ID;
52 command_queue.push(cmd);
55 ArduControl::~ArduControl()
60 void ArduControl::set_power(bool p)
64 PendingCommand cmd(POWER);
65 cmd.tag.serial = power.serial;
66 cmd.command[0] = (p ? POWER_ON : POWER_OFF);
68 command_queue.push(cmd);
72 void ArduControl::halt(bool h)
80 for(LocomotiveMap::const_iterator i=locomotives.begin(); i!=locomotives.end(); ++i)
81 set_loco_speed(i->first, 0);
84 signal_halt.emit(halted);
87 const char *ArduControl::enumerate_protocols(unsigned i) const
97 ArduControl::Protocol ArduControl::map_protocol(const string &proto_name)
101 else if(proto_name=="MFX")
104 throw invalid_argument("ArduControl::map_protocol");
107 unsigned ArduControl::get_protocol_speed_steps(const string &proto_name) const
109 return protocol_info[map_protocol(proto_name)].max_speed;
112 const Driver::DetectedLocomotive *ArduControl::enumerate_detected_locos(unsigned i) const
114 if(i>=mfx_info.size())
120 unsigned ArduControl::add_loco(unsigned addr, const string &proto_name, const VehicleType &)
123 throw invalid_argument("ArduControl::add_loco");
125 Protocol proto = map_protocol(proto_name);
126 if(addr>protocol_info[proto].max_address)
127 throw invalid_argument("ArduControl::add_loco");
129 Locomotive loco(proto, addr);
130 insert_unique(locomotives, loco.id, loco);
135 ArduControl::MfxInfoArray::iterator ArduControl::add_mfx_info(const MfxInfo &info)
137 MfxInfoArray::iterator i;
138 for(i=mfx_info.begin(); (i!=mfx_info.end() && i->id!=info.id); ++i) ;
139 if(i==mfx_info.end())
141 mfx_info.push_back(info);
142 i = --mfx_info.end();
149 void ArduControl::remove_loco(unsigned id)
151 Locomotive &loco = get_item(locomotives, id);
152 refresh.remove_loco(loco);
153 locomotives.erase(id);
156 void ArduControl::set_loco_speed(unsigned id, unsigned speed)
158 Locomotive &loco = get_item(locomotives, id);
159 if(speed>protocol_info[loco.proto].max_speed)
160 throw invalid_argument("ArduControl::set_loco_speed");
165 if(loco.speed.set(speed))
167 PendingCommand cmd(loco, Locomotive::SPEED);
168 command_queue.push(cmd);
170 refresh.add_loco(loco);
174 void ArduControl::set_loco_reverse(unsigned id, bool rev)
176 Locomotive &loco = get_item(locomotives, id);
177 if(loco.reverse.set(rev))
179 PendingCommand cmd(loco, Locomotive::REVERSE);
180 command_queue.push(cmd);
182 refresh.add_loco(loco);
186 void ArduControl::set_loco_function(unsigned id, unsigned func, bool state)
188 Locomotive &loco = get_item(locomotives, id);
189 if(func>protocol_info[loco.proto].max_func)
190 throw invalid_argument("ArduControl::set_loco_function");
192 unsigned mask = 1<<func;
193 if(loco.funcs.set((loco.funcs&~mask)|(mask*state)))
195 if(func>0 || loco.proto!=MM)
197 PendingCommand cmd(loco, Locomotive::FUNCTIONS, func);
198 command_queue.push(cmd);
201 refresh.add_loco(loco);
205 unsigned ArduControl::add_turnout(unsigned addr, const TrackType &type)
207 if(!addr || !type.is_turnout())
208 throw invalid_argument("ArduControl::add_turnout");
210 return add_accessory(Accessory::TURNOUT, addr, type.get_state_bits());
213 void ArduControl::remove_turnout(unsigned addr)
215 remove_accessory(Accessory::TURNOUT, addr);
218 void ArduControl::set_turnout(unsigned addr, unsigned state)
220 set_accessory(Accessory::TURNOUT, addr, state);
223 unsigned ArduControl::get_turnout(unsigned addr) const
225 return get_accessory(Accessory::TURNOUT, addr);
228 unsigned ArduControl::add_signal(unsigned addr, const SignalType &)
230 return add_accessory(Accessory::SIGNAL, addr, 1);
233 void ArduControl::remove_signal(unsigned addr)
235 remove_accessory(Accessory::SIGNAL, addr);
238 void ArduControl::set_signal(unsigned addr, unsigned state)
240 set_accessory(Accessory::SIGNAL, addr, state);
243 unsigned ArduControl::get_signal(unsigned addr) const
245 return get_accessory(Accessory::SIGNAL, addr);
248 unsigned ArduControl::add_accessory(Accessory::Kind kind, unsigned addr, unsigned bits)
250 AccessoryMap::iterator i = accessories.lower_bound(addr);
251 AccessoryMap::iterator j = accessories.upper_bound(addr+bits-1);
253 throw key_error(addr);
254 if(i!=accessories.begin())
257 if(i->first+i->second.bits>addr)
258 throw key_error(addr);
261 insert_unique(accessories, addr, Accessory(kind, addr, bits));
265 void ArduControl::remove_accessory(Accessory::Kind kind, unsigned addr)
267 Accessory &acc = get_item(accessories, addr);
269 throw key_error(addr);
270 accessories.erase(addr);
273 void ArduControl::set_accessory(Accessory::Kind kind, unsigned addr, unsigned state)
275 Accessory &acc = get_item(accessories, addr);
277 throw key_error(addr);
279 if(state!=acc.target)
282 accessory_queue.push_back(&acc);
286 unsigned ArduControl::get_accessory(Accessory::Kind kind, unsigned addr) const
288 const Accessory &acc = get_item(accessories, addr);
290 throw key_error(addr);
294 unsigned ArduControl::add_sensor(unsigned addr)
297 throw invalid_argument("ArduControl::add_sensor");
299 insert_unique(sensors, addr, Sensor(addr));
300 s88.grow_n_octets((addr+7)/8);
305 void ArduControl::remove_sensor(unsigned addr)
307 remove_existing(sensors, addr);
308 // TODO update s88.n_octets
311 bool ArduControl::get_sensor(unsigned addr) const
313 return get_item(sensors, addr).state;
316 void ArduControl::tick()
319 while(completed_commands.pop(tag))
321 if(tag.type==Tag::GENERAL)
323 if(tag.command==POWER)
325 if(power.commit(tag.serial))
326 signal_power.emit(power.current);
328 else if(tag.command==NEW_LOCO)
331 if(mfx_search.pop_info(info))
333 MfxInfoArray::iterator i = add_mfx_info(info);
335 signal_locomotive_detected.emit(*i);
339 else if(tag.type==Tag::LOCOMOTIVE)
341 LocomotiveMap::iterator i = locomotives.find(tag.id);
342 if(i==locomotives.end())
345 Locomotive &loco = i->second;
346 if(tag.command==Locomotive::SPEED)
348 if(loco.speed.commit(tag.serial))
349 signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
351 else if(tag.command==Locomotive::REVERSE)
353 if(loco.reverse.commit(tag.serial))
354 signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
356 else if(tag.command==Locomotive::FUNCTIONS)
358 unsigned old = loco.funcs;
359 if(loco.funcs.commit(tag.serial))
361 unsigned changed = old^loco.funcs;
362 for(unsigned j=0; changed>>j; ++j)
364 signal_loco_function.emit(loco.id, j, (loco.funcs>>j)&1);
368 else if(tag.type==Tag::ACCESSORY)
370 AccessoryMap::iterator i = accessories.find(tag.id);
371 if(i==accessories.end())
374 Accessory &acc = i->second;
375 if(tag.command==Accessory::ACTIVATE)
376 off_timeout = Time::now()+acc.active_time;
377 else if(tag.command==Accessory::DEACTIVATE)
379 if(acc.state.commit(tag.serial))
381 if(acc.state==acc.target)
383 if(acc.kind==Accessory::TURNOUT)
384 signal_turnout.emit(acc.address, acc.state);
385 else if(acc.kind==Accessory::SIGNAL)
386 signal_signal.emit(acc.address, acc.state);
388 if(&acc==active_accessory)
389 active_accessory = 0;
393 else if(tag.type==Tag::SENSOR)
395 SensorMap::iterator i = sensors.find(tag.id);
399 Sensor &sensor = i->second;
400 if(tag.command==Sensor::STATE)
402 if(sensor.state.commit(tag.serial))
403 signal_sensor.emit(sensor.address, sensor.state);
408 while(power && !active_accessory && !accessory_queue.empty())
410 Accessory &acc = *accessory_queue.front();
412 if(acc.state!=acc.target)
414 active_accessory = &acc;
416 unsigned changes = acc.state^acc.target;
417 unsigned lowest_bit = changes&~(changes-1);
419 for(i=0; (lowest_bit>>i)>1; ++i) ;
421 acc.state.set(acc.state^lowest_bit);
422 PendingCommand cmd(acc, Accessory::ACTIVATE, i);
423 command_queue.push(cmd);
425 monitor.reset_peak();
428 accessory_queue.pop_front();
431 if(active_accessory && off_timeout)
433 Time::TimeStamp t = Time::now();
436 Accessory &acc = *active_accessory;
438 if(acc.kind==Accessory::TURNOUT && monitor.get_peak()<0.5f)
440 unsigned bit = 1<<active_index;
441 if(acc.uncertain&bit)
442 acc.uncertain &= ~bit;
445 signal_turnout_failed.emit(acc.address);
446 acc.state.rollback();
451 off_timeout = Time::TimeStamp();
452 PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
453 command_queue.push(cmd);
458 void ArduControl::flush()
460 while(!command_queue.empty() || !accessory_queue.empty())
464 void ArduControl::save_state() const
466 FS::RedirectedPath tmp_file(state_file);
467 IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
468 DataFile::Writer writer(out);
470 writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
471 for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
473 DataFile::Statement st("mfx_locomotive");
475 st.sub.push_back((DataFile::Statement("address"), i->address));
476 st.sub.push_back((DataFile::Statement("name"), i->name));
482 ArduControl::Tag::Tag():
490 ArduControl::Locomotive::Locomotive(Protocol p, unsigned a):
500 unsigned ArduControl::Locomotive::create_speed_dir_command(char *buffer) const
504 buffer[0] = MOTOROLA_SPEED_DIRECTION;
506 buffer[2] = funcs.pending&1;
507 buffer[3] = speed.pending+reverse.pending*0x80;
512 buffer[0] = MFX_SPEED;
513 buffer[1] = address>>8;
515 buffer[3] = speed.pending+reverse.pending*0x80;
522 unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *buffer) const
527 throw invalid_argument("Locomotive::create_speed_func_command");
529 buffer[0] = MOTOROLA_SPEED_FUNCTION;
531 buffer[2] = (f<<4)|(((funcs.pending>>f)&1)<<1)|(funcs.pending&1);
532 buffer[3] = speed.pending;
537 bool f16 = (funcs.pending>0xFF);
538 buffer[0] = (f16 ? MFX_SPEED_FUNCS16 : MFX_SPEED_FUNCS8);
539 buffer[1] = address>>8;
541 buffer[3] = speed.pending+reverse.pending*0x80;
544 buffer[4] = funcs.pending>>8;
545 buffer[5] = funcs.pending;
550 buffer[4] = funcs.pending;
559 ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b):
564 uncertain((1<<bits)-1),
566 active_time(500*Time::msec)
569 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
572 throw invalid_argument("Accessory::create_state_command");
574 unsigned a = (address+b+3)*2;
575 if(!((state.pending>>b)&1))
577 buffer[0] = MOTOROLA_SOLENOID;
579 buffer[2] = ((a&7)<<4)|c;
584 ArduControl::Sensor::Sensor(unsigned a):
590 ArduControl::PendingCommand::PendingCommand():
595 ArduControl::PendingCommand::PendingCommand(GeneralCommand cmd):
599 tag.type = Tag::GENERAL;
603 ArduControl::PendingCommand::PendingCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index):
606 tag.type = Tag::LOCOMOTIVE;
609 if(cmd==Locomotive::SPEED)
611 tag.serial = loco.speed.serial;
612 length = loco.create_speed_dir_command(command);
614 else if(cmd==Locomotive::REVERSE)
616 tag.serial = loco.reverse.serial;
617 length = loco.create_speed_dir_command(command);
619 else if(cmd==Locomotive::FUNCTIONS)
621 tag.serial = loco.funcs.serial;
622 length = loco.create_speed_func_command(index, command);
625 throw invalid_argument("PendingCommand");
628 ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command cmd, unsigned index):
631 tag.type = Tag::ACCESSORY;
633 tag.id = acc.address;
634 if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
636 tag.serial = acc.state.serial;
637 length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
640 throw invalid_argument("PendingCommand");
645 void ArduControl::Queue<T>::push(const T &item)
647 MutexLock lock(mutex);
648 items.push_back(item);
652 bool ArduControl::Queue<T>::pop(T &item)
654 MutexLock lock(mutex);
658 item = items.front();
664 bool ArduControl::Queue<T>::empty() const
666 return items.empty();
670 ArduControl::RefreshTask::RefreshTask():
677 bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
679 if(loco && loco->proto==MM && phase==0)
681 cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
682 cmd.repeat_count = 2;
687 loco = get_next_loco();
694 cmd.length = loco->create_speed_dir_command(cmd.command);
695 cmd.repeat_count = 2;
697 else if(loco->proto==MFX)
698 cmd.length = loco->create_speed_func_command(0, cmd.command);
705 void ArduControl::RefreshTask::add_loco(Locomotive &l)
707 MutexLock lock(mutex);
711 LocomotivePtrList::iterator oldest = cycle.begin();
712 for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
713 if((*i)->last_change_age>(*oldest)->last_change_age)
719 if(next==cycle.end())
720 next = cycle.begin();
723 void ArduControl::RefreshTask::remove_loco(Locomotive &l)
725 MutexLock lock(mutex);
726 for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
741 ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
743 MutexLock lock(mutex);
747 Locomotive *l = *next;
752 void ArduControl::RefreshTask::advance()
755 if(next==cycle.end())
763 ArduControl::S88Task::S88Task(ArduControl &c):
770 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
777 if(octets_remaining || !n_octets)
780 octets_remaining = n_octets;
781 cmd.command[0] = S88_READ;
782 cmd.command[1] = octets_remaining;
790 void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
792 unsigned char type = reply[0];
793 if(type==S88_DATA && length>2)
795 unsigned offset = static_cast<unsigned char>(reply[1]);
796 unsigned count = length-2;
798 SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
799 SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
800 for(SensorMap::iterator i=begin; i!=end; ++i)
802 unsigned bit_index = i->first-1-offset*8;
803 bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
804 i->second.state.set(state);
807 tag.type = Tag::SENSOR;
808 tag.command = Sensor::STATE;
809 tag.serial = i->second.state.serial;
811 control.completed_commands.push(tag);
814 if(count>octets_remaining)
815 octets_remaining = 0;
817 octets_remaining -= count;
821 void ArduControl::S88Task::set_n_octets(unsigned n)
826 void ArduControl::S88Task::grow_n_octets(unsigned n)
833 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
837 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
839 Time::TimeStamp t = Time::now();
843 cmd.command[0] = MFX_ANNOUNCE;
844 cmd.command[1] = serial>>8;
845 cmd.command[2] = serial;
847 next = t+400*Time::msec;
852 void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
858 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
866 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
871 IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
874 info.protocol = "MFX";
875 info.address = next_address;
876 info.name = format("%08X", bits);
880 cmd.command[0] = MFX_ASSIGN_ADDRESS;
881 cmd.command[1] = next_address>>8;
882 cmd.command[2] = next_address;
883 for(unsigned i=0; i<4; ++i)
884 cmd.command[3+i] = bits>>(24-i*8);
887 cmd.tag.type = Tag::GENERAL;
888 cmd.tag.command = NEW_LOCO;
898 Time::TimeStamp t = Time::now();
902 cmd.command[0] = MFX_SEARCH;
903 for(unsigned i=0; i<4; ++i)
904 cmd.command[1+i] = bits>>(24-i*8);
905 cmd.command[5] = size;
908 next = t+200*Time::msec;
911 IO::print("Search %08X/%d\n", bits, size);
916 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
918 unsigned char type = reply[0];
919 if(type==MFX_SEARCH_FEEDBACK && length==2)
926 else if(size>0 && misses<6)
929 bits ^= 1<<(32-size);
933 next = Time::now()+2*Time::sec;
941 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
946 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
948 return queue.pop(info);
952 ArduControl::MonitorTask::MonitorTask():
960 bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
962 Time::TimeStamp t = Time::now();
967 cmd.command[0] = READ_INPUT_VOLTAGE;
969 cmd.command[0] = READ_TRACK_CURRENT;
972 next_poll = t+200*Time::msec;
973 next_type = (next_type+1)%5;
978 void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
980 unsigned char type = reply[0];
981 if(type==INPUT_VOLTAGE && length==3)
982 voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
983 else if(type==TRACK_CURRENT && length==5)
985 current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
986 float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
987 peak_level = max(peak_level, peak);
988 base_level = min(base_level, current);
992 void ArduControl::MonitorTask::reset_peak()
994 base_level = current;
995 peak_level = current;
999 ArduControl::ControlThread::ControlThread(ArduControl &c):
1003 tasks.push_back(&control.monitor);
1004 tasks.push_back(&control.mfx_announce);
1005 tasks.push_back(&control.mfx_search);
1006 tasks.push_back(&control.s88);
1007 tasks.push_back(&control.refresh);
1012 void ArduControl::ControlThread::exit()
1018 void ArduControl::ControlThread::main()
1027 bool success = true;
1028 bool resync = false;
1029 for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
1031 unsigned result = do_command(cmd, control.command_timeout);
1032 success = (result==COMMAND_OK);
1033 resync = (result==0);
1036 if(success && cmd.tag)
1037 control.completed_commands.push(cmd.tag);
1041 if(control.debug>=1)
1042 IO::print("Synchronization with ArduControl lost, attempting to recover\n");
1043 for(unsigned i=0; (resync && i<16); ++i)
1045 control.serial.put('\xFF');
1046 while(IO::poll(control.serial, IO::P_INPUT, control.command_timeout))
1047 resync = (control.serial.get()!=0xFF);
1051 if(control.debug>=1)
1052 IO::print("Resynchronization failed, giving up\n");
1057 if(control.debug>=1)
1058 IO::print("Resynchronization successful\n");
1060 control.command_queue.push(cmd);
1065 Time::sleep(10*Time::msec);
1069 void ArduControl::ControlThread::init_baud_rate()
1071 static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
1073 control.serial.set_data_bits(8);
1074 control.serial.set_parity(IO::Serial::NONE);
1075 control.serial.set_stop_bits(1);
1076 for(unsigned i=0; rates[i]; ++i)
1078 control.serial.set_baud_rate(rates[i]);
1079 control.serial.put('\xFF');
1080 if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
1082 int c = control.serial.get();
1093 if(control.debug>=1)
1094 IO::print("ArduControl detection failed\n");
1099 if(control.debug>=1)
1100 IO::print("ArduControl detected at %d bits/s\n", rate);
1105 cmd.command[0] = SET_BAUD_RATE;
1106 cmd.command[1] = rates[0]>>8;
1107 cmd.command[2] = rates[0];
1109 if(do_command(cmd, Time::sec)==COMMAND_OK)
1111 control.serial.set_baud_rate(rates[0]);
1112 Time::sleep(Time::sec);
1113 if(do_command(cmd, Time::sec)==COMMAND_OK)
1115 if(control.debug>=1)
1116 IO::print("Rate changed to %d bits/s\n", rates[0]);
1122 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
1124 if(control.command_queue.pop(cmd))
1127 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1128 if((*i)->get_work(cmd))
1131 // As fallback, send an idle packet for the MM protocol
1132 cmd.command[0] = MOTOROLA_SPEED;
1133 cmd.command[1] = 80;
1141 unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
1143 if(control.debug>=2)
1146 for(unsigned i=0; i<cmd.length; ++i)
1147 cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
1148 IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
1151 control.serial.put(cmd.length^0xFF);
1152 control.serial.write(cmd.command, cmd.length);
1154 unsigned result = 0;
1159 got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
1161 got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
1166 unsigned rlength = control.serial.get()^0xFF;
1169 IO::print("Invalid length %02X\n", rlength);
1177 if(!IO::poll(control.serial, IO::P_INPUT, timeout))
1179 pos += control.serial.read(reply+pos, rlength-pos);
1182 if(control.debug>=2)
1185 for(unsigned i=0; i<rlength; ++i)
1186 reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
1187 IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
1190 unsigned r = process_reply(reply, rlength);
1198 unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
1200 unsigned char type = reply[0];
1201 if((type&0xE0)==0x80)
1203 if(type!=COMMAND_OK)
1204 IO::print("Error %02X\n", type);
1207 else if(type==POWER_STATE && rlength==2)
1209 control.power.set(reply[1]);
1212 tag.type = Tag::GENERAL;
1213 tag.command = POWER;
1214 tag.serial = control.power.serial;
1215 control.completed_commands.push(tag);
1219 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1220 (*i)->process_reply(reply, rlength);
1227 ArduControl::Loader::Loader(ArduControl &c):
1228 DataFile::ObjectLoader<ArduControl>(c)
1230 add("mfx_announce_serial", &Loader::mfx_announce_serial);
1231 add("mfx_locomotive", &Loader::mfx_locomotive);
1234 void ArduControl::Loader::mfx_announce_serial(unsigned s)
1236 obj.mfx_announce.set_serial(s);
1239 void ArduControl::Loader::mfx_locomotive(unsigned id)
1243 info.protocol = "MFX";
1245 obj.add_mfx_info(info);
1249 ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
1250 DataFile::ObjectLoader<MfxInfo>(i)
1252 add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
1253 add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));