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 string &dev):
24 state_file("arducontrol.state"),
31 if(FS::exists(state_file))
32 DataFile::load(*this, state_file.str());
34 unsigned max_address = 0;
35 for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
36 max_address = max(max_address, i->address);
37 mfx_search.set_next_address(max_address+1);
40 cmd.command[0] = READ_POWER_STATE;
42 command_queue.push(cmd);
44 cmd.command[0] = MFX_SET_STATION_ID;
50 command_queue.push(cmd);
53 ArduControl::~ArduControl()
58 void ArduControl::set_power(bool p)
62 PendingCommand cmd(POWER);
63 cmd.tag.serial = power.serial;
64 cmd.command[0] = (p ? POWER_ON : POWER_OFF);
66 command_queue.push(cmd);
70 void ArduControl::halt(bool)
74 const char *ArduControl::enumerate_protocols(unsigned i) const
84 ArduControl::Protocol ArduControl::map_protocol(const string &proto_name)
88 else if(proto_name=="MFX")
91 throw invalid_argument("ArduControl::map_protocol");
94 unsigned ArduControl::get_protocol_speed_steps(const string &proto_name) const
96 return protocol_info[map_protocol(proto_name)].max_speed;
99 const Driver::DetectedLocomotive *ArduControl::enumerate_detected_locos(unsigned i) const
101 if(i>=mfx_info.size())
107 unsigned ArduControl::add_loco(unsigned addr, const string &proto_name, const VehicleType &)
110 throw invalid_argument("ArduControl::add_loco");
112 Protocol proto = map_protocol(proto_name);
113 if(addr>protocol_info[proto].max_address)
114 throw invalid_argument("ArduControl::add_loco");
116 Locomotive loco(proto, addr);
117 insert_unique(locomotives, loco.id, loco);
122 ArduControl::MfxInfoArray::iterator ArduControl::add_mfx_info(const MfxInfo &info)
124 MfxInfoArray::iterator i;
125 for(i=mfx_info.begin(); (i!=mfx_info.end() && i->id!=info.id); ++i) ;
126 if(i==mfx_info.end())
128 mfx_info.push_back(info);
129 i = --mfx_info.end();
136 void ArduControl::remove_loco(unsigned id)
138 Locomotive &loco = get_item(locomotives, id);
139 refresh.remove_loco(loco);
140 locomotives.erase(id);
143 void ArduControl::set_loco_speed(unsigned id, unsigned speed)
145 Locomotive &loco = get_item(locomotives, id);
146 if(speed>protocol_info[loco.proto].max_speed)
147 throw invalid_argument("ArduControl::set_loco_speed");
149 if(loco.speed.set(speed))
151 PendingCommand cmd(loco, Locomotive::SPEED);
152 command_queue.push(cmd);
154 refresh.add_loco(loco);
158 void ArduControl::set_loco_reverse(unsigned id, bool rev)
160 Locomotive &loco = get_item(locomotives, id);
161 if(loco.reverse.set(rev))
163 PendingCommand cmd(loco, Locomotive::REVERSE);
164 command_queue.push(cmd);
166 refresh.add_loco(loco);
170 void ArduControl::set_loco_function(unsigned id, unsigned func, bool state)
172 Locomotive &loco = get_item(locomotives, id);
173 if(func>protocol_info[loco.proto].max_func)
174 throw invalid_argument("ArduControl::set_loco_function");
176 unsigned mask = 1<<func;
177 if(loco.funcs.set((loco.funcs&~mask)|(mask*state)))
179 if(func>0 || loco.proto!=MM)
181 PendingCommand cmd(loco, Locomotive::FUNCTIONS, func);
182 command_queue.push(cmd);
185 refresh.add_loco(loco);
189 unsigned ArduControl::add_turnout(unsigned addr, const TrackType &type)
191 if(!addr || !type.is_turnout())
192 throw invalid_argument("ArduControl::add_turnout");
194 return add_accessory(Accessory::TURNOUT, addr, type.get_state_bits());
197 void ArduControl::remove_turnout(unsigned addr)
199 remove_accessory(Accessory::TURNOUT, addr);
202 void ArduControl::set_turnout(unsigned addr, unsigned state)
204 set_accessory(Accessory::TURNOUT, addr, state);
207 unsigned ArduControl::get_turnout(unsigned addr) const
209 return get_accessory(Accessory::TURNOUT, addr);
212 unsigned ArduControl::add_signal(unsigned addr, const SignalType &)
214 return add_accessory(Accessory::SIGNAL, addr, 1);
217 void ArduControl::remove_signal(unsigned addr)
219 remove_accessory(Accessory::SIGNAL, addr);
222 void ArduControl::set_signal(unsigned addr, unsigned state)
224 set_accessory(Accessory::SIGNAL, addr, state);
227 unsigned ArduControl::get_signal(unsigned addr) const
229 return get_accessory(Accessory::SIGNAL, addr);
232 unsigned ArduControl::add_accessory(Accessory::Kind kind, unsigned addr, unsigned bits)
234 AccessoryMap::iterator i = accessories.lower_bound(addr);
235 AccessoryMap::iterator j = accessories.upper_bound(addr+bits-1);
237 throw key_error(addr);
238 if(i!=accessories.begin())
241 if(i->first+i->second.bits>addr)
242 throw key_error(addr);
245 insert_unique(accessories, addr, Accessory(kind, addr, bits));
249 void ArduControl::remove_accessory(Accessory::Kind kind, unsigned addr)
251 Accessory &acc = get_item(accessories, addr);
253 throw key_error(addr);
254 accessories.erase(addr);
257 void ArduControl::set_accessory(Accessory::Kind kind, unsigned addr, unsigned state)
259 Accessory &acc = get_item(accessories, addr);
261 throw key_error(addr);
263 if(state!=acc.target)
266 accessory_queue.push_back(&acc);
270 unsigned ArduControl::get_accessory(Accessory::Kind kind, unsigned addr) const
272 const Accessory &acc = get_item(accessories, addr);
274 throw key_error(addr);
278 unsigned ArduControl::add_sensor(unsigned addr)
281 throw invalid_argument("ArduControl::add_sensor");
283 insert_unique(sensors, addr, Sensor(addr));
284 s88.grow_n_octets((addr+7)/8);
289 void ArduControl::remove_sensor(unsigned addr)
291 remove_existing(sensors, addr);
292 // TODO update s88.n_octets
295 bool ArduControl::get_sensor(unsigned addr) const
297 return get_item(sensors, addr).state;
300 void ArduControl::tick()
303 while(completed_commands.pop(tag))
305 if(tag.type==Tag::GENERAL)
307 if(tag.command==POWER)
309 if(power.commit(tag.serial))
310 signal_power.emit(power.current);
312 else if(tag.command==NEW_LOCO)
315 if(mfx_search.pop_info(info))
317 MfxInfoArray::iterator i = add_mfx_info(info);
319 signal_locomotive_detected.emit(*i);
323 else if(tag.type==Tag::LOCOMOTIVE)
325 LocomotiveMap::iterator i = locomotives.find(tag.id);
326 if(i==locomotives.end())
329 Locomotive &loco = i->second;
330 if(tag.command==Locomotive::SPEED)
332 if(loco.speed.commit(tag.serial))
333 signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
335 else if(tag.command==Locomotive::REVERSE)
337 if(loco.reverse.commit(tag.serial))
338 signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
340 else if(tag.command==Locomotive::FUNCTIONS)
342 unsigned old = loco.funcs;
343 if(loco.funcs.commit(tag.serial))
345 unsigned changed = old^loco.funcs;
346 for(unsigned j=0; changed>>j; ++j)
348 signal_loco_function.emit(loco.id, j, (loco.funcs>>j)&1);
352 else if(tag.type==Tag::ACCESSORY)
354 AccessoryMap::iterator i = accessories.find(tag.id);
355 if(i==accessories.end())
358 Accessory &acc = i->second;
359 if(tag.command==Accessory::ACTIVATE)
360 off_timeout = Time::now()+acc.active_time;
361 else if(tag.command==Accessory::DEACTIVATE)
363 if(acc.state.commit(tag.serial))
365 if(acc.state==acc.target)
367 if(acc.kind==Accessory::TURNOUT)
368 signal_turnout.emit(acc.address, acc.state);
369 else if(acc.kind==Accessory::SIGNAL)
370 signal_signal.emit(acc.address, acc.state);
372 if(&acc==active_accessory)
373 active_accessory = 0;
377 else if(tag.type==Tag::SENSOR)
379 SensorMap::iterator i = sensors.find(tag.id);
383 Sensor &sensor = i->second;
384 if(tag.command==Sensor::STATE)
386 if(sensor.state.commit(tag.serial))
387 signal_sensor.emit(sensor.address, sensor.state);
392 while(!active_accessory && !accessory_queue.empty())
394 Accessory &acc = *accessory_queue.front();
396 if(acc.state!=acc.target)
398 active_accessory = &acc;
400 unsigned changes = acc.state^acc.target;
401 unsigned lowest_bit = changes&~(changes-1);
403 for(i=0; (lowest_bit>>i)>1; ++i) ;
404 acc.state.set(acc.state^lowest_bit);
405 PendingCommand cmd(acc, Accessory::ACTIVATE, i);
406 command_queue.push(cmd);
409 accessory_queue.pop_front();
412 if(active_accessory && off_timeout)
414 Time::TimeStamp t = Time::now();
417 off_timeout = Time::TimeStamp();
418 PendingCommand cmd(*active_accessory, Accessory::DEACTIVATE);
419 command_queue.push(cmd);
424 void ArduControl::flush()
428 void ArduControl::save_state() const
430 FS::RedirectedPath tmp_file(state_file);
431 IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
432 DataFile::Writer writer(out);
434 writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
435 for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
437 DataFile::Statement st("mfx_locomotive");
439 st.sub.push_back((DataFile::Statement("address"), i->address));
440 st.sub.push_back((DataFile::Statement("name"), i->name));
446 ArduControl::Tag::Tag():
454 ArduControl::Locomotive::Locomotive(Protocol p, unsigned a):
464 unsigned ArduControl::Locomotive::create_speed_dir_command(char *buffer) const
468 buffer[0] = MOTOROLA_SPEED_DIRECTION;
470 buffer[2] = funcs.pending&1;
471 buffer[3] = speed.pending+reverse.pending*0x80;
476 buffer[0] = MFX_SPEED;
477 buffer[1] = address>>8;
479 buffer[3] = speed.pending+reverse.pending*0x80;
486 unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *buffer) const
491 throw invalid_argument("Locomotive::create_speed_func_command");
493 buffer[0] = MOTOROLA_SPEED_FUNCTION;
495 buffer[2] = (f<<4)|(((funcs.pending>>f)&1)<<1)|(funcs.pending&1);
496 buffer[3] = speed.pending;
501 bool f16 = (funcs.pending>0xFF);
502 buffer[0] = (f16 ? MFX_SPEED_FUNCS16 : MFX_SPEED_FUNCS8);
503 buffer[1] = address>>8;
505 buffer[3] = speed.pending+reverse.pending*0x80;
508 buffer[4] = funcs.pending>>8;
509 buffer[5] = funcs.pending;
514 buffer[4] = funcs.pending;
523 ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b):
528 active_time(500*Time::msec)
531 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
534 throw invalid_argument("Accessory::create_state_command");
536 unsigned a = (address+b+3)*2;
537 if(!((state.pending>>b)&1))
539 buffer[0] = MOTOROLA_SOLENOID;
541 buffer[2] = ((a&7)<<4)|c;
546 ArduControl::Sensor::Sensor(unsigned a):
552 ArduControl::PendingCommand::PendingCommand():
557 ArduControl::PendingCommand::PendingCommand(GeneralCommand cmd):
561 tag.type = Tag::GENERAL;
565 ArduControl::PendingCommand::PendingCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index):
568 tag.type = Tag::LOCOMOTIVE;
571 if(cmd==Locomotive::SPEED)
573 tag.serial = loco.speed.serial;
574 length = loco.create_speed_dir_command(command);
576 else if(cmd==Locomotive::REVERSE)
578 tag.serial = loco.reverse.serial;
579 length = loco.create_speed_dir_command(command);
581 else if(cmd==Locomotive::FUNCTIONS)
583 tag.serial = loco.funcs.serial;
584 length = loco.create_speed_func_command(index, command);
587 throw invalid_argument("PendingCommand");
590 ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command cmd, unsigned index):
593 tag.type = Tag::ACCESSORY;
595 tag.id = acc.address;
596 if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
598 tag.serial = acc.state.serial;
599 length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
602 throw invalid_argument("PendingCommand");
607 void ArduControl::Queue<T>::push(const T &item)
609 MutexLock lock(mutex);
610 items.push_back(item);
614 bool ArduControl::Queue<T>::pop(T &item)
616 MutexLock lock(mutex);
620 item = items.front();
626 ArduControl::RefreshTask::RefreshTask():
633 bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
635 if(loco && loco->proto==MM && phase==0)
637 cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
638 cmd.repeat_count = 2;
643 loco = get_next_loco();
650 cmd.length = loco->create_speed_dir_command(cmd.command);
651 cmd.repeat_count = 2;
653 else if(loco->proto==MFX)
654 cmd.length = loco->create_speed_func_command(0, cmd.command);
661 void ArduControl::RefreshTask::add_loco(Locomotive &l)
663 MutexLock lock(mutex);
667 LocomotivePtrList::iterator oldest = cycle.begin();
668 for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
669 if((*i)->last_change_age>(*oldest)->last_change_age)
675 if(next==cycle.end())
676 next = cycle.begin();
679 void ArduControl::RefreshTask::remove_loco(Locomotive &l)
681 MutexLock lock(mutex);
682 for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
697 ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
699 MutexLock lock(mutex);
703 Locomotive *l = *next;
708 void ArduControl::RefreshTask::advance()
711 if(next==cycle.end())
719 ArduControl::S88Task::S88Task(ArduControl &c):
726 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
733 if(octets_remaining || !n_octets)
736 octets_remaining = n_octets;
737 cmd.command[0] = S88_READ;
738 cmd.command[1] = octets_remaining;
746 void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
748 unsigned char type = reply[0];
749 if(type==S88_DATA && length>2)
751 unsigned offset = static_cast<unsigned char>(reply[1]);
752 unsigned count = length-2;
754 SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
755 SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
756 for(SensorMap::iterator i=begin; i!=end; ++i)
758 unsigned bit_index = i->first-1-offset*8;
759 bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
760 i->second.state.set(state);
763 tag.type = Tag::SENSOR;
764 tag.command = Sensor::STATE;
765 tag.serial = i->second.state.serial;
767 control.completed_commands.push(tag);
770 if(count>octets_remaining)
771 octets_remaining = 0;
773 octets_remaining -= count;
777 void ArduControl::S88Task::set_n_octets(unsigned n)
782 void ArduControl::S88Task::grow_n_octets(unsigned n)
789 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
793 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
795 Time::TimeStamp t = Time::now();
799 cmd.command[0] = MFX_ANNOUNCE;
800 cmd.command[1] = serial>>8;
801 cmd.command[2] = serial;
803 next = t+400*Time::msec;
808 void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
814 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
822 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
827 IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
830 info.protocol = "MFX";
831 info.address = next_address;
832 info.name = format("%08X", bits);
836 cmd.command[0] = MFX_ASSIGN_ADDRESS;
837 cmd.command[1] = next_address>>8;
838 cmd.command[2] = next_address;
839 for(unsigned i=0; i<4; ++i)
840 cmd.command[3+i] = bits>>(24-i*8);
843 cmd.tag.type = Tag::GENERAL;
844 cmd.tag.command = NEW_LOCO;
854 Time::TimeStamp t = Time::now();
858 cmd.command[0] = MFX_SEARCH;
859 for(unsigned i=0; i<4; ++i)
860 cmd.command[1+i] = bits>>(24-i*8);
861 cmd.command[5] = size;
864 next = t+200*Time::msec;
867 IO::print("Search %08X/%d\n", bits, size);
872 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
874 unsigned char type = reply[0];
875 if(type==MFX_SEARCH_FEEDBACK && length==2)
882 else if(size>0 && misses<6)
885 bits ^= 1<<(32-size);
889 next = Time::now()+2*Time::sec;
897 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
902 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
904 return queue.pop(info);
908 ArduControl::ControlThread::ControlThread(ArduControl &c):
912 tasks.push_back(&control.mfx_announce);
913 tasks.push_back(&control.mfx_search);
914 tasks.push_back(&control.s88);
915 tasks.push_back(&control.refresh);
920 void ArduControl::ControlThread::exit()
926 void ArduControl::ControlThread::main()
936 for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
937 success = (do_command(cmd)==COMMAND_OK);
938 if(success && cmd.tag)
939 control.completed_commands.push(cmd.tag);
942 Time::sleep(10*Time::msec);
946 void ArduControl::ControlThread::init_baud_rate()
948 static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
950 control.serial.set_data_bits(8);
951 control.serial.set_parity(IO::Serial::NONE);
952 control.serial.set_stop_bits(1);
953 for(unsigned i=0; rates[i]; ++i)
955 control.serial.set_baud_rate(rates[i]);
956 control.serial.put('\xFF');
957 if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
959 int c = control.serial.get();
975 IO::print("ArduControl detected at %d bits/s\n", rate);
980 cmd.command[0] = SET_BAUD_RATE;
981 cmd.command[1] = rates[0]>>8;
982 cmd.command[2] = rates[0];
984 if(do_command(cmd)==COMMAND_OK)
986 control.serial.set_baud_rate(rates[0]);
987 Time::sleep(Time::sec);
988 if(do_command(cmd)==COMMAND_OK)
991 IO::print("Rate changed to %d bits/s\n", rates[0]);
997 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
999 if(control.command_queue.pop(cmd))
1002 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1003 if((*i)->get_work(cmd))
1006 // As fallback, send an idle packet for the MM protocol
1007 cmd.command[0] = MOTOROLA_SPEED;
1008 cmd.command[1] = 80;
1016 unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd)
1018 if(control.debug>=2)
1021 for(unsigned i=0; i<cmd.length; ++i)
1022 cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
1023 IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
1026 control.serial.put(cmd.length^0xFF);
1027 control.serial.write(cmd.command, cmd.length);
1029 unsigned result = 0;
1034 got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
1036 got_data = IO::poll(control.serial, IO::P_INPUT);
1041 unsigned rlength = control.serial.get()^0xFF;
1044 IO::print("Invalid length %02X\n", rlength);
1051 pos += control.serial.read(reply+pos, rlength-pos);
1053 if(control.debug>=2)
1056 for(unsigned i=0; i<rlength; ++i)
1057 reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
1058 IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
1061 unsigned r = process_reply(reply, rlength);
1069 unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
1071 unsigned char type = reply[0];
1072 if((type&0xE0)==0x80)
1074 if(type!=COMMAND_OK)
1075 IO::print("Error %02X\n", type);
1078 else if(type==POWER_STATE && rlength==2)
1080 control.power.set(reply[1]);
1083 tag.type = Tag::GENERAL;
1084 tag.command = POWER;
1085 tag.serial = control.power.serial;
1086 control.completed_commands.push(tag);
1090 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1091 (*i)->process_reply(reply, rlength);
1098 ArduControl::Loader::Loader(ArduControl &c):
1099 DataFile::ObjectLoader<ArduControl>(c)
1101 add("mfx_announce_serial", &Loader::mfx_announce_serial);
1102 add("mfx_locomotive", &Loader::mfx_locomotive);
1105 void ArduControl::Loader::mfx_announce_serial(unsigned s)
1107 obj.mfx_announce.set_serial(s);
1110 void ArduControl::Loader::mfx_locomotive(unsigned id)
1114 info.protocol = "MFX";
1116 obj.add_mfx_info(info);
1120 ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
1121 DataFile::ObjectLoader<MfxInfo>(i)
1123 add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
1124 add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));