source/libr2c2/intellibox.cpp

   1 #include <fcntl.h>
   2 #include <termios.h>
   3 #include <sys/poll.h>
   4 #include <msp/io/print.h>
   5 #include <msp/time/units.h>
   6 #include <msp/time/utils.h>
   7 #include "intellibox.h"
   8 #include "tracktype.h"
   9 #include "vehicletype.h"
  10
  11 using namespace std;
  12 using namespace Msp;
  13
  14 namespace R2C2 {
  15
  16 Intellibox::Intellibox(const string &dev):
  17         serial(dev),
  18         power(false),
  19         halted(false),
  20         update_sensors(false),
  21         command_sent(false)
  22 {
  23         static unsigned baud[]= { 2400, 4800, 9600, 19200, 0 };
  24
  25         serial.set_stop_bits(2);
  26
  27         bool ok = false;
  28         bool p50 = false;
  29         for(unsigned i=0; baud[i]; ++i)
  30         {
  31                 serial.set_baud_rate(baud[i]);
  32                 serial.put('\xC4');
  33
  34                 if(IO::poll(serial, IO::P_INPUT, 500*Time::msec))
  35                 {
  36                         IO::print("IB detected at %d bits/s\n", baud[i]);
  37                         char buf[2];
  38                         p50 = (serial.read(buf, 2)==2);
  39                         ok = true;
  40                         break;
  41                 }
  42         }
  43
  44         if(!ok)
  45                 throw runtime_error("IB not detected");
  46
  47         if(p50)
  48                 serial.write("xZzA1\r", 6);
  49
  50         command(CMD_STATUS);
  51 }
  52
  53 void Intellibox::set_power(bool p)
  54 {
  55         power = p;
  56         if(power)
  57                 command(CMD_POWER_ON);
  58         else
  59                 command(CMD_POWER_OFF);
  60         signal_power.emit(power);
  61 }
  62
  63 void Intellibox::halt(bool h)
  64 {
  65         halted = h;
  66         if(halted)
  67         {
  68                 for(map<unsigned, Locomotive>::iterator i=locos.begin(); i!=locos.end(); ++i)
  69                         if(i->second.speed)
  70                                 set_loco_speed(i->first, 0);
  71         }
  72
  73         signal_halt.emit(halted);
  74 }
  75
  76 const char *Intellibox::enumerate_protocols(unsigned i) const
  77 {
  78         ++i;
  79         if(i==MM)
  80                 return "MM";
  81         else if(i==MM_27)
  82                 return "MM-27";
  83         return 0;
  84 }
  85
  86 unsigned Intellibox::get_protocol_speed_steps(const string &proto_name) const
  87 {
  88         Protocol proto = map_protocol(proto_name);
  89         if(proto==MM)
  90                 return 14;
  91         else if(proto==MM_27)
  92                 return 27;
  93         return 0;
  94 }
  95
  96 void Intellibox::add_loco(unsigned addr, const string &proto_name, const VehicleType &type)
  97 {
  98         Protocol proto = map_protocol(proto_name);
  99
 100         if(!locos.count(addr))
 101         {
 102                 Locomotive &loco = locos[addr];
 103                 loco.protocol = proto;
 104                 if(type.get_max_function()>4)
 105                 {
 106                         loco.ext_func = true;
 107                         locos[addr+1].protocol = NONE;
 108                 }
 109
 110                 unsigned char data[2];
 111                 data[0] = addr&0xFF;
 112                 data[1] = (addr>>8)&0xFF;
 113                 command(CMD_LOK_STATUS, addr, data, 2);
 114         }
 115 }
 116
 117 void Intellibox::remove_loco(unsigned addr)
 118 {
 119         locos.erase(addr);
 120 }
 121
 122 void Intellibox::set_loco_speed(unsigned addr, unsigned speed)
 123 {
 124         Locomotive &loco = locos[addr];
 125         if(loco.protocol==NONE)
 126                 return;
 127
 128         if(speed==loco.speed)
 129         {
 130                 if(loco.pending_half_step)
 131                 {
 132                         loco.pending_half_step = 0;
 133                         loco.half_step_delay = Time::TimeStamp();
 134                         signal_loco_speed.emit(addr, speed, loco.reverse);
 135                 }
 136                 return;
 137         }
 138         if(speed && halted)
 139                 return;
 140
 141         if(loco.protocol==MM_27)
 142         {
 143                 if(speed>27)
 144                         speed = 27;
 145
 146                 if(speed>loco.speed && !(speed&1))
 147                 {
 148                         loco.pending_half_step = -1;
 149                         speed |= 1;
 150                 }
 151                 else if(speed<loco.speed && (speed&1))
 152                 {
 153                         loco.pending_half_step = 1;
 154                         speed &= ~1;
 155                 }
 156                 else
 157                         loco.pending_half_step = 0;
 158                 loco.half_step_delay = Time::TimeStamp();
 159
 160                 loco_command(addr, (speed+1)/2, loco.reverse, loco.funcs, false);
 161         }
 162         else if(loco.protocol==MM)
 163         {
 164                 if(speed>14)
 165                         speed = 14;
 166
 167                 loco_command(addr, speed, loco.reverse, loco.funcs, false);
 168         }
 169         loco.speed = speed;
 170 }
 171
 172 void Intellibox::set_loco_reverse(unsigned addr, bool rev)
 173 {
 174         Locomotive &loco = locos[addr];
 175         if(loco.protocol==NONE || rev==loco.reverse)
 176                 return;
 177
 178         loco.speed = 0;
 179         loco.reverse = rev;
 180         loco_command(addr, 0, rev, loco.funcs, false);
 181 }
 182
 183 void Intellibox::set_loco_function(unsigned addr, unsigned func, bool state)
 184 {
 185         Locomotive &loco = locos[addr];
 186         if(loco.protocol==NONE)
 187                 return;
 188
 189         if(state)
 190                 loco.funcs |= 1<<func;
 191         else
 192                 loco.funcs &= ~(1<<func);
 193         if(func<=4)
 194                 loco_command(addr, loco.speed, loco.reverse, loco.funcs, true);
 195         else if(loco.ext_func && func<=8)
 196                 loco_command(addr+1, 0, false, (loco.funcs>>4)&0x1E, true);
 197         signal_loco_function.emit(addr, func, state);
 198 }
 199
 200 void Intellibox::add_turnout(unsigned addr, const TrackType &type)
 201 {
 202         add_turnout(addr, type.get_state_bits(), false);
 203 }
 204
 205 void Intellibox::remove_turnout(unsigned addr)
 206 {
 207         turnouts.erase(addr);
 208 }
 209
 210 void Intellibox::add_turnout(unsigned addr, unsigned bits, bool signal)
 211 {
 212         if(!turnouts.count(addr))
 213         {
 214                 Turnout &turnout = turnouts[addr];
 215                 turnout.bits = bits;
 216                 turnout.signal = signal;
 217
 218                 unsigned char data[2];
 219                 data[0] = addr&0xFF;
 220                 data[1] = (addr>>8)&0xFF;
 221                 command(CMD_TURNOUT_STATUS, addr, data, 2);
 222                 for(unsigned i=1; i<turnout.bits; ++i)
 223                 {
 224                         turnouts[addr+i].bits = 0;
 225
 226                         ++data[0];
 227                         if(!data[0])
 228                                 ++data[1];
 229                         command(CMD_TURNOUT_STATUS, addr+i, data, 2);
 230                 }
 231         }
 232 }
 233
 234 void Intellibox::turnout_state_changed(unsigned addr, const Turnout &turnout) const
 235 {
 236         if(turnout.signal)
 237                 signal_signal.emit(addr, turnout.state);
 238         else
 239                 signal_turnout.emit(addr, turnout.state);
 240 }
 241
 242 void Intellibox::set_turnout(unsigned addr, unsigned state)
 243 {
 244         Turnout &turnout = turnouts[addr];
 245         unsigned mask = (1<<turnout.bits)-1;
 246         if(((state^turnout.state)&mask)==0 || ((state^turnout.pending)&mask)==0 || !turnout.synced)
 247         {
 248                 turnout.state = state;
 249                 turnout.pending = state;
 250                 turnout_state_changed(addr, turnout);
 251                 return;
 252         }
 253
 254         turnout.state = (turnout.state&mask) | (state&~mask);
 255         turnout.pending = state;
 256         turnout.active = true;
 257         turnout.off_timeout = Time::TimeStamp();
 258
 259         for(unsigned i=0; i<turnout.bits; ++i)
 260                 if((state^turnout.state)&(1<<i))
 261                         turnout_command(addr+i, !(state&(1<<i)), true);
 262 }
 263
 264 unsigned Intellibox::get_turnout(unsigned addr) const
 265 {
 266         map<unsigned, Turnout>::const_iterator i = turnouts.find(addr);
 267         if(i!=turnouts.end())
 268                 return i->second.state;
 269         return 0;
 270 }
 271
 272 void Intellibox::add_signal(unsigned addr, const SignalType &)
 273 {
 274         add_turnout(addr, 1, true);
 275 }
 276
 277 void Intellibox::remove_signal(unsigned addr)
 278 {
 279         remove_turnout(addr);
 280 }
 281
 282 void Intellibox::set_signal(unsigned addr, unsigned state)
 283 {
 284         set_turnout(addr, state);
 285 }
 286
 287 unsigned Intellibox::get_signal(unsigned addr) const
 288 {
 289         return get_turnout(addr);
 290 }
 291
 292 void Intellibox::add_sensor(unsigned addr)
 293 {
 294         if(!sensors.count(addr))
 295         {
 296                 sensors[addr];
 297                 update_sensors = true;
 298         }
 299 }
 300
 301 void Intellibox::remove_sensor(unsigned addr)
 302 {
 303         sensors.erase(addr);
 304         update_sensors = true;
 305 }
 306
 307 bool Intellibox::get_sensor(unsigned addr) const
 308 {
 309         map<unsigned, Sensor>::const_iterator i = sensors.find(addr);
 310         if(i!=sensors.end())
 311                 return i->second.state;
 312         return false;
 313 }
 314
 315 void Intellibox::tick()
 316 {
 317         const Time::TimeStamp t = Time::now();
 318
 319         if(t>next_event_query)
 320         {
 321                 next_event_query = t+200*Time::msec;
 322                 command(CMD_EVENT);
 323         }
 324
 325         for(map<unsigned, Locomotive>::iterator i=locos.begin(); i!=locos.end(); ++i)
 326                 if(i->second.protocol==MM_27 && i->second.pending_half_step && i->second.half_step_delay && t>i->second.half_step_delay)
 327                 {
 328                         i->second.speed += i->second.pending_half_step;
 329                         i->second.pending_half_step = 0;
 330                         i->second.half_step_delay = Time::TimeStamp();
 331                         loco_command(i->first, (i->second.speed+1)/2, i->second.reverse, i->second.funcs, false);
 332                 }
 333
 334         for(map<unsigned, Turnout>::iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
 335                 if(i->second.active && i->second.off_timeout && t>i->second.off_timeout)
 336                 {
 337                         i->second.active = false;
 338                         i->second.off_timeout = Time::TimeStamp();
 339                         for(unsigned j=0; j<i->second.bits; ++j)
 340                                 turnout_command(i->first+j, !(i->second.state&(1<<j)), false);
 341                 }
 342
 343         for(map<unsigned, Sensor>::iterator i=sensors.begin(); i!=sensors.end(); ++i)
 344                 if(i->second.off_timeout && t>i->second.off_timeout)
 345                 {
 346                         i->second.state = false;
 347                         i->second.off_timeout = Time::TimeStamp();
 348                         signal_sensor.emit(i->first, false);
 349                 }
 350
 351         if(update_sensors)
 352         {
 353                 unsigned max_addr = (--sensors.end())->first;
 354                 unsigned char data[2];
 355                 data[0] = 0;
 356                 data[1] = (max_addr+7)/8;
 357                 command(CMD_SENSOR_PARAM_SET, data, 2);
 358                 command(CMD_SENSOR_REPORT);
 359                 update_sensors = false;
 360         }
 361
 362         if(!queue.empty() && command_sent)
 363         {
 364                 if(IO::poll(serial, IO::P_INPUT, Time::zero))
 365                 {
 366                         process_reply(t);
 367                         queue.erase(queue.begin());
 368                         command_sent = false;
 369                 }
 370                 else
 371                         return;
 372         }
 373
 374         if(!queue.empty())
 375         {
 376                 const CommandSlot &slot = queue.front();
 377                 serial.write(reinterpret_cast<const char *>(slot.data), slot.length);
 378                 command_sent = true;
 379         }
 380 }
 381
 382 void Intellibox::flush()
 383 {
 384         for(list<CommandSlot>::iterator i=queue.begin(); i!=queue.end(); ++i)
 385         {
 386                 serial.write(reinterpret_cast<const char *>(i->data), i->length);
 387                 bool first = true;
 388                 while(first ? IO::poll(serial, IO::P_INPUT) : IO::poll(serial, IO::P_INPUT, Time::zero))
 389                 {
 390                         char data[16];
 391                         serial.read(data, 16);
 392                         first = false;
 393                 }
 394         }
 395
 396         queue.clear();
 397         command_sent = false;
 398 }
 399
 400 Intellibox::Protocol Intellibox::map_protocol(const string &name) const
 401 {
 402         if(name=="MM")
 403                 return MM;
 404         else if(name=="MM-27")
 405                 return MM_27;
 406         else
 407                 throw invalid_argument("Intellibox::map_protocol");
 408 }
 409
 410 void Intellibox::command(Command cmd)
 411 {
 412         command(cmd, 0, 0);
 413 }
 414
 415 void Intellibox::command(Command cmd, const unsigned char *data, unsigned len)
 416 {
 417         command(cmd, 0, data, len);
 418 }
 419
 420 void Intellibox::command(Command cmd, unsigned addr, const unsigned char *data, unsigned len)
 421 {
 422         CommandSlot slot;
 423         slot.cmd = cmd;
 424         slot.addr = addr;
 425         slot.data[0] = cmd;
 426         copy(data, data+len, slot.data+1);
 427         slot.length = 1+len;
 428         queue.push_back(slot);
 429 }
 430
 431 void Intellibox::loco_command(unsigned addr, unsigned speed, bool rev, unsigned funcs, bool setf)
 432 {
 433         unsigned char data[4];
 434         data[0] = addr&0xFF;
 435         data[1] = (addr>>8)&0xFF;
 436
 437         if(speed==0)
 438                 data[2] = 0;
 439         else if(speed==1)
 440                 data[2] = 2;
 441         else
 442                 data[2] = (speed*19-18)/2;
 443
 444         data[3] = (rev ? 0 : 0x20) | ((funcs&1) ? 0x10 : 0);
 445
 446         if(setf)
 447                 data[3] |= 0x80 | ((funcs>>1)&0xF);
 448
 449         command(CMD_LOK, addr, data, 4);
 450 }
 451
 452 void Intellibox::turnout_command(unsigned addr, bool state, bool active)
 453 {
 454         unsigned char data[2];
 455         data[0] = addr&0xFF;
 456         data[1] = ((addr>>8)&0x7) | (active ? 0x40 : 0) | (state ? 0x80 : 0);
 457         command(CMD_TURNOUT, addr, data, 2);
 458 }
 459
 460 void Intellibox::process_reply(const Time::TimeStamp &t)
 461 {
 462         Command cmd = queue.front().cmd;
 463
 464         if(cmd==CMD_STATUS)
 465         {
 466                 unsigned char status;
 467                 read_all(&status, 1);
 468                 power = status&0x08;
 469                 signal_power.emit(power);
 470         }
 471         else if(cmd==CMD_EVENT)
 472         {
 473                 for(unsigned i=0;; ++i)
 474                 {
 475                         unsigned char byte;
 476                         read_all(&byte, 1);
 477
 478                         if(i==0)
 479                         {
 480                                 if(byte&0x01)
 481                                         command(CMD_EVENT_LOK);
 482                                 if(byte&0x20)
 483                                         command(CMD_EVENT_TURNOUT);
 484                                 if(byte&0x04)
 485                                         command(CMD_EVENT_SENSOR);
 486                         }
 487                         else if(i==1)
 488                         {
 489                                 if(byte&0x40)
 490                                         command(CMD_STATUS);
 491                         }
 492
 493                         if(!(byte&0x80))
 494                                 break;
 495                 }
 496         }
 497         else if(cmd==CMD_EVENT_LOK)
 498         {
 499                 while(1)
 500                 {
 501                         unsigned char data[5];
 502                         read_all(data, 1);
 503                         if(data[0]==0x80)
 504                                 break;
 505                         read_all(data+1, 4);
 506                 }
 507         }
 508         else if(cmd==CMD_EVENT_TURNOUT)
 509         {
 510                 unsigned char count;
 511                 read_all(&count, 1);
 512                 for(unsigned i=0; i<count; ++i)
 513                 {
 514                         unsigned char data[2];
 515                         read_all(data, 2);
 516
 517                         unsigned addr = data[0]+((data[1]&7)<<8);
 518                         unsigned mask = 1;
 519                         for(; !turnouts[addr].bits; --addr, mask<<=1) ;
 520                         Turnout &turnout = turnouts[addr];
 521
 522                         unsigned bit = !(data[1]&0x80);
 523                         turnout.state = (turnout.state&~mask) | (bit*mask);
 524                         turnout.pending = turnout.state;
 525                         turnout_state_changed(addr,turnout);
 526                 }
 527         }
 528         else if(cmd==CMD_EVENT_SENSOR)
 529         {
 530                 while(1)
 531                 {
 532                         unsigned char mod;
 533                         read_all(&mod, 1);
 534                         if(!mod)
 535                                 break;
 536
 537                         unsigned char data[2];
 538                         read_all(data, 2);
 539                         for(unsigned i=0; i<16; ++i)
 540                         {
 541                                 unsigned addr = mod*16+i-15;
 542                                 bool state = (data[i/8]>>(7-i%8))&1;
 543
 544                                 Sensor &sensor = sensors[addr];
 545                                 if(state)
 546                                 {
 547                                         sensor.off_timeout = Time::TimeStamp();
 548                                         if(!sensor.state)
 549                                         {
 550                                                 sensor.state = state;
 551                                                 signal_sensor(addr, state);
 552                                         }
 553                                 }
 554                                 else if(sensor.state)
 555                                         sensor.off_timeout = t+700*Time::msec;
 556                         }
 557                 }
 558         }
 559         else if(cmd==CMD_LOK)
 560         {
 561                 Error err;
 562                 read_status(&err);
 563
 564                 if(err==ERR_NO_ERROR)
 565                 {
 566                         unsigned addr = queue.front().addr;
 567                         Locomotive &loco = locos[addr];
 568                         if(loco.protocol)
 569                         {
 570                                 signal_loco_speed.emit(addr, loco.speed+loco.pending_half_step, loco.reverse);
 571                                 if(loco.pending_half_step)
 572                                         loco.half_step_delay = Time::now()+500*Time::msec;
 573                         }
 574                 }
 575                 else
 576                         error(cmd, err);
 577         }
 578         else if(cmd==CMD_TURNOUT)
 579         {
 580                 Error err;
 581                 read_status(&err);
 582
 583                 unsigned addr = queue.front().addr;
 584                 unsigned mask = 1;
 585                 for(; !turnouts[addr].bits; --addr, mask<<=1) ;
 586                 Turnout &turnout = turnouts[addr];
 587
 588                 if(err==ERR_NO_ERROR)
 589                 {
 590                         turnout.state = (turnout.state&~mask) | (turnout.pending&mask);
 591                         if(turnout.active)
 592                         {
 593                                 if(turnout.state==turnout.pending)
 594                                         turnout_state_changed(addr, turnout);
 595                                 turnout.off_timeout = t+500*Time::msec;
 596                         }
 597                 }
 598                 else if(err==ERR_NO_I2C_SPACE)
 599                         queue.push_back(queue.front());
 600                 else
 601                 {
 602                         turnout.pending = (turnout.pending&~mask) | (turnout.state&mask);
 603                         error(cmd, err);
 604                 }
 605         }
 606         else if(cmd==CMD_TURNOUT_STATUS)
 607         {
 608                 Error err;
 609                 read_status(&err);
 610
 611                 if(err==ERR_NO_ERROR)
 612                 {
 613                         unsigned char data;
 614                         read_all(&data, 1);
 615
 616                         unsigned addr = queue.front().addr;
 617                         unsigned mask = 1;
 618                         for(; !turnouts[addr].bits; --addr, mask<<=1) ;
 619                         Turnout &turnout = turnouts[addr];
 620
 621                         bool bit = !(data&0x04);
 622                         if(bit!=((turnout.state&mask)!=0))
 623                         {
 624                                 turnout.state = (turnout.state&~mask) | (bit*mask);
 625                                 turnout.pending = turnout.state;
 626                                 turnout_state_changed(addr, turnout);
 627                         }
 628
 629                         turnout.synced = true;
 630                 }
 631                 else
 632                         error(cmd, err);
 633         }
 634         else if(cmd==CMD_LOK_STATUS)
 635         {
 636                 Error err;
 637                 read_status(&err);
 638
 639                 if(err==ERR_NO_ERROR)
 640                 {
 641                         unsigned char data[3];
 642                         read_all(data, 3);
 643
 644                         unsigned addr = queue.front().addr;
 645                         Locomotive &loco = locos[addr];
 646
 647                         unsigned speed = (data[0]<=1 ? 0 : data[0]*2/19+1);
 648                         bool reverse = !(data[1]&0x20);
 649                         bool speed_changed = (speed!=loco.speed || reverse!=loco.reverse);
 650
 651                         loco.speed = speed;
 652                         loco.reverse = reverse;
 653
 654                         unsigned funcs = (data[1]&0xF)<<1;
 655                         if(data[1]&0x10)
 656                                 funcs |= 1;
 657                         unsigned funcs_changed = loco.funcs^funcs;
 658                         loco.funcs = funcs;
 659
 660                         if(speed_changed)
 661                                 signal_loco_speed.emit(addr, loco.speed, loco.reverse);
 662                         for(unsigned i=0; i<5; ++i)
 663                                 if(funcs_changed&(1<<i))
 664                                         signal_loco_function.emit(addr, i, loco.funcs&(1<<i));
 665                 }
 666                 else
 667                         error(cmd, err);
 668         }
 669         else
 670         {
 671                 unsigned expected_bytes = 0;
 672                 if(cmd==CMD_FUNC_STATUS)
 673                         expected_bytes = 1;
 674                 if(cmd==CMD_TURNOUT_GROUP_STATUS)
 675                         expected_bytes = 2;
 676                 if(cmd==CMD_LOK_CONFIG)
 677                         expected_bytes = 4;
 678
 679                 Error err;
 680                 read_status(&err);
 681
 682                 if(err==ERR_NO_ERROR)
 683                 {
 684                         unsigned char data[8];
 685                         read_all(data, expected_bytes);
 686                 }
 687                 else
 688                         error(cmd, err);
 689         }
 690 }
 691
 692 unsigned Intellibox::read_all(unsigned char *buf, unsigned len)
 693 {
 694         unsigned pos = 0;
 695         while(pos<len)
 696                 pos += serial.read(reinterpret_cast<char *>(buf+pos), len-pos);
 697
 698         return pos;
 699 }
 700
 701 unsigned Intellibox::read_status(Error *err)
 702 {
 703         unsigned char c;
 704         unsigned ret = read_all(&c, 1);
 705         *err = static_cast<Error>(c);
 706         return ret;
 707 }
 708
 709 void Intellibox::error(Command cmd, Error err)
 710 {
 711         const char *cmd_str = 0;
 712         switch(cmd)
 713         {
 714         case CMD_LOK: cmd_str = "CMD_LOK"; break;
 715         case CMD_LOK_STATUS: cmd_str = "CMD_LOK_STATUS"; break;
 716         case CMD_LOK_CONFIG: cmd_str = "CMD_LOK_CONFIG"; break;
 717         case CMD_FUNC: cmd_str = "CMD_FUNC"; break;
 718         case CMD_FUNC_STATUS: cmd_str = "CMD_FUNC_STATUS"; break;
 719         case CMD_TURNOUT: cmd_str = "CMD_TURNOUT"; break;
 720         case CMD_TURNOUT_FREE: cmd_str = "CMD_TURNOUT_FREE"; break;
 721         case CMD_TURNOUT_STATUS: cmd_str = "CMD_TURNOUT_STATUS"; break;
 722         case CMD_TURNOUT_GROUP_STATUS: cmd_str = "CMD_TURNOUT_GROUP_STATUS"; break;
 723         case CMD_SENSOR_STATUS: cmd_str = "CMD_SENSOR_STATUS"; break;
 724         case CMD_SENSOR_REPORT: cmd_str = "CMD_SENSOR_REPORT"; break;
 725         case CMD_SENSOR_PARAM_SET: cmd_str = "CMD_SENSOR_PARAM_SET"; break;
 726         case CMD_STATUS: cmd_str = "CMD_STATUS"; break;
 727         case CMD_POWER_OFF: cmd_str = "CMD_POWER_OFF"; break;
 728         case CMD_POWER_ON: cmd_str = "CMD_POWER_ON"; break;
 729         case CMD_NOP: cmd_str = "CMD_NOP"; break;
 730         case CMD_EVENT: cmd_str = "CMD_EVENT"; break;
 731         case CMD_EVENT_LOK: cmd_str = "CMD_EVENT_LOK"; break;
 732         case CMD_EVENT_TURNOUT: cmd_str = "CMD_EVENT_TURNOUT"; break;
 733         case CMD_EVENT_SENSOR: cmd_str = "CMD_EVENT_SENSOR"; break;
 734         default: cmd_str = "(unknown command)";
 735         }
 736
 737         const char *err_str = 0;
 738         switch(err)
 739         {
 740         case ERR_NO_ERROR: err_str = "ERR_NO_ERROR"; break;
 741         case ERR_SYS_ERROR: err_str = "ERR_SYS_ERROR"; break;
 742         case ERR_BAD_PARAM: err_str = "ERR_BAD_PARAM"; break;
 743         case ERR_POWER_OFF: err_str = "ERR_POWER_OFF"; break;
 744         case ERR_NO_LOK_SPACE: err_str = "ERR_NO_LOK_SPACE"; break;
 745         case ERR_NO_TURNOUT_SPACE: err_str = "ERR_NO_TURNOUT_SPACE"; break;
 746         case ERR_NO_DATA: err_str = "ERR_NO_DATA"; break;
 747         case ERR_NO_SLOT: err_str = "ERR_NO_SLOT"; break;
 748         case ERR_BAD_LOK_ADDR: err_str = "ERR_BAD_LOK_ADDR"; break;
 749         case ERR_LOK_BUSY: err_str = "ERR_LOK_BUSY"; break;
 750         case ERR_BAD_TURNOUT_ADDR: err_str = "ERR_BAD_TURNOUT_ADDR"; break;
 751         case ERR_BAD_SO_VALUE: err_str = "ERR_BAD_SO_VALUE"; break;
 752         case ERR_NO_I2C_SPACE: err_str = "ERR_NO_I2C_SPACE"; break;
 753         case ERR_LOW_TURNOUT_SPACE: err_str = "ERR_LOW_TURNOUT_SPACE"; break;
 754         case ERR_LOK_HALTED: err_str = "ERR_LOK_HALTED"; break;
 755         case ERR_LOK_POWER_OFF: err_str = "ERR_LOK_POWER_OFF"; break;
 756         default: cmd_str = "(unknown error)";
 757         }
 758
 759         IO::print("Error: %s: %s\n", cmd_str, err_str);
 760 }
 761
 762
 763 Intellibox::Locomotive::Locomotive():
 764         protocol(NONE),
 765         ext_func(false),
 766         speed(0),
 767         reverse(false),
 768         funcs(0),
 769         pending_half_step(0)
 770 { }
 771
 772
 773 Intellibox::Turnout::Turnout():
 774         bits(1),
 775         state(0),
 776         active(false),
 777         synced(false),
 778         pending(0),
 779         signal(false)
 780 { }
 781
 782
 783 Intellibox::Sensor::Sensor():
 784         state(false)
 785 { }
 786
 787 } // namespace R2C2