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 string &dev):
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 void 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);
117 void Intellibox::set_loco_speed(unsigned addr, unsigned speed)
119 Locomotive &loco = locos[addr];
120 if(loco.protocol==NONE)
123 if(speed==loco.speed)
125 if(loco.pending_half_step)
127 loco.pending_half_step = 0;
128 loco.half_step_delay = Time::TimeStamp();
129 signal_loco_speed.emit(addr, speed, loco.reverse);
136 if(loco.protocol==MM_27)
141 if(speed>loco.speed && !(speed&1))
143 loco.pending_half_step = -1;
146 else if(speed<loco.speed && (speed&1))
148 loco.pending_half_step = 1;
152 loco.pending_half_step = 0;
153 loco.half_step_delay = Time::TimeStamp();
155 loco_command(addr, (speed+1)/2, loco.reverse, loco.funcs, false);
157 else if(loco.protocol==MM)
162 loco_command(addr, speed, loco.reverse, loco.funcs, false);
167 void Intellibox::set_loco_reverse(unsigned addr, bool rev)
169 Locomotive &loco = locos[addr];
170 if(loco.protocol==NONE || rev==loco.reverse)
175 loco_command(addr, 0, rev, loco.funcs, false);
178 void Intellibox::set_loco_function(unsigned addr, unsigned func, bool state)
180 Locomotive &loco = locos[addr];
181 if(loco.protocol==NONE)
185 loco.funcs |= 1<<func;
187 loco.funcs &= ~(1<<func);
189 loco_command(addr, loco.speed, loco.reverse, loco.funcs, true);
190 else if(loco.ext_func && func<=8)
191 loco_command(addr+1, 0, false, (loco.funcs>>4)&0x1E, true);
192 signal_loco_function.emit(addr, func, state);
195 void Intellibox::add_turnout(unsigned addr, const TrackType &type)
197 add_turnout(addr, type.get_state_bits(), false);
200 void Intellibox::add_turnout(unsigned addr, unsigned bits, bool signal)
202 if(!turnouts.count(addr))
204 Turnout &turnout = turnouts[addr];
206 turnout.signal = signal;
208 unsigned char data[2];
210 data[1] = (addr>>8)&0xFF;
211 command(CMD_TURNOUT_STATUS, addr, data, 2);
212 for(unsigned i=1; i<turnout.bits; ++i)
214 turnouts[addr+i].bits = 0;
219 command(CMD_TURNOUT_STATUS, addr+i, data, 2);
224 void Intellibox::turnout_state_changed(unsigned addr, const Turnout &turnout) const
227 signal_signal.emit(addr, turnout.state);
229 signal_turnout.emit(addr, turnout.state);
232 void Intellibox::set_turnout(unsigned addr, unsigned state)
234 Turnout &turnout = turnouts[addr];
235 unsigned mask = (1<<turnout.bits)-1;
236 if(((state^turnout.state)&mask)==0 || ((state^turnout.pending)&mask)==0 || !turnout.synced)
238 turnout.state = state;
239 turnout.pending = state;
240 turnout_state_changed(addr, turnout);
244 turnout.state = (turnout.state&mask) | (state&~mask);
245 turnout.pending = state;
246 turnout.active = true;
247 turnout.off_timeout = Time::TimeStamp();
249 for(unsigned i=0; i<turnout.bits; ++i)
250 if((state^turnout.state)&(1<<i))
251 turnout_command(addr+i, !(state&(1<<i)), true);
254 unsigned Intellibox::get_turnout(unsigned addr) const
256 map<unsigned, Turnout>::const_iterator i = turnouts.find(addr);
257 if(i!=turnouts.end())
258 return i->second.state;
262 void Intellibox::add_signal(unsigned addr, const SignalType &)
264 add_turnout(addr, 1, true);
267 void Intellibox::set_signal(unsigned addr, unsigned state)
269 set_turnout(addr, state);
272 unsigned Intellibox::get_signal(unsigned addr) const
274 return get_turnout(addr);
277 void Intellibox::add_sensor(unsigned addr)
279 if(!sensors.count(addr))
282 update_sensors = true;
286 bool Intellibox::get_sensor(unsigned addr) const
288 map<unsigned, Sensor>::const_iterator i = sensors.find(addr);
290 return i->second.state;
294 void Intellibox::tick()
296 const Time::TimeStamp t = Time::now();
298 if(t>next_event_query)
300 next_event_query = t+200*Time::msec;
304 for(map<unsigned, Locomotive>::iterator i=locos.begin(); i!=locos.end(); ++i)
305 if(i->second.protocol==MM_27 && i->second.pending_half_step && i->second.half_step_delay && t>i->second.half_step_delay)
307 i->second.speed += i->second.pending_half_step;
308 i->second.pending_half_step = 0;
309 i->second.half_step_delay = Time::TimeStamp();
310 loco_command(i->first, (i->second.speed+1)/2, i->second.reverse, i->second.funcs, false);
313 for(map<unsigned, Turnout>::iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
314 if(i->second.active && i->second.off_timeout && t>i->second.off_timeout)
316 i->second.active = false;
317 i->second.off_timeout = Time::TimeStamp();
318 for(unsigned j=0; j<i->second.bits; ++j)
319 turnout_command(i->first+j, !(i->second.state&(1<<j)), false);
322 for(map<unsigned, Sensor>::iterator i=sensors.begin(); i!=sensors.end(); ++i)
323 if(i->second.off_timeout && t>i->second.off_timeout)
325 i->second.state = false;
326 i->second.off_timeout = Time::TimeStamp();
327 signal_sensor.emit(i->first, false);
332 unsigned max_addr = (--sensors.end())->first;
333 unsigned char data[2];
335 data[1] = (max_addr+7)/8;
336 command(CMD_SENSOR_PARAM_SET, data, 2);
337 command(CMD_SENSOR_REPORT);
338 update_sensors = false;
341 if(!queue.empty() && command_sent)
343 if(IO::poll(serial, IO::P_INPUT, Time::zero))
346 queue.erase(queue.begin());
347 command_sent = false;
355 const CommandSlot &slot = queue.front();
356 serial.write(reinterpret_cast<const char *>(slot.data), slot.length);
361 void Intellibox::flush()
363 for(list<CommandSlot>::iterator i=queue.begin(); i!=queue.end(); ++i)
365 serial.write(reinterpret_cast<const char *>(i->data), i->length);
367 while(first ? IO::poll(serial, IO::P_INPUT) : IO::poll(serial, IO::P_INPUT, Time::zero))
370 serial.read(data, 16);
376 command_sent = false;
379 Intellibox::Protocol Intellibox::map_protocol(const string &name) const
383 else if(name=="MM-27")
386 throw invalid_argument("Intellibox::map_protocol");
389 void Intellibox::command(Command cmd)
394 void Intellibox::command(Command cmd, const unsigned char *data, unsigned len)
396 command(cmd, 0, data, len);
399 void Intellibox::command(Command cmd, unsigned addr, const unsigned char *data, unsigned len)
405 copy(data, data+len, slot.data+1);
407 queue.push_back(slot);
410 void Intellibox::loco_command(unsigned addr, unsigned speed, bool rev, unsigned funcs, bool setf)
412 unsigned char data[4];
414 data[1] = (addr>>8)&0xFF;
421 data[2] = (speed*19-18)/2;
423 data[3] = (rev ? 0 : 0x20) | ((funcs&1) ? 0x10 : 0);
426 data[3] |= 0x80 | ((funcs>>1)&0xF);
428 command(CMD_LOK, addr, data, 4);
431 void Intellibox::turnout_command(unsigned addr, bool state, bool active)
433 unsigned char data[2];
435 data[1] = ((addr>>8)&0x7) | (active ? 0x40 : 0) | (state ? 0x80 : 0);
436 command(CMD_TURNOUT, addr, data, 2);
439 void Intellibox::process_reply(const Time::TimeStamp &t)
441 Command cmd = queue.front().cmd;
445 unsigned char status;
446 read_all(&status, 1);
448 signal_power.emit(power);
450 else if(cmd==CMD_EVENT)
452 for(unsigned i=0;; ++i)
460 command(CMD_EVENT_LOK);
462 command(CMD_EVENT_TURNOUT);
464 command(CMD_EVENT_SENSOR);
476 else if(cmd==CMD_EVENT_LOK)
480 unsigned char data[5];
487 else if(cmd==CMD_EVENT_TURNOUT)
491 for(unsigned i=0; i<count; ++i)
493 unsigned char data[2];
496 unsigned addr = data[0]+((data[1]&7)<<8);
498 for(; !turnouts[addr].bits; --addr, mask<<=1) ;
499 Turnout &turnout = turnouts[addr];
501 unsigned bit = !(data[1]&0x80);
502 turnout.state = (turnout.state&~mask) | (bit*mask);
503 turnout.pending = turnout.state;
504 turnout_state_changed(addr,turnout);
507 else if(cmd==CMD_EVENT_SENSOR)
516 unsigned char data[2];
518 for(unsigned i=0; i<16; ++i)
520 unsigned addr = mod*16+i-15;
521 bool state = (data[i/8]>>(7-i%8))&1;
523 Sensor &sensor = sensors[addr];
526 sensor.off_timeout = Time::TimeStamp();
529 sensor.state = state;
530 signal_sensor(addr, state);
533 else if(sensor.state)
534 sensor.off_timeout = t+700*Time::msec;
538 else if(cmd==CMD_LOK)
543 if(err==ERR_NO_ERROR)
545 unsigned addr = queue.front().addr;
546 Locomotive &loco = locos[addr];
549 signal_loco_speed.emit(addr, loco.speed+loco.pending_half_step, loco.reverse);
550 if(loco.pending_half_step)
551 loco.half_step_delay = Time::now()+500*Time::msec;
557 else if(cmd==CMD_TURNOUT)
562 unsigned addr = queue.front().addr;
564 for(; !turnouts[addr].bits; --addr, mask<<=1) ;
565 Turnout &turnout = turnouts[addr];
567 if(err==ERR_NO_ERROR)
569 turnout.state = (turnout.state&~mask) | (turnout.pending&mask);
572 if(turnout.state==turnout.pending)
573 turnout_state_changed(addr, turnout);
574 turnout.off_timeout = t+500*Time::msec;
577 else if(err==ERR_NO_I2C_SPACE)
578 queue.push_back(queue.front());
581 turnout.pending = (turnout.pending&~mask) | (turnout.state&mask);
585 else if(cmd==CMD_TURNOUT_STATUS)
590 if(err==ERR_NO_ERROR)
595 unsigned addr = queue.front().addr;
597 for(; !turnouts[addr].bits; --addr, mask<<=1) ;
598 Turnout &turnout = turnouts[addr];
600 bool bit = !(data&0x04);
601 if(bit!=((turnout.state&mask)!=0))
603 turnout.state = (turnout.state&~mask) | (bit*mask);
604 turnout.pending = turnout.state;
605 turnout_state_changed(addr, turnout);
608 turnout.synced = true;
613 else if(cmd==CMD_LOK_STATUS)
618 if(err==ERR_NO_ERROR)
620 unsigned char data[3];
623 unsigned addr = queue.front().addr;
624 Locomotive &loco = locos[addr];
626 unsigned speed = (data[0]<=1 ? 0 : data[0]*2/19+1);
627 bool reverse = !(data[1]&0x20);
628 bool speed_changed = (speed!=loco.speed || reverse!=loco.reverse);
631 loco.reverse = reverse;
633 unsigned funcs = (data[1]&0xF)<<1;
636 unsigned funcs_changed = loco.funcs^funcs;
640 signal_loco_speed.emit(addr, loco.speed, loco.reverse);
641 for(unsigned i=0; i<5; ++i)
642 if(funcs_changed&(1<<i))
643 signal_loco_function.emit(addr, i, loco.funcs&(1<<i));
650 unsigned expected_bytes = 0;
651 if(cmd==CMD_FUNC_STATUS)
653 if(cmd==CMD_TURNOUT_GROUP_STATUS)
655 if(cmd==CMD_LOK_CONFIG)
661 if(err==ERR_NO_ERROR)
663 unsigned char data[8];
664 read_all(data, expected_bytes);
671 unsigned Intellibox::read_all(unsigned char *buf, unsigned len)
675 pos += serial.read(reinterpret_cast<char *>(buf+pos), len-pos);
680 unsigned Intellibox::read_status(Error *err)
683 unsigned ret = read_all(&c, 1);
684 *err = static_cast<Error>(c);
688 void Intellibox::error(Command cmd, Error err)
690 const char *cmd_str = 0;
693 case CMD_LOK: cmd_str = "CMD_LOK"; break;
694 case CMD_LOK_STATUS: cmd_str = "CMD_LOK_STATUS"; break;
695 case CMD_LOK_CONFIG: cmd_str = "CMD_LOK_CONFIG"; break;
696 case CMD_FUNC: cmd_str = "CMD_FUNC"; break;
697 case CMD_FUNC_STATUS: cmd_str = "CMD_FUNC_STATUS"; break;
698 case CMD_TURNOUT: cmd_str = "CMD_TURNOUT"; break;
699 case CMD_TURNOUT_FREE: cmd_str = "CMD_TURNOUT_FREE"; break;
700 case CMD_TURNOUT_STATUS: cmd_str = "CMD_TURNOUT_STATUS"; break;
701 case CMD_TURNOUT_GROUP_STATUS: cmd_str = "CMD_TURNOUT_GROUP_STATUS"; break;
702 case CMD_SENSOR_STATUS: cmd_str = "CMD_SENSOR_STATUS"; break;
703 case CMD_SENSOR_REPORT: cmd_str = "CMD_SENSOR_REPORT"; break;
704 case CMD_SENSOR_PARAM_SET: cmd_str = "CMD_SENSOR_PARAM_SET"; break;
705 case CMD_STATUS: cmd_str = "CMD_STATUS"; break;
706 case CMD_POWER_OFF: cmd_str = "CMD_POWER_OFF"; break;
707 case CMD_POWER_ON: cmd_str = "CMD_POWER_ON"; break;
708 case CMD_NOP: cmd_str = "CMD_NOP"; break;
709 case CMD_EVENT: cmd_str = "CMD_EVENT"; break;
710 case CMD_EVENT_LOK: cmd_str = "CMD_EVENT_LOK"; break;
711 case CMD_EVENT_TURNOUT: cmd_str = "CMD_EVENT_TURNOUT"; break;
712 case CMD_EVENT_SENSOR: cmd_str = "CMD_EVENT_SENSOR"; break;
713 default: cmd_str = "(unknown command)";
716 const char *err_str = 0;
719 case ERR_NO_ERROR: err_str = "ERR_NO_ERROR"; break;
720 case ERR_SYS_ERROR: err_str = "ERR_SYS_ERROR"; break;
721 case ERR_BAD_PARAM: err_str = "ERR_BAD_PARAM"; break;
722 case ERR_POWER_OFF: err_str = "ERR_POWER_OFF"; break;
723 case ERR_NO_LOK_SPACE: err_str = "ERR_NO_LOK_SPACE"; break;
724 case ERR_NO_TURNOUT_SPACE: err_str = "ERR_NO_TURNOUT_SPACE"; break;
725 case ERR_NO_DATA: err_str = "ERR_NO_DATA"; break;
726 case ERR_NO_SLOT: err_str = "ERR_NO_SLOT"; break;
727 case ERR_BAD_LOK_ADDR: err_str = "ERR_BAD_LOK_ADDR"; break;
728 case ERR_LOK_BUSY: err_str = "ERR_LOK_BUSY"; break;
729 case ERR_BAD_TURNOUT_ADDR: err_str = "ERR_BAD_TURNOUT_ADDR"; break;
730 case ERR_BAD_SO_VALUE: err_str = "ERR_BAD_SO_VALUE"; break;
731 case ERR_NO_I2C_SPACE: err_str = "ERR_NO_I2C_SPACE"; break;
732 case ERR_LOW_TURNOUT_SPACE: err_str = "ERR_LOW_TURNOUT_SPACE"; break;
733 case ERR_LOK_HALTED: err_str = "ERR_LOK_HALTED"; break;
734 case ERR_LOK_POWER_OFF: err_str = "ERR_LOK_POWER_OFF"; break;
735 default: cmd_str = "(unknown error)";
738 IO::print("Error: %s: %s\n", cmd_str, err_str);
742 Intellibox::Locomotive::Locomotive():
750 Intellibox::Turnout::Turnout():
760 Intellibox::Sensor::Sensor():