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 if(!turnouts.count(addr))
199 Turnout &turnout = turnouts[addr];
200 turnout.bits = type.get_state_bits();
202 unsigned char data[2];
204 data[1] = (addr>>8)&0xFF;
205 command(CMD_TURNOUT_STATUS, addr, data, 2);
206 for(unsigned i=1; i<turnout.bits; ++i)
208 turnouts[addr+i].bits = 0;
213 command(CMD_TURNOUT_STATUS, addr+i, data, 2);
218 void Intellibox::set_turnout(unsigned addr, unsigned state)
220 Turnout &turnout = turnouts[addr];
221 unsigned mask = (1<<turnout.bits)-1;
222 if(((state^turnout.state)&mask)==0 || ((state^turnout.pending)&mask)==0 || !turnout.synced)
224 turnout.state = state;
225 turnout.pending = state;
226 signal_turnout.emit(addr, state);
230 turnout.state = (turnout.state&mask) | (state&~mask);
231 turnout.pending = state;
232 turnout.active = true;
233 turnout.off_timeout = Time::TimeStamp();
235 for(unsigned i=0; i<turnout.bits; ++i)
236 if((state^turnout.state)&(1<<i))
237 turnout_command(addr+i, !(state&(1<<i)), true);
240 unsigned Intellibox::get_turnout(unsigned addr) const
242 map<unsigned, Turnout>::const_iterator i = turnouts.find(addr);
243 if(i!=turnouts.end())
244 return i->second.state;
248 void Intellibox::add_sensor(unsigned addr)
250 if(!sensors.count(addr))
253 update_sensors = true;
257 bool Intellibox::get_sensor(unsigned addr) const
259 map<unsigned, Sensor>::const_iterator i = sensors.find(addr);
261 return i->second.state;
265 void Intellibox::tick()
267 const Time::TimeStamp t = Time::now();
269 if(t>next_event_query)
271 next_event_query = t+200*Time::msec;
275 for(map<unsigned, Locomotive>::iterator i=locos.begin(); i!=locos.end(); ++i)
276 if(i->second.protocol==MM_27 && i->second.pending_half_step && i->second.half_step_delay && t>i->second.half_step_delay)
278 i->second.speed += i->second.pending_half_step;
279 i->second.pending_half_step = 0;
280 i->second.half_step_delay = Time::TimeStamp();
281 loco_command(i->first, (i->second.speed+1)/2, i->second.reverse, i->second.funcs, false);
284 for(map<unsigned, Turnout>::iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
285 if(i->second.active && i->second.off_timeout && t>i->second.off_timeout)
287 i->second.active = false;
288 i->second.off_timeout = Time::TimeStamp();
289 for(unsigned j=0; j<i->second.bits; ++j)
290 turnout_command(i->first+j, !(i->second.state&(1<<j)), false);
293 for(map<unsigned, Sensor>::iterator i=sensors.begin(); i!=sensors.end(); ++i)
294 if(i->second.off_timeout && t>i->second.off_timeout)
296 i->second.state = false;
297 i->second.off_timeout = Time::TimeStamp();
298 signal_sensor.emit(i->first, false);
303 unsigned max_addr = (--sensors.end())->first;
304 unsigned char data[2];
306 data[1] = (max_addr+7)/8;
307 command(CMD_SENSOR_PARAM_SET, data, 2);
308 command(CMD_SENSOR_REPORT);
309 update_sensors = false;
312 if(!queue.empty() && command_sent)
314 if(IO::poll(serial, IO::P_INPUT, Time::zero))
317 queue.erase(queue.begin());
318 command_sent = false;
326 const CommandSlot &slot = queue.front();
327 serial.write(reinterpret_cast<const char *>(slot.data), slot.length);
332 void Intellibox::flush()
334 for(list<CommandSlot>::iterator i=queue.begin(); i!=queue.end(); ++i)
336 serial.write(reinterpret_cast<const char *>(i->data), i->length);
338 while(first ? IO::poll(serial, IO::P_INPUT) : IO::poll(serial, IO::P_INPUT, Time::zero))
341 serial.read(data, 16);
347 command_sent = false;
350 Intellibox::Protocol Intellibox::map_protocol(const string &name) const
354 else if(name=="MM-27")
357 throw invalid_argument("Intellibox::map_protocol");
360 void Intellibox::command(Command cmd)
365 void Intellibox::command(Command cmd, const unsigned char *data, unsigned len)
367 command(cmd, 0, data, len);
370 void Intellibox::command(Command cmd, unsigned addr, const unsigned char *data, unsigned len)
376 copy(data, data+len, slot.data+1);
378 queue.push_back(slot);
381 void Intellibox::loco_command(unsigned addr, unsigned speed, bool rev, unsigned funcs, bool setf)
383 unsigned char data[4];
385 data[1] = (addr>>8)&0xFF;
392 data[2] = (speed*19-18)/2;
394 data[3] = (rev ? 0 : 0x20) | ((funcs&1) ? 0x10 : 0);
397 data[3] |= 0x80 | ((funcs>>1)&0xF);
399 command(CMD_LOK, addr, data, 4);
402 void Intellibox::turnout_command(unsigned addr, bool state, bool active)
404 unsigned char data[2];
406 data[1] = ((addr>>8)&0x7) | (active ? 0x40 : 0) | (state ? 0x80 : 0);
407 command(CMD_TURNOUT, addr, data, 2);
410 void Intellibox::process_reply(const Time::TimeStamp &t)
412 Command cmd = queue.front().cmd;
416 unsigned char status;
417 read_all(&status, 1);
419 signal_power.emit(power);
421 else if(cmd==CMD_EVENT)
423 for(unsigned i=0;; ++i)
431 command(CMD_EVENT_LOK);
433 command(CMD_EVENT_TURNOUT);
435 command(CMD_EVENT_SENSOR);
447 else if(cmd==CMD_EVENT_LOK)
451 unsigned char data[5];
458 else if(cmd==CMD_EVENT_TURNOUT)
462 for(unsigned i=0; i<count; ++i)
464 unsigned char data[2];
467 unsigned addr = data[0]+((data[1]&7)<<8);
469 for(; !turnouts[addr].bits; --addr, mask<<=1) ;
470 Turnout &turnout = turnouts[addr];
472 unsigned bit = !(data[1]&0x80);
473 turnout.state = (turnout.state&~mask) | (bit*mask);
474 turnout.pending = turnout.state;
475 signal_turnout.emit(addr, turnout.state);
478 else if(cmd==CMD_EVENT_SENSOR)
487 unsigned char data[2];
489 for(unsigned i=0; i<16; ++i)
491 unsigned addr = mod*16+i-15;
492 bool state = (data[i/8]>>(7-i%8))&1;
494 Sensor &sensor = sensors[addr];
497 sensor.off_timeout = Time::TimeStamp();
500 sensor.state = state;
501 signal_sensor(addr, state);
504 else if(sensor.state)
505 sensor.off_timeout = t+700*Time::msec;
509 else if(cmd==CMD_LOK)
514 if(err==ERR_NO_ERROR)
516 unsigned addr = queue.front().addr;
517 Locomotive &loco = locos[addr];
520 signal_loco_speed.emit(addr, loco.speed+loco.pending_half_step, loco.reverse);
521 if(loco.pending_half_step)
522 loco.half_step_delay = Time::now()+500*Time::msec;
528 else if(cmd==CMD_TURNOUT)
533 unsigned addr = queue.front().addr;
535 for(; !turnouts[addr].bits; --addr, mask<<=1) ;
536 Turnout &turnout = turnouts[addr];
538 if(err==ERR_NO_ERROR)
540 turnout.state = (turnout.state&~mask) | (turnout.pending&mask);
543 if(turnout.state==turnout.pending)
544 signal_turnout.emit(addr, turnout.state);
545 turnout.off_timeout = t+500*Time::msec;
548 else if(err==ERR_NO_I2C_SPACE)
549 queue.push_back(queue.front());
552 turnout.pending = (turnout.pending&~mask) | (turnout.state&mask);
556 else if(cmd==CMD_TURNOUT_STATUS)
561 if(err==ERR_NO_ERROR)
566 unsigned addr = queue.front().addr;
568 for(; !turnouts[addr].bits; --addr, mask<<=1) ;
569 Turnout &turnout = turnouts[addr];
571 bool bit = !(data&0x04);
572 if(bit!=((turnout.state&mask)!=0))
574 turnout.state = (turnout.state&~mask) | (bit*mask);
575 turnout.pending = turnout.state;
576 signal_turnout.emit(addr, turnout.state);
579 turnout.synced = true;
584 else if(cmd==CMD_LOK_STATUS)
589 if(err==ERR_NO_ERROR)
591 unsigned char data[3];
594 unsigned addr = queue.front().addr;
595 Locomotive &loco = locos[addr];
597 unsigned speed = (data[0]<=1 ? 0 : data[0]*2/19+1);
598 bool reverse = !(data[1]&0x20);
599 bool speed_changed = (speed!=loco.speed || reverse!=loco.reverse);
602 loco.reverse = reverse;
604 unsigned funcs = (data[1]&0xF)<<1;
607 unsigned funcs_changed = loco.funcs^funcs;
611 signal_loco_speed.emit(addr, loco.speed, loco.reverse);
612 for(unsigned i=0; i<5; ++i)
613 if(funcs_changed&(1<<i))
614 signal_loco_function.emit(addr, i, loco.funcs&(1<<i));
621 unsigned expected_bytes = 0;
622 if(cmd==CMD_FUNC_STATUS)
624 if(cmd==CMD_TURNOUT_GROUP_STATUS)
626 if(cmd==CMD_LOK_CONFIG)
632 if(err==ERR_NO_ERROR)
634 unsigned char data[8];
635 read_all(data, expected_bytes);
642 unsigned Intellibox::read_all(unsigned char *buf, unsigned len)
646 pos += serial.read(reinterpret_cast<char *>(buf+pos), len-pos);
651 unsigned Intellibox::read_status(Error *err)
654 unsigned ret = read_all(&c, 1);
655 *err = static_cast<Error>(c);
659 void Intellibox::error(Command cmd, Error err)
661 const char *cmd_str = 0;
664 case CMD_LOK: cmd_str = "CMD_LOK"; break;
665 case CMD_LOK_STATUS: cmd_str = "CMD_LOK_STATUS"; break;
666 case CMD_LOK_CONFIG: cmd_str = "CMD_LOK_CONFIG"; break;
667 case CMD_FUNC: cmd_str = "CMD_FUNC"; break;
668 case CMD_FUNC_STATUS: cmd_str = "CMD_FUNC_STATUS"; break;
669 case CMD_TURNOUT: cmd_str = "CMD_TURNOUT"; break;
670 case CMD_TURNOUT_FREE: cmd_str = "CMD_TURNOUT_FREE"; break;
671 case CMD_TURNOUT_STATUS: cmd_str = "CMD_TURNOUT_STATUS"; break;
672 case CMD_TURNOUT_GROUP_STATUS: cmd_str = "CMD_TURNOUT_GROUP_STATUS"; break;
673 case CMD_SENSOR_STATUS: cmd_str = "CMD_SENSOR_STATUS"; break;
674 case CMD_SENSOR_REPORT: cmd_str = "CMD_SENSOR_REPORT"; break;
675 case CMD_SENSOR_PARAM_SET: cmd_str = "CMD_SENSOR_PARAM_SET"; break;
676 case CMD_STATUS: cmd_str = "CMD_STATUS"; break;
677 case CMD_POWER_OFF: cmd_str = "CMD_POWER_OFF"; break;
678 case CMD_POWER_ON: cmd_str = "CMD_POWER_ON"; break;
679 case CMD_NOP: cmd_str = "CMD_NOP"; break;
680 case CMD_EVENT: cmd_str = "CMD_EVENT"; break;
681 case CMD_EVENT_LOK: cmd_str = "CMD_EVENT_LOK"; break;
682 case CMD_EVENT_TURNOUT: cmd_str = "CMD_EVENT_TURNOUT"; break;
683 case CMD_EVENT_SENSOR: cmd_str = "CMD_EVENT_SENSOR"; break;
684 default: cmd_str = "(unknown command)";
687 const char *err_str = 0;
690 case ERR_NO_ERROR: err_str = "ERR_NO_ERROR"; break;
691 case ERR_SYS_ERROR: err_str = "ERR_SYS_ERROR"; break;
692 case ERR_BAD_PARAM: err_str = "ERR_BAD_PARAM"; break;
693 case ERR_POWER_OFF: err_str = "ERR_POWER_OFF"; break;
694 case ERR_NO_LOK_SPACE: err_str = "ERR_NO_LOK_SPACE"; break;
695 case ERR_NO_TURNOUT_SPACE: err_str = "ERR_NO_TURNOUT_SPACE"; break;
696 case ERR_NO_DATA: err_str = "ERR_NO_DATA"; break;
697 case ERR_NO_SLOT: err_str = "ERR_NO_SLOT"; break;
698 case ERR_BAD_LOK_ADDR: err_str = "ERR_BAD_LOK_ADDR"; break;
699 case ERR_LOK_BUSY: err_str = "ERR_LOK_BUSY"; break;
700 case ERR_BAD_TURNOUT_ADDR: err_str = "ERR_BAD_TURNOUT_ADDR"; break;
701 case ERR_BAD_SO_VALUE: err_str = "ERR_BAD_SO_VALUE"; break;
702 case ERR_NO_I2C_SPACE: err_str = "ERR_NO_I2C_SPACE"; break;
703 case ERR_LOW_TURNOUT_SPACE: err_str = "ERR_LOW_TURNOUT_SPACE"; break;
704 case ERR_LOK_HALTED: err_str = "ERR_LOK_HALTED"; break;
705 case ERR_LOK_POWER_OFF: err_str = "ERR_LOK_POWER_OFF"; break;
706 default: cmd_str = "(unknown error)";
709 IO::print("Error: %s: %s\n", cmd_str, err_str);
713 Intellibox::Locomotive::Locomotive():
721 Intellibox::Turnout::Turnout():
730 Intellibox::Sensor::Sensor():