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::set_loco_speed(unsigned addr, unsigned speed)
 118 {
 119         Locomotive &loco = locos[addr];
 120         if(loco.protocol==NONE)
 121                 return;
 122
 123         if(speed==loco.speed)
 124         {
 125                 if(loco.pending_half_step)
 126                 {
 127                         loco.pending_half_step = 0;
 128                         loco.half_step_delay = Time::TimeStamp();
 129                         signal_loco_speed.emit(addr, speed, loco.reverse);
 130                 }
 131                 return;
 132         }
 133         if(speed && halted)
 134                 return;
 135
 136         if(loco.protocol==MM_27)
 137         {
 138                 if(speed>27)
 139                         speed = 27;
 140
 141                 if(speed>loco.speed && !(speed&1))
 142                 {
 143                         loco.pending_half_step = -1;
 144                         speed |= 1;
 145                 }
 146                 else if(speed<loco.speed && (speed&1))
 147                 {
 148                         loco.pending_half_step = 1;
 149                         speed &= ~1;
 150                 }
 151                 else
 152                         loco.pending_half_step = 0;
 153                 loco.half_step_delay = Time::TimeStamp();
 154
 155                 loco_command(addr, (speed+1)/2, loco.reverse, loco.funcs, false);
 156         }
 157         else if(loco.protocol==MM)
 158         {
 159                 if(speed>14)
 160                         speed = 14;
 161
 162                 loco_command(addr, speed, loco.reverse, loco.funcs, false);
 163         }
 164         loco.speed = speed;
 165 }
 166
 167 void Intellibox::set_loco_reverse(unsigned addr, bool rev)
 168 {
 169         Locomotive &loco = locos[addr];
 170         if(loco.protocol==NONE || rev==loco.reverse)
 171                 return;
 172
 173         loco.speed = 0;
 174         loco.reverse = rev;
 175         loco_command(addr, 0, rev, loco.funcs, false);
 176 }
 177
 178 void Intellibox::set_loco_function(unsigned addr, unsigned func, bool state)
 179 {
 180         Locomotive &loco = locos[addr];
 181         if(loco.protocol==NONE)
 182                 return;
 183
 184         if(state)
 185                 loco.funcs |= 1<<func;
 186         else
 187                 loco.funcs &= ~(1<<func);
 188         if(func<=4)
 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);
 193 }
 194
 195 void Intellibox::add_turnout(unsigned addr, const TrackType &type)
 196 {
 197         add_turnout(addr, type.get_state_bits(), false);
 198 }
 199
 200 void Intellibox::add_turnout(unsigned addr, unsigned bits, bool signal)
 201 {
 202         if(!turnouts.count(addr))
 203         {
 204                 Turnout &turnout = turnouts[addr];
 205                 turnout.bits = bits;
 206                 turnout.signal = signal;
 207
 208                 unsigned char data[2];
 209                 data[0] = addr&0xFF;
 210                 data[1] = (addr>>8)&0xFF;
 211                 command(CMD_TURNOUT_STATUS, addr, data, 2);
 212                 for(unsigned i=1; i<turnout.bits; ++i)
 213                 {
 214                         turnouts[addr+i].bits = 0;
 215
 216                         ++data[0];
 217                         if(!data[0])
 218                                 ++data[1];
 219                         command(CMD_TURNOUT_STATUS, addr+i, data, 2);
 220                 }
 221         }
 222 }
 223
 224 void Intellibox::turnout_state_changed(unsigned addr, const Turnout &turnout) const
 225 {
 226         if(turnout.signal)
 227                 signal_signal.emit(addr, turnout.state);
 228         else
 229                 signal_turnout.emit(addr, turnout.state);
 230 }
 231
 232 void Intellibox::set_turnout(unsigned addr, unsigned state)
 233 {
 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)
 237         {
 238                 turnout.state = state;
 239                 turnout.pending = state;
 240                 turnout_state_changed(addr, turnout);
 241                 return;
 242         }
 243
 244         turnout.state = (turnout.state&mask) | (state&~mask);
 245         turnout.pending = state;
 246         turnout.active = true;
 247         turnout.off_timeout = Time::TimeStamp();
 248
 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);
 252 }
 253
 254 unsigned Intellibox::get_turnout(unsigned addr) const
 255 {
 256         map<unsigned, Turnout>::const_iterator i = turnouts.find(addr);
 257         if(i!=turnouts.end())
 258                 return i->second.state;
 259         return 0;
 260 }
 261
 262 void Intellibox::add_signal(unsigned addr, const SignalType &)
 263 {
 264         add_turnout(addr, 1, true);
 265 }
 266
 267 void Intellibox::set_signal(unsigned addr, unsigned state)
 268 {
 269         set_turnout(addr, state);
 270 }
 271
 272 unsigned Intellibox::get_signal(unsigned addr) const
 273 {
 274         return get_turnout(addr);
 275 }
 276
 277 void Intellibox::add_sensor(unsigned addr)
 278 {
 279         if(!sensors.count(addr))
 280         {
 281                 sensors[addr];
 282                 update_sensors = true;
 283         }
 284 }
 285
 286 bool Intellibox::get_sensor(unsigned addr) const
 287 {
 288         map<unsigned, Sensor>::const_iterator i = sensors.find(addr);
 289         if(i!=sensors.end())
 290                 return i->second.state;
 291         return false;
 292 }
 293
 294 void Intellibox::tick()
 295 {
 296         const Time::TimeStamp t = Time::now();
 297
 298         if(t>next_event_query)
 299         {
 300                 next_event_query = t+200*Time::msec;
 301                 command(CMD_EVENT);
 302         }
 303
 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)
 306                 {
 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);
 311                 }
 312
 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)
 315                 {
 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);
 320                 }
 321
 322         for(map<unsigned, Sensor>::iterator i=sensors.begin(); i!=sensors.end(); ++i)
 323                 if(i->second.off_timeout && t>i->second.off_timeout)
 324                 {
 325                         i->second.state = false;
 326                         i->second.off_timeout = Time::TimeStamp();
 327                         signal_sensor.emit(i->first, false);
 328                 }
 329
 330         if(update_sensors)
 331         {
 332                 unsigned max_addr = (--sensors.end())->first;
 333                 unsigned char data[2];
 334                 data[0] = 0;
 335                 data[1] = (max_addr+7)/8;
 336                 command(CMD_SENSOR_PARAM_SET, data, 2);
 337                 command(CMD_SENSOR_REPORT);
 338                 update_sensors = false;
 339         }
 340
 341         if(!queue.empty() && command_sent)
 342         {
 343                 if(IO::poll(serial, IO::P_INPUT, Time::zero))
 344                 {
 345                         process_reply(t);
 346                         queue.erase(queue.begin());
 347                         command_sent = false;
 348                 }
 349                 else
 350                         return;
 351         }
 352
 353         if(!queue.empty())
 354         {
 355                 const CommandSlot &slot = queue.front();
 356                 serial.write(reinterpret_cast<const char *>(slot.data), slot.length);
 357                 command_sent = true;
 358         }
 359 }
 360
 361 void Intellibox::flush()
 362 {
 363         for(list<CommandSlot>::iterator i=queue.begin(); i!=queue.end(); ++i)
 364         {
 365                 serial.write(reinterpret_cast<const char *>(i->data), i->length);
 366                 bool first = true;
 367                 while(first ? IO::poll(serial, IO::P_INPUT) : IO::poll(serial, IO::P_INPUT, Time::zero))
 368                 {
 369                         char data[16];
 370                         serial.read(data, 16);
 371                         first = false;
 372                 }
 373         }
 374
 375         queue.clear();
 376         command_sent = false;
 377 }
 378
 379 Intellibox::Protocol Intellibox::map_protocol(const string &name) const
 380 {
 381         if(name=="MM")
 382                 return MM;
 383         else if(name=="MM-27")
 384                 return MM_27;
 385         else
 386                 throw invalid_argument("Intellibox::map_protocol");
 387 }
 388
 389 void Intellibox::command(Command cmd)
 390 {
 391         command(cmd, 0, 0);
 392 }
 393
 394 void Intellibox::command(Command cmd, const unsigned char *data, unsigned len)
 395 {
 396         command(cmd, 0, data, len);
 397 }
 398
 399 void Intellibox::command(Command cmd, unsigned addr, const unsigned char *data, unsigned len)
 400 {
 401         CommandSlot slot;
 402         slot.cmd = cmd;
 403         slot.addr = addr;
 404         slot.data[0] = cmd;
 405         copy(data, data+len, slot.data+1);
 406         slot.length = 1+len;
 407         queue.push_back(slot);
 408 }
 409
 410 void Intellibox::loco_command(unsigned addr, unsigned speed, bool rev, unsigned funcs, bool setf)
 411 {
 412         unsigned char data[4];
 413         data[0] = addr&0xFF;
 414         data[1] = (addr>>8)&0xFF;
 415
 416         if(speed==0)
 417                 data[2] = 0;
 418         else if(speed==1)
 419                 data[2] = 2;
 420         else
 421                 data[2] = (speed*19-18)/2;
 422
 423         data[3] = (rev ? 0 : 0x20) | ((funcs&1) ? 0x10 : 0);
 424
 425         if(setf)
 426                 data[3] |= 0x80 | ((funcs>>1)&0xF);
 427
 428         command(CMD_LOK, addr, data, 4);
 429 }
 430
 431 void Intellibox::turnout_command(unsigned addr, bool state, bool active)
 432 {
 433         unsigned char data[2];
 434         data[0] = addr&0xFF;
 435         data[1] = ((addr>>8)&0x7) | (active ? 0x40 : 0) | (state ? 0x80 : 0);
 436         command(CMD_TURNOUT, addr, data, 2);
 437 }
 438
 439 void Intellibox::process_reply(const Time::TimeStamp &t)
 440 {
 441         Command cmd = queue.front().cmd;
 442
 443         if(cmd==CMD_STATUS)
 444         {
 445                 unsigned char status;
 446                 read_all(&status, 1);
 447                 power = status&0x08;
 448                 signal_power.emit(power);
 449         }
 450         else if(cmd==CMD_EVENT)
 451         {
 452                 for(unsigned i=0;; ++i)
 453                 {
 454                         unsigned char byte;
 455                         read_all(&byte, 1);
 456
 457                         if(i==0)
 458                         {
 459                                 if(byte&0x01)
 460                                         command(CMD_EVENT_LOK);
 461                                 if(byte&0x20)
 462                                         command(CMD_EVENT_TURNOUT);
 463                                 if(byte&0x04)
 464                                         command(CMD_EVENT_SENSOR);
 465                         }
 466                         else if(i==1)
 467                         {
 468                                 if(byte&0x40)
 469                                         command(CMD_STATUS);
 470                         }
 471
 472                         if(!(byte&0x80))
 473                                 break;
 474                 }
 475         }
 476         else if(cmd==CMD_EVENT_LOK)
 477         {
 478                 while(1)
 479                 {
 480                         unsigned char data[5];
 481                         read_all(data, 1);
 482                         if(data[0]==0x80)
 483                                 break;
 484                         read_all(data+1, 4);
 485                 }
 486         }
 487         else if(cmd==CMD_EVENT_TURNOUT)
 488         {
 489                 unsigned char count;
 490                 read_all(&count, 1);
 491                 for(unsigned i=0; i<count; ++i)
 492                 {
 493                         unsigned char data[2];
 494                         read_all(data, 2);
 495
 496                         unsigned addr = data[0]+((data[1]&7)<<8);
 497                         unsigned mask = 1;
 498                         for(; !turnouts[addr].bits; --addr, mask<<=1) ;
 499                         Turnout &turnout = turnouts[addr];
 500
 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);
 505                 }
 506         }
 507         else if(cmd==CMD_EVENT_SENSOR)
 508         {
 509                 while(1)
 510                 {
 511                         unsigned char mod;
 512                         read_all(&mod, 1);
 513                         if(!mod)
 514                                 break;
 515
 516                         unsigned char data[2];
 517                         read_all(data, 2);
 518                         for(unsigned i=0; i<16; ++i)
 519                         {
 520                                 unsigned addr = mod*16+i-15;
 521                                 bool state = (data[i/8]>>(7-i%8))&1;
 522
 523                                 Sensor &sensor = sensors[addr];
 524                                 if(state)
 525                                 {
 526                                         sensor.off_timeout = Time::TimeStamp();
 527                                         if(!sensor.state)
 528                                         {
 529                                                 sensor.state = state;
 530                                                 signal_sensor(addr, state);
 531                                         }
 532                                 }
 533                                 else if(sensor.state)
 534                                         sensor.off_timeout = t+700*Time::msec;
 535                         }
 536                 }
 537         }
 538         else if(cmd==CMD_LOK)
 539         {
 540                 Error err;
 541                 read_status(&err);
 542
 543                 if(err==ERR_NO_ERROR)
 544                 {
 545                         unsigned addr = queue.front().addr;
 546                         Locomotive &loco = locos[addr];
 547                         if(loco.protocol)
 548                         {
 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;
 552                         }
 553                 }
 554                 else
 555                         error(cmd, err);
 556         }
 557         else if(cmd==CMD_TURNOUT)
 558         {
 559                 Error err;
 560                 read_status(&err);
 561
 562                 unsigned addr = queue.front().addr;
 563                 unsigned mask = 1;
 564                 for(; !turnouts[addr].bits; --addr, mask<<=1) ;
 565                 Turnout &turnout = turnouts[addr];
 566
 567                 if(err==ERR_NO_ERROR)
 568                 {
 569                         turnout.state = (turnout.state&~mask) | (turnout.pending&mask);
 570                         if(turnout.active)
 571                         {
 572                                 if(turnout.state==turnout.pending)
 573                                         turnout_state_changed(addr, turnout);
 574                                 turnout.off_timeout = t+500*Time::msec;
 575                         }
 576                 }
 577                 else if(err==ERR_NO_I2C_SPACE)
 578                         queue.push_back(queue.front());
 579                 else
 580                 {
 581                         turnout.pending = (turnout.pending&~mask) | (turnout.state&mask);
 582                         error(cmd, err);
 583                 }
 584         }
 585         else if(cmd==CMD_TURNOUT_STATUS)
 586         {
 587                 Error err;
 588                 read_status(&err);
 589
 590                 if(err==ERR_NO_ERROR)
 591                 {
 592                         unsigned char data;
 593                         read_all(&data, 1);
 594
 595                         unsigned addr = queue.front().addr;
 596                         unsigned mask = 1;
 597                         for(; !turnouts[addr].bits; --addr, mask<<=1) ;
 598                         Turnout &turnout = turnouts[addr];
 599
 600                         bool bit = !(data&0x04);
 601                         if(bit!=((turnout.state&mask)!=0))
 602                         {
 603                                 turnout.state = (turnout.state&~mask) | (bit*mask);
 604                                 turnout.pending = turnout.state;
 605                                 turnout_state_changed(addr, turnout);
 606                         }
 607
 608                         turnout.synced = true;
 609                 }
 610                 else
 611                         error(cmd, err);
 612         }
 613         else if(cmd==CMD_LOK_STATUS)
 614         {
 615                 Error err;
 616                 read_status(&err);
 617
 618                 if(err==ERR_NO_ERROR)
 619                 {
 620                         unsigned char data[3];
 621                         read_all(data, 3);
 622
 623                         unsigned addr = queue.front().addr;
 624                         Locomotive &loco = locos[addr];
 625
 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);
 629
 630                         loco.speed = speed;
 631                         loco.reverse = reverse;
 632
 633                         unsigned funcs = (data[1]&0xF)<<1;
 634                         if(data[1]&0x10)
 635                                 funcs |= 1;
 636                         unsigned funcs_changed = loco.funcs^funcs;
 637                         loco.funcs = funcs;
 638
 639                         if(speed_changed)
 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));
 644                 }
 645                 else
 646                         error(cmd, err);
 647         }
 648         else
 649         {
 650                 unsigned expected_bytes = 0;
 651                 if(cmd==CMD_FUNC_STATUS)
 652                         expected_bytes = 1;
 653                 if(cmd==CMD_TURNOUT_GROUP_STATUS)
 654                         expected_bytes = 2;
 655                 if(cmd==CMD_LOK_CONFIG)
 656                         expected_bytes = 4;
 657
 658                 Error err;
 659                 read_status(&err);
 660
 661                 if(err==ERR_NO_ERROR)
 662                 {
 663                         unsigned char data[8];
 664                         read_all(data, expected_bytes);
 665                 }
 666                 else
 667                         error(cmd, err);
 668         }
 669 }
 670
 671 unsigned Intellibox::read_all(unsigned char *buf, unsigned len)
 672 {
 673         unsigned pos = 0;
 674         while(pos<len)
 675                 pos += serial.read(reinterpret_cast<char *>(buf+pos), len-pos);
 676
 677         return pos;
 678 }
 679
 680 unsigned Intellibox::read_status(Error *err)
 681 {
 682         unsigned char c;
 683         unsigned ret = read_all(&c, 1);
 684         *err = static_cast<Error>(c);
 685         return ret;
 686 }
 687
 688 void Intellibox::error(Command cmd, Error err)
 689 {
 690         const char *cmd_str = 0;
 691         switch(cmd)
 692         {
 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)";
 714         }
 715
 716         const char *err_str = 0;
 717         switch(err)
 718         {
 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)";
 736         }
 737
 738         IO::print("Error: %s: %s\n", cmd_str, err_str);
 739 }
 740
 741
 742 Intellibox::Locomotive::Locomotive():
 743         protocol(NONE),
 744         ext_func(false),
 745         speed(0),
 746         reverse(false),
 747         funcs(0),
 748         pending_half_step(0)
 749 { }
 750
 751
 752 Intellibox::Turnout::Turnout():
 753         bits(1),
 754         state(0),
 755         active(false),
 756         synced(false),
 757         pending(0),
 758         signal(false)
 759 { }
 760
 761
 762 Intellibox::Sensor::Sensor():
 763         state(false)
 764 { }
 765
 766 } // namespace R2C2