#include <msp/core/maputils.h>
+#include <msp/datafile/writer.h>
+#include <msp/fs/redirectedpath.h>
+#include <msp/fs/stat.h>
#include <msp/io/print.h>
#include <msp/time/utils.h>
#include "arducontrol.h"
ArduControl::ArduControl(const string &dev):
serial(dev),
debug(1),
+ state_file("arducontrol.state"),
power(false),
- next_refresh(refresh_cycle.end()),
- refresh_counter(0),
active_accessory(0),
- n_s88_octets(0),
- mfx_announce_serial(0),
- next_mfx_address(1),
+ s88(*this),
+ mfx_search(*this),
thread(*this)
{
+ if(FS::exists(state_file))
+ DataFile::load(*this, state_file.str());
+
+ unsigned max_address = 0;
+ for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
+ max_address = max(max_address, i->address);
+ mfx_search.set_next_address(max_address+1);
+
PendingCommand cmd;
cmd.command[0] = READ_POWER_STATE;
cmd.length = 1;
- push_command(cmd);
+ command_queue.push(cmd);
cmd.command[0] = MFX_SET_STATION_ID;
cmd.command[1] = 'R';
cmd.command[3] = 'C';
cmd.command[4] = '2';
cmd.length = 5;
- push_command(cmd);
+ command_queue.push(cmd);
}
ArduControl::~ArduControl()
cmd.tag.serial = power.serial;
cmd.command[0] = (p ? POWER_ON : POWER_OFF);
cmd.length = 1;
- push_command(cmd);
+ command_queue.push(cmd);
}
}
return protocol_info[map_protocol(proto_name)].max_speed;
}
+const Driver::DetectedLocomotive *ArduControl::enumerate_detected_locos(unsigned i) const
+{
+ if(i>=mfx_info.size())
+ return 0;
+
+ return &mfx_info[i];
+}
+
unsigned ArduControl::add_loco(unsigned addr, const string &proto_name, const VehicleType &)
{
if(!addr)
return loco.id;
}
+ArduControl::MfxInfoArray::iterator ArduControl::add_mfx_info(const MfxInfo &info)
+{
+ MfxInfoArray::iterator i;
+ for(i=mfx_info.begin(); (i!=mfx_info.end() && i->id!=info.id); ++i) ;
+ if(i==mfx_info.end())
+ {
+ mfx_info.push_back(info);
+ i = --mfx_info.end();
+ }
+ else
+ *i = info;
+ return i;
+}
+
void ArduControl::remove_loco(unsigned id)
{
Locomotive &loco = get_item(locomotives, id);
- remove_loco_from_refresh(loco);
+ refresh.remove_loco(loco);
locomotives.erase(id);
}
if(loco.speed.set(speed))
{
PendingCommand cmd(loco, Locomotive::SPEED);
- push_command(cmd);
+ command_queue.push(cmd);
- add_loco_to_refresh(loco);
+ refresh.add_loco(loco);
}
}
if(loco.reverse.set(rev))
{
PendingCommand cmd(loco, Locomotive::REVERSE);
- push_command(cmd);
+ command_queue.push(cmd);
- add_loco_to_refresh(loco);
+ refresh.add_loco(loco);
}
}
if(func>0 || loco.proto!=MM)
{
PendingCommand cmd(loco, Locomotive::FUNCTIONS, func);
- push_command(cmd);
+ command_queue.push(cmd);
}
- add_loco_to_refresh(loco);
- }
-}
-
-void ArduControl::add_loco_to_refresh(Locomotive &loco)
-{
- MutexLock lock(mutex);
- refresh_cycle.push_back(&loco);
- if(refresh_cycle.size()>15)
- {
- LocomotivePtrList::iterator oldest = refresh_cycle.begin();
- for(LocomotivePtrList::iterator i=refresh_cycle.begin(); ++i!=refresh_cycle.end(); )
- if((*i)->last_change_age>(*oldest)->last_change_age)
- oldest = i;
- if(oldest==next_refresh)
- advance_next_refresh();
- refresh_cycle.erase(oldest);
- }
- if(next_refresh==refresh_cycle.end())
- next_refresh = refresh_cycle.begin();
-}
-
-void ArduControl::remove_loco_from_refresh(Locomotive &loco)
-{
- MutexLock lock(mutex);
- for(LocomotivePtrList::iterator i=refresh_cycle.begin(); i!=refresh_cycle.end(); ++i)
- if(*i==&loco)
- {
- if(i==next_refresh)
- {
- if(refresh_cycle.size()>1)
- advance_next_refresh();
- else
- next_refresh = refresh_cycle.end();
- }
- refresh_cycle.erase(i);
- return;
- }
-}
-
-ArduControl::Locomotive *ArduControl::get_loco_to_refresh()
-{
- MutexLock lock(mutex);
- if(refresh_cycle.empty())
- return 0;
-
- Locomotive *loco = *next_refresh;
- advance_next_refresh();
- return loco;
-}
-
-void ArduControl::advance_next_refresh()
-{
- ++next_refresh;
- if(next_refresh==refresh_cycle.end())
- {
- next_refresh = refresh_cycle.begin();
- ++refresh_counter;
+ refresh.add_loco(loco);
}
}
throw invalid_argument("ArduControl::add_sensor");
insert_unique(sensors, addr, Sensor(addr));
- unsigned octet_index = (addr-1)/8;
- if(octet_index>=n_s88_octets)
- n_s88_octets = octet_index+1;
+ s88.grow_n_octets((addr+7)/8);
return addr;
}
void ArduControl::remove_sensor(unsigned addr)
{
remove_existing(sensors, addr);
- // TODO update n_s88_octets
+ // TODO update s88.n_octets
}
bool ArduControl::get_sensor(unsigned addr) const
void ArduControl::tick()
{
- while(Tag tag = pop_completed_tag())
+ Tag tag;
+ while(completed_commands.pop(tag))
{
if(tag.type==Tag::GENERAL)
{
if(power.commit(tag.serial))
signal_power.emit(power.current);
}
+ else if(tag.command==NEW_LOCO)
+ {
+ MfxInfo info;
+ if(mfx_search.pop_info(info))
+ {
+ MfxInfoArray::iterator i = add_mfx_info(info);
+ save_state();
+ signal_locomotive_detected.emit(*i);
+ }
+ }
}
else if(tag.type==Tag::LOCOMOTIVE)
{
for(i=0; (lowest_bit>>i)>1; ++i) ;
acc.state.set(acc.state^lowest_bit);
PendingCommand cmd(acc, Accessory::ACTIVATE, i);
- push_command(cmd);
+ command_queue.push(cmd);
}
else
accessory_queue.pop_front();
{
off_timeout = Time::TimeStamp();
PendingCommand cmd(*active_accessory, Accessory::DEACTIVATE);
- push_command(cmd);
+ command_queue.push(cmd);
}
}
}
{
}
-void ArduControl::push_command(const PendingCommand &cmd)
-{
- MutexLock lock(mutex);
- command_queue.push_back(cmd);
-}
-
-bool ArduControl::pop_command(PendingCommand &cmd)
-{
- MutexLock lock(mutex);
- if(command_queue.empty())
- return false;
- cmd = command_queue.front();
- command_queue.pop_front();
- return true;
-}
-
-void ArduControl::push_completed_tag(const Tag &tag)
+void ArduControl::save_state() const
{
- MutexLock lock(mutex);
- completed_commands.push_back(tag);
-}
+ FS::RedirectedPath tmp_file(state_file);
+ IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
+ DataFile::Writer writer(out);
-ArduControl::Tag ArduControl::pop_completed_tag()
-{
- MutexLock lock(mutex);
- if(completed_commands.empty())
- return Tag();
- Tag tag = completed_commands.front();
- completed_commands.pop_front();
- return tag;
+ writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
+ for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
+ {
+ DataFile::Statement st("mfx_locomotive");
+ st.append(i->id);
+ st.sub.push_back((DataFile::Statement("address"), i->address));
+ st.sub.push_back((DataFile::Statement("name"), i->name));
+ writer.write(st);
+ }
}
}
-ArduControl::RefreshTask::RefreshTask(ArduControl &c):
- control(c),
+template<typename T>
+void ArduControl::Queue<T>::push(const T &item)
+{
+ MutexLock lock(mutex);
+ items.push_back(item);
+}
+
+template<typename T>
+bool ArduControl::Queue<T>::pop(T &item)
+{
+ MutexLock lock(mutex);
+ if(items.empty())
+ return false;
+
+ item = items.front();
+ items.pop_front();
+ return true;
+}
+
+
+ArduControl::RefreshTask::RefreshTask():
+ next(cycle.end()),
+ round(0),
loco(0),
phase(0)
{ }
{
if(loco && loco->proto==MM && phase==0)
{
- cmd.length = loco->create_speed_func_command(control.refresh_counter%4+1, cmd.command);
+ cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
cmd.repeat_count = 2;
++phase;
return true;
}
- loco = control.get_loco_to_refresh();
+ loco = get_next_loco();
if(!loco)
return false;
return true;
}
+void ArduControl::RefreshTask::add_loco(Locomotive &l)
+{
+ MutexLock lock(mutex);
+ cycle.push_back(&l);
+ if(cycle.size()>15)
+ {
+ LocomotivePtrList::iterator oldest = cycle.begin();
+ for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
+ if((*i)->last_change_age>(*oldest)->last_change_age)
+ oldest = i;
+ if(oldest==next)
+ advance();
+ cycle.erase(oldest);
+ }
+ if(next==cycle.end())
+ next = cycle.begin();
+}
+
+void ArduControl::RefreshTask::remove_loco(Locomotive &l)
+{
+ MutexLock lock(mutex);
+ for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
+ if(*i==&l)
+ {
+ if(i==next)
+ {
+ if(cycle.size()>1)
+ advance();
+ else
+ next = cycle.end();
+ }
+ cycle.erase(i);
+ return;
+ }
+}
+
+ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
+{
+ MutexLock lock(mutex);
+ if(cycle.empty())
+ return 0;
+
+ Locomotive *l = *next;
+ advance();
+ return l;
+}
+
+void ArduControl::RefreshTask::advance()
+{
+ ++next;
+ if(next==cycle.end())
+ {
+ next= cycle.begin();
+ ++round;
+ }
+}
+
ArduControl::S88Task::S88Task(ArduControl &c):
control(c),
+ n_octets(0),
octets_remaining(0)
{ }
bool ArduControl::S88Task::get_work(PendingCommand &cmd)
{
- if(octets_remaining || !control.n_s88_octets)
+ if(octets_remaining || !n_octets)
return false;
+ octets_remaining = n_octets;
cmd.command[0] = S88_READ;
- cmd.command[1] = control.n_s88_octets;
+ cmd.command[1] = octets_remaining;
cmd.length = 2;
- octets_remaining = control.n_s88_octets;
return true;
}
tag.command = Sensor::STATE;
tag.serial = i->second.state.serial;
tag.id = i->first;
- control.push_completed_tag(tag);
+ control.completed_commands.push(tag);
}
if(count>octets_remaining)
}
}
+void ArduControl::S88Task::set_n_octets(unsigned n)
+{
+ n_octets = n;
+}
+
+void ArduControl::S88Task::grow_n_octets(unsigned n)
+{
+ if(n>n_octets)
+ n_octets = n;
+}
+
-ArduControl::MfxAnnounceTask::MfxAnnounceTask(ArduControl &c):
- control(c)
+ArduControl::MfxAnnounceTask::MfxAnnounceTask():
+ serial(0)
{ }
bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
return false;
cmd.command[0] = MFX_ANNOUNCE;
- cmd.command[1] = control.mfx_announce_serial>>8;
- cmd.command[2] = control.mfx_announce_serial;
+ cmd.command[1] = serial>>8;
+ cmd.command[2] = serial;
cmd.length = 3;
next = t+400*Time::msec;
return true;
}
+void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
+{
+ serial = s;
+}
+
ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
control(c),
+ next_address(1),
size(0),
bits(0),
- pending(false)
+ misses(0)
{ }
bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
{
- if(size==32)
+ if(size>32)
{
if(control.debug>=1)
- IO::print("Assigning MFX address %d to decoder %08X\n", control.next_mfx_address, bits);
+ IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
+
+ MfxInfo info;
+ info.protocol = "MFX";
+ info.address = next_address;
+ info.name = format("%08X", bits);
+ info.id = bits;
+ queue.push(info);
cmd.command[0] = MFX_ASSIGN_ADDRESS;
- cmd.command[1] = control.next_mfx_address>>8;
- cmd.command[2] = control.next_mfx_address;
+ cmd.command[1] = next_address>>8;
+ cmd.command[2] = next_address;
for(unsigned i=0; i<4; ++i)
cmd.command[3+i] = bits>>(24-i*8);
cmd.length = 7;
+ cmd.tag.type = Tag::GENERAL;
+ cmd.tag.command = NEW_LOCO;
+ cmd.tag.id = bits;
+
size = 0;
bits = 0;
- ++control.next_mfx_address;
+ ++next_address;
return true;
}
cmd.length = 6;
next = t+200*Time::msec;
- pending = true;
if(control.debug>=1)
IO::print("Search %08X/%d\n", bits, size);
void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
{
unsigned char type = reply[0];
- if(type==MFX_FEEDBACK && length==2 && pending)
+ if(type==MFX_SEARCH_FEEDBACK && length==2)
{
- pending = false;
- bool finished = true;
if(reply[1])
{
- if(size<32)
- ++size;
- finished = false;
+ misses = 0;
+ ++size;
}
- else if(size>0)
+ else if(size>0 && misses<6)
{
- unsigned mask = 1<<(32-size);
- if(!(bits&mask))
- {
- bits |= mask;
- finished = false;
- }
+ ++misses;
+ bits ^= 1<<(32-size);
}
-
- if(finished)
+ else
{
next = Time::now()+2*Time::sec;
bits = 0;
size = 0;
+ misses = 0;
}
}
}
+void ArduControl::MfxSearchTask::set_next_address(unsigned a)
+{
+ next_address = a;
+}
+
+bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
+{
+ return queue.pop(info);
+}
+
ArduControl::ControlThread::ControlThread(ArduControl &c):
control(c),
done(false)
{
- tasks.push_back(new MfxAnnounceTask(control));
- tasks.push_back(new MfxSearchTask(control));
- tasks.push_back(new S88Task(control));
- tasks.push_back(new RefreshTask(control));
+ tasks.push_back(&control.mfx_announce);
+ tasks.push_back(&control.mfx_search);
+ tasks.push_back(&control.s88);
+ tasks.push_back(&control.refresh);
launch();
}
void ArduControl::ControlThread::main()
{
+ init_baud_rate();
+
while(!done)
{
PendingCommand cmd;
for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
success = (do_command(cmd)==COMMAND_OK);
if(success && cmd.tag)
- control.push_completed_tag(cmd.tag);
+ control.completed_commands.push(cmd.tag);
}
else
Time::sleep(10*Time::msec);
}
}
+void ArduControl::ControlThread::init_baud_rate()
+{
+ static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
+ unsigned rate = 0;
+ control.serial.set_data_bits(8);
+ control.serial.set_parity(IO::Serial::NONE);
+ control.serial.set_stop_bits(1);
+ for(unsigned i=0; rates[i]; ++i)
+ {
+ control.serial.set_baud_rate(rates[i]);
+ control.serial.put('\xFF');
+ if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
+ {
+ int c = control.serial.get();
+ if(c==0xFF)
+ {
+ rate = rates[i];
+ break;
+ }
+ }
+ }
+
+ if(!rate)
+ {
+ done = true;
+ return;
+ }
+
+ if(control.debug>=1)
+ IO::print("ArduControl detected at %d bits/s\n", rate);
+
+ if(rate!=rates[0])
+ {
+ PendingCommand cmd;
+ cmd.command[0] = SET_BAUD_RATE;
+ cmd.command[1] = rates[0]>>8;
+ cmd.command[2] = rates[0];
+ cmd.length = 3;
+ if(do_command(cmd)==COMMAND_OK)
+ {
+ control.serial.set_baud_rate(rates[0]);
+ Time::sleep(Time::sec);
+ if(do_command(cmd)==COMMAND_OK)
+ {
+ if(control.debug>=1)
+ IO::print("Rate changed to %d bits/s\n", rates[0]);
+ }
+ }
+ }
+}
+
bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
{
- if(control.pop_command(cmd))
+ if(control.command_queue.pop(cmd))
return true;
for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
tag.type = Tag::GENERAL;
tag.command = POWER;
tag.serial = control.power.serial;
- control.push_completed_tag(tag);
+ control.completed_commands.push(tag);
}
else
{
return 0;
}
+
+ArduControl::Loader::Loader(ArduControl &c):
+ DataFile::ObjectLoader<ArduControl>(c)
+{
+ add("mfx_announce_serial", &Loader::mfx_announce_serial);
+ add("mfx_locomotive", &Loader::mfx_locomotive);
+}
+
+void ArduControl::Loader::mfx_announce_serial(unsigned s)
+{
+ obj.mfx_announce.set_serial(s);
+}
+
+void ArduControl::Loader::mfx_locomotive(unsigned id)
+{
+ MfxInfo info;
+ info.id = id;
+ info.protocol = "MFX";
+ load_sub(info);
+ obj.add_mfx_info(info);
+}
+
+
+ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
+ DataFile::ObjectLoader<MfxInfo>(i)
+{
+ add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
+ add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));
+}
+
} // namespace R2C2