Attempt to resync ArduControl if there's no response to a command

[r2c2.git] / source / libr2c2 / arducontrol.cpp

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index 9edc1e2244d41beb448921617186dfe635c4d192..86b3666b2ff13a478ed8a391fe3c2d916b04188d 100644 (file)
--- a/source/libr2c2/arducontrol.cpp
+++ b/source/libr2c2/arducontrol.cpp
@@ -25,6 +25,7 @@ ArduControl::ArduControl(const Options &opts):
        power(false),
        halted(false),
        active_accessory(0),
+       command_timeout(200*Time::msec),
        s88(*this),
        mfx_search(*this),
        thread(*this)
@@ -456,6 +457,8 @@ void ArduControl::tick()
 
 void ArduControl::flush()
 {
+       while(!command_queue.empty() || !accessory_queue.empty())
+               tick();
 }
 
 void ArduControl::save_state() const
@@ -657,6 +660,12 @@ bool ArduControl::Queue<T>::pop(T &item)
        return true;
 }
 
+template<typename T>
+bool ArduControl::Queue<T>::empty() const
+{
+       return items.empty();
+}
+
 
 ArduControl::RefreshTask::RefreshTask():
        next(cycle.end()),
@@ -1016,10 +1025,41 @@ void ArduControl::ControlThread::main()
                if(get_work(cmd))
                {
                        bool success = true;
+                       bool resync = false;
                        for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
-                               success = (do_command(cmd)==COMMAND_OK);
+                       {
+                               unsigned result = do_command(cmd, control.command_timeout);
+                               success = (result==COMMAND_OK);
+                               resync = (result==0);
+                       }
+
                        if(success && cmd.tag)
                                control.completed_commands.push(cmd.tag);
+
+                       if(resync)
+                       {
+                               if(control.debug>=1)
+                                       IO::print("Synchronization with ArduControl lost, attempting to recover\n");
+                               for(unsigned i=0; (resync && i<16); ++i)
+                               {
+                                       control.serial.put('\xFF');
+                                       while(IO::poll(control.serial, IO::P_INPUT, control.command_timeout))
+                                               resync = (control.serial.get()!=0xFF);
+                               }
+                               if(resync)
+                               {
+                                       if(control.debug>=1)
+                                               IO::print("Resynchronization failed, giving up\n");
+                                       done = true;
+                               }
+                               else
+                               {
+                                       if(control.debug>=1)
+                                               IO::print("Resynchronization successful\n");
+                                       if(cmd.tag)
+                                               control.command_queue.push(cmd);
+                               }
+                       }
                }
                else
                        Time::sleep(10*Time::msec);
@@ -1066,11 +1106,11 @@ void ArduControl::ControlThread::init_baud_rate()
                cmd.command[1] = rates[0]>>8;
                cmd.command[2] = rates[0];
                cmd.length = 3;
-               if(do_command(cmd)==COMMAND_OK)
+               if(do_command(cmd, Time::sec)==COMMAND_OK)
                {
                        control.serial.set_baud_rate(rates[0]);
                        Time::sleep(Time::sec);
-                       if(do_command(cmd)==COMMAND_OK)
+                       if(do_command(cmd, Time::sec)==COMMAND_OK)
                        {
                                if(control.debug>=1)
                                        IO::print("Rate changed to %d bits/s\n", rates[0]);
@@ -1098,7 +1138,7 @@ bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
        return true;
 }
 
-unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd)
+unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
 {
        if(control.debug>=2)
        {
@@ -1118,7 +1158,7 @@ unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd)
                if(result)
                        got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
                else
-                       got_data = IO::poll(control.serial, IO::P_INPUT);
+                       got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
 
                if(!got_data)
                        break;
@@ -1133,7 +1173,11 @@ unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd)
                char reply[15];
                unsigned pos = 0;
                while(pos<rlength)
+               {
+                       if(!IO::poll(control.serial, IO::P_INPUT, timeout))
+                               return 0;
                        pos += control.serial.read(reply+pos, rlength-pos);
+               }
 
                if(control.debug>=2)
                {