MOTOROLA_SPEED_DIRECTION = 0x13,
MOTOROLA_SPEED_FUNCTION = 0x14,
MOTOROLA_SOLENOID = 0x15,
+ MFX_SET_STATION_ID = 0x21,
+ MFX_ANNOUNCE = 0x22,
+ MFX_SEARCH = 0x23,
+ MFX_ASSIGN_ADDRESS = 0x24,
+ MFX_PING = 0x25,
+ MFX_SPEED = 0x28,
+ MFX_SPEED_FUNCS8 = 0x29,
+ MFX_SPEED_FUNCS16 = 0x2A,
S88_READ = 0x30,
COMMAND_OK = 0x80,
RECEIVE_OVERRUN = 0x81,
TRACK_CURRENT = 0xC0,
INPUT_VOLTAGE = 0xC1,
POWER_STATE = 0xC2,
- S88_DATA = 0xD0
+ S88_DATA = 0xD0,
+ MFX_FEEDBACK = 0xD1
};
struct Tag
enum Protocol
{
- MM
+ MM,
+ MFX
};
struct ProtocolInfo
Sensor(unsigned);
};
+ struct PendingCommand
+ {
+ Tag tag;
+ char command[15];
+ unsigned char length;
+ unsigned repeat_count;
+
+ PendingCommand();
+ PendingCommand(GeneralCommand);
+ PendingCommand(Locomotive &, Locomotive::Command, unsigned = 0);
+ PendingCommand(Accessory &, Accessory::Command, unsigned = 0);
+ };
+
+ class Task
+ {
+ protected:
+ Task() { }
+ public:
+ virtual ~Task() { }
+
+ virtual bool get_work(PendingCommand &) = 0;
+ virtual void process_reply(const char *, unsigned) { }
+ };
+
+ class RefreshTask: public Task
+ {
+ private:
+ ArduControl &control;
+ Locomotive *loco;
+ unsigned phase;
+
+ public:
+ RefreshTask(ArduControl &);
+
+ virtual bool get_work(PendingCommand &);
+ };
+
+ class S88Task: public Task
+ {
+ private:
+ ArduControl &control;
+ unsigned octets_remaining;
+
+ public:
+ S88Task(ArduControl &);
+
+ virtual bool get_work(PendingCommand &);
+ virtual void process_reply(const char *, unsigned);
+ };
+
+ class MfxAnnounceTask: public Task
+ {
+ private:
+ ArduControl &control;
+ Msp::Time::TimeStamp next;
+
+ public:
+ MfxAnnounceTask(ArduControl &);
+
+ virtual bool get_work(PendingCommand &);
+ };
+
+ class MfxSearchTask: public Task
+ {
+ private:
+ ArduControl &control;
+ Msp::Time::TimeStamp next;
+ unsigned size;
+ unsigned bits;
+ bool pending;
+
+ public:
+ MfxSearchTask(ArduControl &);
+
+ virtual bool get_work(PendingCommand &);
+ virtual void process_reply(const char *, unsigned);
+ };
+
class ControlThread: public Msp::Thread
{
private:
ArduControl &control;
bool done;
+ std::vector<Task *> tasks;
public:
ControlThread(ArduControl &);
void exit();
private:
virtual void main();
- };
-
- struct QueuedCommand
- {
- Tag tag;
- char command[15];
- unsigned char length;
-
- QueuedCommand();
- QueuedCommand(GeneralCommand);
- QueuedCommand(Locomotive &, Locomotive::Command, unsigned = 0);
- QueuedCommand(Accessory &, Accessory::Command, unsigned = 0);
+ bool get_work(PendingCommand &);
+ unsigned do_command(const PendingCommand &);
+ unsigned process_reply(const char *, unsigned);
};
typedef std::map<unsigned, Locomotive> LocomotiveMap;
typedef std::map<unsigned, Sensor> SensorMap;
Msp::IO::Serial serial;
- bool debug;
+ unsigned debug;
ControlledVariable<bool> power;
AccessoryPtrList accessory_queue;
Accessory *active_accessory;
Msp::Time::TimeStamp off_timeout;
- std::list<QueuedCommand> command_queue;
+ std::list<PendingCommand> command_queue;
std::list<Tag> completed_commands;
SensorMap sensors;
unsigned n_s88_octets;
+ unsigned mfx_announce_serial;
+ unsigned next_mfx_address;
+
Msp::Mutex mutex;
ControlThread thread;
virtual void flush();
private:
- void push_command(const QueuedCommand &);
- bool pop_command(QueuedCommand &);
+ void push_command(const PendingCommand &);
+ bool pop_command(PendingCommand &);
void push_completed_tag(const Tag &);
Tag pop_completed_tag();
};