X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Farducontrol.cpp;h=0edb3ddaf0c1a44e17164d23f8efcabd6ebb82f7;hb=3dfcd6a470a96dc7b6f2f100e604c7f0db6da00c;hp=dbe3013ddd9e5f057d1733e65f2340bc6ecb35c4;hpb=1e655686513ef60e1972fc9ca9bcf7b434a09e40;p=r2c2.git

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index dbe3013..0edb3dd 100644
--- a/source/libr2c2/arducontrol.cpp
+++ b/source/libr2c2/arducontrol.cpp
@@ -18,12 +18,22 @@ ArduControl::ProtocolInfo ArduControl::protocol_info[2] =
 	{ 0x3FFF, 126, 15 }  // MFX
 };
 
+Driver::TelemetryInfo ArduControl::telemetry_info[4] =
+{
+	{ "voltage", "Voltage", "V", 1 },
+	{ "current", "Current", "A", 2 },
+	{ "cmd-queue-depth", "Cmd queue", "", 0 },
+	{ "s88-latency", "S88 latency", "ms", 0 }
+};
+
 ArduControl::ArduControl(const Options &opts):
 	serial(opts.get<string>(string(), "ttyUSB0")),
 	debug(opts.get<unsigned>("debug")),
 	state_file("arducontrol.state"),
 	power(false),
+	halted(false),
 	active_accessory(0),
+	command_timeout(200*Time::msec),
 	s88(*this),
 	mfx_search(*this),
 	thread(*this)
@@ -67,8 +77,19 @@ void ArduControl::set_power(bool p)
 	}
 }
 
-void ArduControl::halt(bool)
+void ArduControl::halt(bool h)
 {
+	if(h==halted)
+		return;
+
+	halted = h;
+	if(halted)
+	{
+		for(LocomotiveMap::const_iterator i=locomotives.begin(); i!=locomotives.end(); ++i)
+			set_loco_speed(i->first, 0);
+	}
+
+	signal_halt.emit(halted);
 }
 
 const char *ArduControl::enumerate_protocols(unsigned i) const
@@ -146,6 +167,9 @@ void ArduControl::set_loco_speed(unsigned id, unsigned speed)
 	if(speed>protocol_info[loco.proto].max_speed)
 		throw invalid_argument("ArduControl::set_loco_speed");
 
+	if(speed && halted)
+		return;
+
 	if(loco.speed.set(speed))
 	{
 		PendingCommand cmd(loco, Locomotive::SPEED);
@@ -191,7 +215,7 @@ unsigned ArduControl::add_turnout(unsigned addr, const TrackType &type)
 	if(!addr || !type.is_turnout())
 		throw invalid_argument("ArduControl::add_turnout");
 
-	return add_accessory(Accessory::TURNOUT, addr, type.get_state_bits());
+	return add_accessory(Accessory::TURNOUT, addr, type.get_state_bits(), type.get_paths());
 }
 
 void ArduControl::remove_turnout(unsigned addr)
@@ -211,7 +235,7 @@ unsigned ArduControl::get_turnout(unsigned addr) const
 
 unsigned ArduControl::add_signal(unsigned addr, const SignalType &)
 {
-	return add_accessory(Accessory::SIGNAL, addr, 1);
+	return add_accessory(Accessory::SIGNAL, addr, 1, 3);
 }
 
 void ArduControl::remove_signal(unsigned addr)
@@ -229,7 +253,7 @@ unsigned ArduControl::get_signal(unsigned addr) const
 	return get_accessory(Accessory::SIGNAL, addr);
 }
 
-unsigned ArduControl::add_accessory(Accessory::Kind kind, unsigned addr, unsigned bits)
+unsigned ArduControl::add_accessory(Accessory::Kind kind, unsigned addr, unsigned bits, unsigned states)
 {
 	AccessoryMap::iterator i = accessories.lower_bound(addr);
 	AccessoryMap::iterator j = accessories.upper_bound(addr+bits-1);
@@ -242,7 +266,7 @@ unsigned ArduControl::add_accessory(Accessory::Kind kind, unsigned addr, unsigne
 			throw key_error(addr);
 	}
 
-	insert_unique(accessories, addr, Accessory(kind, addr, bits));
+	insert_unique(accessories, addr, Accessory(kind, addr, bits, states));
 	return addr;
 }
 
@@ -260,7 +284,7 @@ void ArduControl::set_accessory(Accessory::Kind kind, unsigned addr, unsigned st
 	if(acc.kind!=kind)
 		throw key_error(addr);
 
-	if(state!=acc.target)
+	if(state!=acc.target || acc.uncertain)
 	{
 		acc.target = state;
 		accessory_queue.push_back(&acc);
@@ -275,6 +299,20 @@ unsigned ArduControl::get_accessory(Accessory::Kind kind, unsigned addr) const
 	return acc.state;
 }
 
+void ArduControl::activate_accessory_by_mask(Accessory &acc, unsigned mask)
+{
+	unsigned bit = mask&~(mask-1);
+	for(active_index=0; (bit>>active_index)>1; ++active_index) ;
+	acc.state.set((acc.state&~bit)|(acc.target&bit));
+	if(debug>=1)
+		IO::print("Setting accessory %d bit %d, state=%d\n", acc.address, active_index, acc.state.pending);
+	PendingCommand cmd(acc, Accessory::ACTIVATE, active_index);
+	command_queue.push(cmd);
+	active_accessory = &acc;
+
+	monitor.reset_peak();
+}
+
 unsigned ArduControl::add_sensor(unsigned addr)
 {
 	if(!addr)
@@ -297,6 +335,28 @@ bool ArduControl::get_sensor(unsigned addr) const
 	return get_item(sensors, addr).state;
 }
 
+const Driver::TelemetryInfo *ArduControl::enumerate_telemetry(unsigned i) const
+{
+	if(i<4)
+		return telemetry_info+i;
+	else
+		return 0;
+}
+
+float ArduControl::get_telemetry_value(const string &name) const
+{
+	if(name==telemetry_info[0].name)
+		return monitor.get_voltage();
+	else if(name==telemetry_info[1].name)
+		return monitor.get_current();
+	else if(name==telemetry_info[2].name)
+		return command_queue.size();
+	else if(name==telemetry_info[3].name)
+		return s88.get_latency()/Time::msec;
+	else
+		throw key_error(name);
+}
+
 void ArduControl::tick()
 {
 	Tag tag;
@@ -362,13 +422,6 @@ void ArduControl::tick()
 			{
 				if(acc.state.commit(tag.serial))
 				{
-					if(acc.state==acc.target)
-					{
-						if(acc.kind==Accessory::TURNOUT)
-							signal_turnout.emit(acc.address, acc.state);
-						else if(acc.kind==Accessory::SIGNAL)
-							signal_signal.emit(acc.address, acc.state);
-					}
 					if(&acc==active_accessory)
 						active_accessory = 0;
 				}
@@ -389,34 +442,78 @@ void ArduControl::tick()
 		}
 	}
 
-	while(!active_accessory && !accessory_queue.empty())
+	while(power && !active_accessory && !accessory_queue.empty())
 	{
 		Accessory &acc = *accessory_queue.front();
 
-		if(acc.state!=acc.target)
+		if(acc.uncertain)
+		{
+			unsigned zeroes = acc.uncertain&~acc.target;
+			if(zeroes)
+				activate_accessory_by_mask(acc, zeroes);
+			else
+				activate_accessory_by_mask(acc, acc.uncertain);
+		}
+		else if(acc.state!=acc.target)
 		{
-			active_accessory = &acc;
-
 			unsigned changes = acc.state^acc.target;
-			unsigned lowest_bit = changes&~(changes-1);
-			unsigned i;
-			for(i=0; (lowest_bit>>i)>1; ++i) ;
-			active_index = i;
-			acc.state.set(acc.state^lowest_bit);
-			PendingCommand cmd(acc, Accessory::ACTIVATE, i);
-			command_queue.push(cmd);
+			if(!(changes&((1<<acc.bits)-1)))
+			{
+				// All remaining changes are in non-physical bits
+				acc.state.set(acc.state^changes);
+				acc.state.commit(acc.state.serial);
+			}
+			else
+			{
+				unsigned toggle_bit = 0;
+				for(unsigned bit=1; (!toggle_bit && bit<=changes); bit<<=1)
+					if((changes&bit) && (acc.valid_states&(1<<(acc.state^bit))))
+						toggle_bit = bit;
+
+				activate_accessory_by_mask(acc, toggle_bit);
+			}
 		}
 		else
+		{
 			accessory_queue.pop_front();
+
+			if(acc.state==acc.target)
+			{
+				if(acc.kind==Accessory::TURNOUT)
+					signal_turnout.emit(acc.address, acc.state);
+				else if(acc.kind==Accessory::SIGNAL)
+					signal_signal.emit(acc.address, acc.state);
+			}
+		}
 	}
 
 	if(active_accessory && off_timeout)
 	{
+		bool success = (monitor.get_peak()>0.35f && monitor.get_current()<monitor.get_peak()-0.2f);
 		Time::TimeStamp t = Time::now();
-		if(t>off_timeout)
+		if(t>off_timeout || success)
 		{
+			Accessory &acc = *active_accessory;
+
+			unsigned bit = 1<<active_index;
+
+			// Assume success if we were uncertain of the physical setting
+			if(acc.uncertain&bit)
+				acc.uncertain &= ~bit;
+			else if(acc.kind==Accessory::TURNOUT && !success)
+			{
+				if(debug>=1)
+					IO::print("Peak current only %.2f A\n", monitor.get_peak());
+				signal_turnout_failed.emit(acc.address);
+				acc.state.rollback();
+				if(acc.valid_states&(1<<(acc.target^bit)))
+					acc.target ^= bit;
+				else
+					acc.target = acc.state;
+			}
+
 			off_timeout = Time::TimeStamp();
-			PendingCommand cmd(*active_accessory, Accessory::DEACTIVATE, active_index);
+			PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
 			command_queue.push(cmd);
 		}
 	}
@@ -424,6 +521,8 @@ void ArduControl::tick()
 
 void ArduControl::flush()
 {
+	while(!command_queue.empty() || (power && !accessory_queue.empty()))
+		tick();
 }
 
 void ArduControl::save_state() const
@@ -521,12 +620,15 @@ unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *bu
 }
 
 
-ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b):
+ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b, unsigned s):
 	kind(k),
 	address(a),
 	bits(b),
+	valid_states(s),
 	state(0),
-	active_time(500*Time::msec)
+	uncertain((1<<bits)-1),
+	target(0),
+	active_time((bits*700)*Time::msec)
 { }
 
 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
@@ -623,8 +725,48 @@ bool ArduControl::Queue<T>::pop(T &item)
 	return true;
 }
 
+template<typename T>
+unsigned ArduControl::Queue<T>::size() const
+{
+	return items.size();
+}
+
+template<typename T>
+bool ArduControl::Queue<T>::empty() const
+{
+	return items.empty();
+}
+
+
+bool ArduControl::CommandQueueTask::get_work(PendingCommand &cmd)
+{
+	return queue.pop(cmd);
+}
+
+void ArduControl::CommandQueueTask::push(const PendingCommand &cmd)
+{
+	queue.push(cmd);
+}
+
+
+ArduControl::Task::Task(const string &n, unsigned p):
+	name(n),
+	priority(p)
+{ }
+
+void ArduControl::Task::sleep(const Time::TimeDelta &dt)
+{
+	sleep_timeout = Time::now()+dt;
+}
+
+
+ArduControl::CommandQueueTask::CommandQueueTask():
+	Task("CommandQueue")
+{ }
+
 
 ArduControl::RefreshTask::RefreshTask():
+	Task("Refresh", 2),
 	next(cycle.end()),
 	round(0),
 	loco(0),
@@ -711,35 +853,35 @@ void ArduControl::RefreshTask::advance()
 	++next;
 	if(next==cycle.end())
 	{
-		next= cycle.begin();
+		next = cycle.begin();
 		++round;
 	}
 }
 
 
 ArduControl::S88Task::S88Task(ArduControl &c):
+	Task("S88"),
 	control(c),
 	n_octets(0),
-	octets_remaining(0),
-	delay(0)
+	octets_remaining(0)
 { }
 
 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 {
-	if(delay)
-	{
-		--delay;
-		return false;
-	}
 	if(octets_remaining || !n_octets)
 		return false;
 
+	Time::TimeStamp t = Time::now();
+	if(last_poll)
+		latency = t-last_poll;
+	last_poll = t;
+
 	octets_remaining = n_octets;
 	cmd.command[0] = S88_READ;
 	cmd.command[1] = octets_remaining;
 	cmd.length = 2;
 
-	delay = 4;
+	sleep(100*Time::msec);
 
 	return true;
 }
@@ -788,20 +930,18 @@ void ArduControl::S88Task::grow_n_octets(unsigned n)
 
 
 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
+	Task("MfxAnnounce", 1),
 	serial(0)
 { }
 
 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
 {
-	Time::TimeStamp t = Time::now();
-	if(t<next)
-		return false;
-
 	cmd.command[0] = MFX_ANNOUNCE;
 	cmd.command[1] = serial>>8;
 	cmd.command[2] = serial;
 	cmd.length = 3;
-	next = t+400*Time::msec;
+
+	sleep(400*Time::msec);
 
 	return true;
 }
@@ -813,6 +953,7 @@ void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
 
 
 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
+	Task("MfxSearch", 1),
 	control(c),
 	next_address(1),
 	size(0),
@@ -852,17 +993,13 @@ bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 		return true;
 	}
 
-	Time::TimeStamp t = Time::now();
-	if(t<next)
-		return false;
-
 	cmd.command[0] = MFX_SEARCH;
 	for(unsigned i=0; i<4; ++i)
 		cmd.command[1+i] = bits>>(24-i*8);
 	cmd.command[5] = size;
 	cmd.length = 6;
 
-	next = t+200*Time::msec;
+	sleep(200*Time::msec);
 
 	if(control.debug>=1)
 		IO::print("Search %08X/%d\n", bits, size);
@@ -887,7 +1024,7 @@ void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned lengt
 		}
 		else
 		{
-			next = Time::now()+2*Time::sec;
+			sleep(2*Time::sec);
 			bits = 0;
 			size = 0;
 			misses = 0;
@@ -907,6 +1044,7 @@ bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
 
 
 ArduControl::MonitorTask::MonitorTask():
+	Task("Monitor"),
 	voltage(0),
 	current(0),
 	base_level(0),
@@ -916,17 +1054,13 @@ ArduControl::MonitorTask::MonitorTask():
 
 bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
 {
-	Time::TimeStamp t = Time::now();
-	if(t<next_poll)
-		return false;
-
 	if(next_type==0)
 		cmd.command[0] = READ_INPUT_VOLTAGE;
 	else
 		cmd.command[0] = READ_TRACK_CURRENT;
 	cmd.length = 1;
 
-	next_poll = t+200*Time::msec;
+	sleep(200*Time::msec);
 	next_type = (next_type+1)%5;
 
 	return true;
@@ -957,6 +1091,7 @@ ArduControl::ControlThread::ControlThread(ArduControl &c):
 	control(c),
 	done(false)
 {
+	tasks.push_back(&control.command_queue);
 	tasks.push_back(&control.monitor);
 	tasks.push_back(&control.mfx_announce);
 	tasks.push_back(&control.mfx_search);
@@ -982,10 +1117,41 @@ 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);
@@ -1032,11 +1198,11 @@ 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]);
@@ -1047,12 +1213,33 @@ void ArduControl::ControlThread::init_baud_rate()
 
 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
 {
-	if(control.command_queue.pop(cmd))
-		return true;
+	Time::TimeStamp t = Time::now();
+
+	unsigned count = 0;
+	for(; (count<tasks.size() && tasks[count]->get_sleep_timeout()<=t); ++count) ;
+
+	for(; count>0; --count)
+	{
+		unsigned i = 0;
+		for(unsigned j=1; j<count; ++j)
+			if(tasks[j]->get_priority()<tasks[i]->get_priority())
+				i = j;
+
+		Task *task = tasks[i];
+		bool result = task->get_work(cmd);
 
-	for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
-		if((*i)->get_work(cmd))
+		Time::TimeStamp st = max(task->get_sleep_timeout(), t);
+		for(; (i+1<tasks.size() && tasks[i+1]->get_sleep_timeout()<=st); ++i)
+			tasks[i] = tasks[i+1];
+		tasks[i] = task;
+
+		if(result)
+		{
+			if(control.debug>=2)
+				IO::print("Scheduled task %s\n", task->get_name());
 			return true;
+		}
+	}
 
 	// As fallback, send an idle packet for the MM protocol
 	cmd.command[0] = MOTOROLA_SPEED;
@@ -1064,7 +1251,7 @@ 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)
 	{
@@ -1084,7 +1271,7 @@ 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;
@@ -1099,7 +1286,11 @@ 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)
 		{
@@ -1127,14 +1318,11 @@ unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned r
 		return type;
 	}
 	else if(type==POWER_STATE && rlength==2)
+		set_power(reply[1]);
+	else if(type==OVERCURRENT)
 	{
-		control.power.set(reply[1]);
-
-		Tag tag;
-		tag.type = Tag::GENERAL;
-		tag.command = POWER;
-		tag.serial = control.power.serial;
-		control.completed_commands.push(tag);
+		set_power(false);
+		IO::print("Overcurrent detected!\n");
 	}
 	else
 	{
@@ -1145,6 +1333,17 @@ unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned r
 	return 0;
 }
 
+void ArduControl::ControlThread::set_power(bool p)
+{
+	control.power.set(p);
+
+	Tag tag;
+	tag.type = Tag::GENERAL;
+	tag.command = POWER;
+	tag.serial = control.power.serial;
+	control.completed_commands.push(tag);
+}
+
 
 ArduControl::Loader::Loader(ArduControl &c):
 	DataFile::ObjectLoader<ArduControl>(c)