X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Farducontrol.cpp;h=3d49fabf4784c6b02ac278d67d4086b5f6d0e918;hb=6887e5cf8bcb6578309e09136172f445cf1f619b;hp=6d75c7542dd0490fb3cde74b8b2e771560636eb1;hpb=85dba3e775b10d1a653175318e79881e416db19a;p=r2c2.git

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index 6d75c75..3d49fab 100644
--- a/source/libr2c2/arducontrol.cpp
+++ b/source/libr2c2/arducontrol.cpp
@@ -18,6 +18,14 @@ 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")),
@@ -327,6 +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;
@@ -695,6 +725,12 @@ 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
 {
@@ -702,7 +738,35 @@ bool ArduControl::Queue<T>::empty() const
 }
 
 
+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),
@@ -789,35 +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;
 }
@@ -866,20 +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;
 }
@@ -891,26 +953,63 @@ void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
 
 
 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
+	Task("MfxSearch", 1),
 	control(c),
 	next_address(1),
 	size(0),
 	bits(0),
-	misses(0)
+	misses(0),
+	pending_info(0),
+	read_array(0),
+	read_offset(0),
+	read_length(0),
+	block_size(0)
 { }
 
 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 {
+	if(read_length>0)
+	{
+		cmd.command[0] = MFX_READ;
+		cmd.command[1] = pending_info->address>>8;
+		cmd.command[2] = pending_info->address;
+		unsigned index = read_array*0x40+read_offset;
+		cmd.command[3] = index>>8;
+		cmd.command[4] = index;
+		unsigned length = (read_length>=4 ? 4 : read_length>=2 ? 2 : 1);
+		cmd.command[5] = length;
+		cmd.length = 6;
+
+		sleep(100*Time::msec);
+
+		return true;
+	}
+	else if(pending_info)
+	{
+		queue.push(*pending_info);
+		Tag tag;
+		tag.type = Tag::GENERAL;
+		tag.command = NEW_LOCO;
+		tag.id = pending_info->id;
+		control.completed_commands.push(tag);
+
+		if(control.debug>=1)
+			IO::print("Completed processing locomotive %s at address %d\n", pending_info->name, pending_info->address);
+
+		delete pending_info;
+		pending_info = 0;
+	}
+
 	if(size>32)
 	{
 		if(control.debug>=1)
 			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);
+		pending_info = new MfxInfo;
+		pending_info->protocol = "MFX";
+		pending_info->address = next_address;
+		pending_info->name = format("%08X", bits);
+		pending_info->id = bits;
 
 		cmd.command[0] = MFX_ASSIGN_ADDRESS;
 		cmd.command[1] = next_address>>8;
@@ -919,28 +1018,25 @@ bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 			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;
+		misses = 0;
 		++next_address;
 
+		read_array = 0;
+		read_offset = 0;
+		read_length = 6;
+
 		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(100*Time::msec);
 
 	if(control.debug>=1)
 		IO::print("Search %08X/%d\n", bits, size);
@@ -965,12 +1061,72 @@ 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;
 		}
 	}
+	else if(type==MFX_READ_FEEDBACK && length>=3)
+	{
+		if(reply[1])
+		{
+			misses = 0;
+
+			for(unsigned i=2; i<length; ++i)
+				read_data[read_offset+i-2] = reply[i];
+			read_offset += length-2;
+			read_length -= length-2;
+
+			if(!read_length)
+			{
+				if(read_array==0)
+					block_size = static_cast<unsigned char>(read_data[4])*static_cast<unsigned char>(read_data[5]);
+
+				bool array_handled = false;
+				if(read_data[0]==0x18)
+				{
+					for(unsigned i=1; i<read_offset; ++i)
+						if(!read_data[i])
+						{
+							pending_info->name = string(read_data+1, i-1);
+							array_handled = true;
+							break;
+						}
+
+					if(!array_handled)
+						read_length = 4;
+				}
+				else
+					array_handled = true;
+
+				if(array_handled && control.debug>=1)
+				{
+					IO::print("MFX CA %03X:", read_array);
+					for(unsigned i=0; i<read_offset; ++i)
+						IO::print(" %02X", static_cast<unsigned char>(read_data[i]));
+					IO::print("\n");
+				}
+
+				if(array_handled && read_array<block_size)
+				{
+					++read_array;
+					read_offset = 0;
+					read_length = 1;
+				}
+			}
+		}
+		else
+		{
+			++misses;
+			if(misses>=10)
+			{
+				if(control.debug>=1)
+					IO::print("Failed to read MFX configuration from %d\n", pending_info->address);
+				read_length = 0;
+			}
+		}
+	}
 }
 
 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
@@ -985,6 +1141,7 @@ bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
 
 
 ArduControl::MonitorTask::MonitorTask():
+	Task("Monitor"),
 	voltage(0),
 	current(0),
 	base_level(0),
@@ -994,17 +1151,13 @@ 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;
@@ -1035,6 +1188,7 @@ 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);
@@ -1156,12 +1310,33 @@ 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;
 
-	for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
-		if((*i)->get_work(cmd))
+		Task *task = tasks[i];
+		bool result = task->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;