X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Farducontrol.cpp;h=3d49fabf4784c6b02ac278d67d4086b5f6d0e918;hb=6887e5cf8bcb6578309e09136172f445cf1f619b;hp=8c17234051752e2527295016e197d2b8d8e5237c;hpb=aada4cd3c335e6cf55d64200b9d92e8f9310fa1d;p=r2c2.git

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index 8c17234..3d49fab 100644
--- a/source/libr2c2/arducontrol.cpp
+++ b/source/libr2c2/arducontrol.cpp
@@ -1,4 +1,7 @@
 #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"
@@ -15,19 +18,38 @@ ArduControl::ProtocolInfo ArduControl::protocol_info[2] =
 	{ 0x3FFF, 126, 15 }  // MFX
 };
 
-ArduControl::ArduControl(const string &dev):
-	serial(dev),
-	debug(1),
+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)
 {
+	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';
@@ -35,7 +57,7 @@ ArduControl::ArduControl(const string &dev):
 	cmd.command[3] = 'C';
 	cmd.command[4] = '2';
 	cmd.length = 5;
-	push_command(cmd);
+	command_queue.push(cmd);
 }
 
 ArduControl::~ArduControl()
@@ -51,12 +73,23 @@ void ArduControl::set_power(bool p)
 		cmd.tag.serial = power.serial;
 		cmd.command[0] = (p ? POWER_ON : POWER_OFF);
 		cmd.length = 1;
-		push_command(cmd);
+		command_queue.push(cmd);
 	}
 }
 
-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
@@ -84,6 +117,14 @@ unsigned ArduControl::get_protocol_speed_steps(const string &proto_name) const
 	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)
@@ -99,6 +140,20 @@ unsigned ArduControl::add_loco(unsigned addr, const string &proto_name, const Ve
 	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);
@@ -112,10 +167,13 @@ 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);
-		push_command(cmd);
+		command_queue.push(cmd);
 
 		refresh.add_loco(loco);
 	}
@@ -127,7 +185,7 @@ void ArduControl::set_loco_reverse(unsigned id, bool rev)
 	if(loco.reverse.set(rev))
 	{
 		PendingCommand cmd(loco, Locomotive::REVERSE);
-		push_command(cmd);
+		command_queue.push(cmd);
 
 		refresh.add_loco(loco);
 	}
@@ -145,7 +203,7 @@ void ArduControl::set_loco_function(unsigned id, unsigned func, bool state)
 		if(func>0 || loco.proto!=MM)
 		{
 			PendingCommand cmd(loco, Locomotive::FUNCTIONS, func);
-			push_command(cmd);
+			command_queue.push(cmd);
 		}
 
 		refresh.add_loco(loco);
@@ -157,7 +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)
@@ -177,7 +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)
@@ -195,7 +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);
@@ -208,7 +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;
 }
 
@@ -226,7 +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);
@@ -241,6 +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)
@@ -263,9 +335,32 @@ 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()
 {
-	while(Tag tag = pop_completed_tag())
+	Tag tag;
+	while(completed_commands.pop(tag))
 	{
 		if(tag.type==Tag::GENERAL)
 		{
@@ -274,6 +369,16 @@ void ArduControl::tick()
 				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)
 		{
@@ -312,20 +417,11 @@ void ArduControl::tick()
 
 			Accessory &acc = i->second;
 			if(tag.command==Accessory::ACTIVATE)
-			{
 				off_timeout = Time::now()+acc.active_time;
-			}
 			else if(tag.command==Accessory::DEACTIVATE)
 			{
 				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;
 				}
@@ -346,72 +442,104 @@ 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) ;
-			acc.state.set(acc.state^lowest_bit);
-			PendingCommand cmd(acc, Accessory::ACTIVATE, i);
-			push_command(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);
-			push_command(cmd);
+			PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
+			command_queue.push(cmd);
 		}
 	}
 }
 
 void ArduControl::flush()
 {
+	while(!command_queue.empty() || (power && !accessory_queue.empty()))
+		tick();
 }
 
-void ArduControl::push_command(const PendingCommand &cmd)
+void ArduControl::save_state() const
 {
-	MutexLock lock(mutex);
-	command_queue.push_back(cmd);
-}
+	FS::RedirectedPath tmp_file(state_file);
+	IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
+	DataFile::Writer writer(out);
 
-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)
-{
-	MutexLock lock(mutex);
-	completed_commands.push_back(tag);
-}
-
-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);
+	}
 }
 
 
@@ -492,12 +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
@@ -575,7 +706,67 @@ ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command 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;
+}
+
+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),
@@ -662,13 +853,14 @@ 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)
@@ -679,11 +871,18 @@ bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 	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;
 
+	sleep(100*Time::msec);
+
 	return true;
 }
 
@@ -708,7 +907,7 @@ void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
 			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)
@@ -731,20 +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;
 }
@@ -756,20 +953,64 @@ 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);
 
+		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;
 		cmd.command[2] = next_address;
@@ -779,22 +1020,23 @@ bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 
 		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);
@@ -819,12 +1061,126 @@ 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)
+{
+	next_address = a;
+}
+
+bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
+{
+	return queue.pop(info);
+}
+
+
+ArduControl::MonitorTask::MonitorTask():
+	Task("Monitor"),
+	voltage(0),
+	current(0),
+	base_level(0),
+	peak_level(0),
+	next_type(0)
+{ }
+
+bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
+{
+	if(next_type==0)
+		cmd.command[0] = READ_INPUT_VOLTAGE;
+	else
+		cmd.command[0] = READ_TRACK_CURRENT;
+	cmd.length = 1;
+
+	sleep(200*Time::msec);
+	next_type = (next_type+1)%5;
+
+	return true;
+}
+
+void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
+{
+	unsigned char type = reply[0];
+	if(type==INPUT_VOLTAGE && length==3)
+		voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
+	else if(type==TRACK_CURRENT && length==5)
+	{
+		current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
+		float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
+		peak_level = max(peak_level, peak);
+		base_level = min(base_level, current);
+	}
+}
+
+void ArduControl::MonitorTask::reset_peak()
+{
+	base_level = current;
+	peak_level = current;
 }
 
 
@@ -832,6 +1188,8 @@ 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);
 	tasks.push_back(&control.s88);
@@ -848,30 +1206,137 @@ void ArduControl::ControlThread::exit()
 
 void ArduControl::ControlThread::main()
 {
+	init_baud_rate();
+
 	while(!done)
 	{
 		PendingCommand cmd;
 		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.push_completed_tag(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);
 	}
 }
 
+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)
+	{
+		if(control.debug>=1)
+			IO::print("ArduControl detection failed\n");
+		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, Time::sec)==COMMAND_OK)
+		{
+			control.serial.set_baud_rate(rates[0]);
+			Time::sleep(Time::sec);
+			if(do_command(cmd, Time::sec)==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))
-		return true;
+	Time::TimeStamp t = Time::now();
+
+	unsigned count = 0;
+	for(; (count<tasks.size() && tasks[count]->get_sleep_timeout()<=t); ++count) ;
 
-	for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
-		if((*i)->get_work(cmd))
+	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);
+
+		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;
@@ -883,7 +1348,7 @@ 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)
 	{
@@ -903,7 +1368,7 @@ 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;
@@ -918,7 +1383,11 @@ 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)
 		{
@@ -946,14 +1415,11 @@ 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.push_completed_tag(tag);
+		set_power(false);
+		IO::print("Overcurrent detected!\n");
 	}
 	else
 	{
@@ -964,4 +1430,45 @@ 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)
+{
+	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