X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Farducontrol.cpp;h=4acfc60e0e761a0c5aaa7d4c260a0023988a8034;hb=aa48746158b19ad795a3cc656c4dfe17044baf54;hp=6d74f3719587e45a4a9ec2549cff1ab3b34e7a54;hpb=437ad8b3b19d2ba396551efa66723366364b1ad3;p=r2c2.git diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp index 6d74f37..4acfc60 100644 --- a/source/libr2c2/arducontrol.cpp +++ b/source/libr2c2/arducontrol.cpp @@ -23,7 +23,9 @@ ArduControl::ArduControl(const Options &opts): debug(opts.get("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 +69,19 @@ 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 +159,9 @@ 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 +207,7 @@ 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 +227,7 @@ 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 +245,7 @@ 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 +258,7 @@ 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 +276,7 @@ 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 +291,20 @@ 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) @@ -362,13 +392,6 @@ 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; } @@ -389,33 +412,78 @@ 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) ; - acc.state.set(acc.state^lowest_bit); - PendingCommand cmd(acc, Accessory::ACTIVATE, i); - command_queue.push(cmd); + if(!(changes&((1<0.35f && monitor.get_current()off_timeout) + if(t>off_timeout || success) { + Accessory &acc = *active_accessory; + + unsigned bit = 1<=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); + PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index); command_queue.push(cmd); } } @@ -423,6 +491,8 @@ void ArduControl::tick() void ArduControl::flush() { + while(!command_queue.empty() || (power && !accessory_queue.empty())) + tick(); } void ArduControl::save_state() const @@ -520,12 +590,15 @@ 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<::pop(T &item) return true; } +template +bool ArduControl::Queue::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::RefreshTask::RefreshTask(): next(cycle.end()), @@ -905,10 +995,59 @@ bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info) } +ArduControl::MonitorTask::MonitorTask(): + voltage(0), + current(0), + base_level(0), + peak_level(0), + next_type(0) +{ } + +bool ArduControl::MonitorTask::get_work(PendingCommand &cmd) +{ + Time::TimeStamp t = Time::now(); + if(t(reply[1])<<8) | static_cast(reply[2]))/1000.0f; + else if(type==TRACK_CURRENT && length==5) + { + current = ((static_cast(reply[1])<<8) | static_cast(reply[2]))/1000.0f; + float peak = ((static_cast(reply[3])<<8) | static_cast(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; +} + + 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); @@ -933,10 +1072,41 @@ void ArduControl::ControlThread::main() if(get_work(cmd)) { bool success = true; + bool resync = false; for(unsigned i=0; (success && i=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); @@ -983,11 +1153,11 @@ 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]); @@ -998,9 +1168,6 @@ void ArduControl::ControlThread::init_baud_rate() bool ArduControl::ControlThread::get_work(PendingCommand &cmd) { - if(control.command_queue.pop(cmd)) - return true; - for(vector::iterator i=tasks.begin(); i!=tasks.end(); ++i) if((*i)->get_work(cmd)) return true; @@ -1015,7 +1182,7 @@ 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) { @@ -1035,7 +1202,7 @@ 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; @@ -1050,7 +1217,11 @@ unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd) char reply[15]; unsigned pos = 0; while(pos=2) { @@ -1078,14 +1249,11 @@ 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 { @@ -1096,6 +1264,17 @@ 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(c)