X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Farducontrol.cpp;h=98f74338285178ecb73a11e63faa005deea56f6e;hb=617dacc52b5610a9ea7774cb2ca1144e9011b931;hp=ecac7b81e69fb14b6faa435d9c3753f538d7053b;hpb=2c08ce7d004b20a1cd9bc68fccbf734a6ba2d242;p=r2c2.git

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index ecac7b8..98f7433 100644
--- a/source/libr2c2/arducontrol.cpp
+++ b/source/libr2c2/arducontrol.cpp
@@ -20,10 +20,12 @@ ArduControl::ProtocolInfo ArduControl::protocol_info[2] =
 
 ArduControl::ArduControl(const Options &opts):
 	serial(opts.get<string>(string(), "ttyUSB0")),
-	debug(1),
+	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 +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);
@@ -389,7 +405,7 @@ void ArduControl::tick()
 		}
 	}
 
-	while(!active_accessory && !accessory_queue.empty())
+	while(power && !active_accessory && !accessory_queue.empty())
 	{
 		Accessory &acc = *accessory_queue.front();
 
@@ -401,9 +417,12 @@ void ArduControl::tick()
 			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);
+
+			monitor.reset_peak();
 		}
 		else
 			accessory_queue.pop_front();
@@ -414,8 +433,23 @@ void ArduControl::tick()
 		Time::TimeStamp t = Time::now();
 		if(t>off_timeout)
 		{
+			Accessory &acc = *active_accessory;
+
+			if(acc.kind==Accessory::TURNOUT && monitor.get_peak()<0.5f)
+			{
+				unsigned bit = 1<<active_index;
+				if(acc.uncertain&bit)
+					acc.uncertain &= ~bit;
+				else
+				{
+					signal_turnout_failed.emit(acc.address);
+					acc.state.rollback();
+					acc.target ^= bit;
+				}
+			}
+
 			off_timeout = Time::TimeStamp();
-			PendingCommand cmd(*active_accessory, Accessory::DEACTIVATE);
+			PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
 			command_queue.push(cmd);
 		}
 	}
@@ -423,6 +457,8 @@ void ArduControl::tick()
 
 void ArduControl::flush()
 {
+	while(!command_queue.empty() || (power && !accessory_queue.empty()))
+		tick();
 }
 
 void ArduControl::save_state() const
@@ -525,6 +561,8 @@ ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b):
 	address(a),
 	bits(b),
 	state(0),
+	uncertain((1<<bits)-1),
+	target(0),
 	active_time(500*Time::msec)
 { }
 
@@ -622,6 +660,12 @@ bool ArduControl::Queue<T>::pop(T &item)
 	return true;
 }
 
+template<typename T>
+bool ArduControl::Queue<T>::empty() const
+{
+	return items.empty();
+}
+
 
 ArduControl::RefreshTask::RefreshTask():
 	next(cycle.end()),
@@ -905,10 +949,58 @@ 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<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;
+	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;
+}
+
+
 ArduControl::ControlThread::ControlThread(ArduControl &c):
 	control(c),
 	done(false)
 {
+	tasks.push_back(&control.monitor);
 	tasks.push_back(&control.mfx_announce);
 	tasks.push_back(&control.mfx_search);
 	tasks.push_back(&control.s88);
@@ -933,10 +1025,41 @@ 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);
@@ -967,6 +1090,8 @@ void ArduControl::ControlThread::init_baud_rate()
 
 	if(!rate)
 	{
+		if(control.debug>=1)
+			IO::print("ArduControl detection failed\n");
 		done = true;
 		return;
 	}
@@ -981,11 +1106,11 @@ 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]);
@@ -1013,7 +1138,7 @@ 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)
 	{
@@ -1033,7 +1158,7 @@ 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;
@@ -1048,7 +1173,11 @@ 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)
 		{