X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Farducontrol.cpp;h=9edc1e2244d41beb448921617186dfe635c4d192;hb=83778cdecccaa02c943cb9b49fb20f1c546b15bd;hp=47584f44bb8b145496a0b6d9a52c118f4c68fcd9;hpb=58c56db5f740d9d3c56ff64f4062b108076c63c3;p=r2c2.git

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index 47584f4..9edc1e2 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 +18,29 @@ ArduControl::ProtocolInfo ArduControl::protocol_info[2] =
 	{ 0x3FFF, 126, 15 }  // MFX
 };
 
-ArduControl::ArduControl(const string &dev):
-	serial(dev),
-	debug(1),
+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),
 	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 +48,7 @@ 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 +64,23 @@ 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
@@ -107,6 +131,20 @@ 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);
@@ -120,10 +158,13 @@ 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);
 	}
@@ -135,7 +176,7 @@ 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);
 	}
@@ -153,7 +194,7 @@ 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);
@@ -273,7 +314,8 @@ bool ArduControl::get_sensor(unsigned addr) const
 
 void ArduControl::tick()
 {
-	while(Tag tag = pop_completed_tag())
+	Tag tag;
+	while(completed_commands.pop(tag))
 	{
 		if(tag.type==Tag::GENERAL)
 		{
@@ -287,15 +329,8 @@ void ArduControl::tick()
 				MfxInfo info;
 				if(mfx_search.pop_info(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;
+					MfxInfoArray::iterator i = add_mfx_info(info);
+					save_state();
 					signal_locomotive_detected.emit(*i);
 				}
 			}
@@ -337,9 +372,7 @@ 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))
@@ -371,7 +404,7 @@ void ArduControl::tick()
 		}
 	}
 
-	while(!active_accessory && !accessory_queue.empty())
+	while(power && !active_accessory && !accessory_queue.empty())
 	{
 		Accessory &acc = *accessory_queue.front();
 
@@ -383,9 +416,12 @@ 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);
-			push_command(cmd);
+			command_queue.push(cmd);
+
+			monitor.reset_peak();
 		}
 		else
 			accessory_queue.pop_front();
@@ -396,9 +432,24 @@ 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);
-			push_command(cmd);
+			PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
+			command_queue.push(cmd);
 		}
 	}
 }
@@ -407,36 +458,21 @@ void ArduControl::flush()
 {
 }
 
-void ArduControl::push_command(const PendingCommand &cmd)
+void ArduControl::save_state() const
 {
-	MutexLock lock(mutex);
-	command_queue.push_back(cmd);
-}
-
-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);
-}
+	FS::RedirectedPath tmp_file(state_file);
+	IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
+	DataFile::Writer writer(out);
 
-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);
+	}
 }
 
 
@@ -522,6 +558,8 @@ 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)
 { }
 
@@ -600,6 +638,26 @@ 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;
+}
+
+
 ArduControl::RefreshTask::RefreshTask():
 	next(cycle.end()),
 	round(0),
@@ -696,11 +754,17 @@ void ArduControl::RefreshTask::advance()
 ArduControl::S88Task::S88Task(ArduControl &c):
 	control(c),
 	n_octets(0),
-	octets_remaining(0)
+	octets_remaining(0),
+	delay(0)
 { }
 
 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 {
+	if(delay)
+	{
+		--delay;
+		return false;
+	}
 	if(octets_remaining || !n_octets)
 		return false;
 
@@ -709,6 +773,8 @@ bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 	cmd.command[1] = octets_remaining;
 	cmd.length = 2;
 
+	delay = 4;
+
 	return true;
 }
 
@@ -733,7 +799,7 @@ 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)
@@ -800,7 +866,7 @@ bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 		info.address = next_address;
 		info.name = format("%08X", bits);
 		info.id = bits;
-		push_info(info);
+		queue.push(info);
 
 		cmd.command[0] = MFX_ASSIGN_ADDRESS;
 		cmd.command[1] = next_address>>8;
@@ -863,27 +929,69 @@ void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned lengt
 	}
 }
 
-void ArduControl::MfxSearchTask::push_info(const MfxInfo &info)
+void ArduControl::MfxSearchTask::set_next_address(unsigned a)
 {
-	MutexLock lock(mutex);
-	queue.push_back(info);
+	next_address = a;
 }
 
 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
 {
-	MutexLock lock(mutex);
-	if(queue.empty())
+	return queue.pop(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;
-	info = queue.back();
-	queue.pop_back();
+
+	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);
@@ -911,7 +1019,7 @@ void ArduControl::ControlThread::main()
 			for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
 				success = (do_command(cmd)==COMMAND_OK);
 			if(success && cmd.tag)
-				control.push_completed_tag(cmd.tag);
+				control.completed_commands.push(cmd.tag);
 		}
 		else
 			Time::sleep(10*Time::msec);
@@ -940,6 +1048,14 @@ void ArduControl::ControlThread::init_baud_rate()
 		}
 	}
 
+	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);
 
@@ -953,9 +1069,9 @@ void ArduControl::ControlThread::init_baud_rate()
 		if(do_command(cmd)==COMMAND_OK)
 		{
 			control.serial.set_baud_rate(rates[0]);
+			Time::sleep(Time::sec);
 			if(do_command(cmd)==COMMAND_OK)
 			{
-				Time::sleep(Time::sec);
 				if(control.debug>=1)
 					IO::print("Rate changed to %d bits/s\n", rates[0]);
 			}
@@ -965,7 +1081,7 @@ void ArduControl::ControlThread::init_baud_rate()
 
 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
 {
-	if(control.pop_command(cmd))
+	if(control.command_queue.pop(cmd))
 		return true;
 
 	for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
@@ -1052,7 +1168,7 @@ unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned r
 		tag.type = Tag::GENERAL;
 		tag.command = POWER;
 		tag.serial = control.power.serial;
-		control.push_completed_tag(tag);
+		control.completed_commands.push(tag);
 	}
 	else
 	{
@@ -1063,4 +1179,34 @@ unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned r
 	return 0;
 }
 
+
+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