source/libr2c2/arducontrol.cpp

   1 #include <msp/core/maputils.h>
   2 #include <msp/datafile/writer.h>
   3 #include <msp/fs/redirectedpath.h>
   4 #include <msp/fs/stat.h>
   5 #include <msp/io/print.h>
   6 #include <msp/time/utils.h>
   7 #include "arducontrol.h"
   8 #include "tracktype.h"
   9
  10 using namespace std;
  11 using namespace Msp;
  12
  13 namespace R2C2 {
  14
  15 ArduControl::ProtocolInfo ArduControl::protocol_info[2] =
  16 {
  17         { 79, 14, 4 },       // MM
  18         { 0x3FFF, 126, 15 }  // MFX
  19 };
  20
  21 ArduControl::ArduControl(const Options &opts):
  22         serial(opts.get<string>(string(), "ttyUSB0")),
  23         debug(opts.get<unsigned>("debug")),
  24         state_file("arducontrol.state"),
  25         power(false),
  26         halted(false),
  27         active_accessory(0),
  28         command_timeout(200*Time::msec),
  29         s88(*this),
  30         mfx_search(*this),
  31         thread(*this)
  32 {
  33         if(FS::exists(state_file))
  34                 DataFile::load(*this, state_file.str());
  35
  36         unsigned max_address = 0;
  37         for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
  38                 max_address = max(max_address, i->address);
  39         mfx_search.set_next_address(max_address+1);
  40
  41         PendingCommand cmd;
  42         cmd.command[0] = READ_POWER_STATE;
  43         cmd.length = 1;
  44         command_queue.push(cmd);
  45
  46         cmd.command[0] = MFX_SET_STATION_ID;
  47         cmd.command[1] = 'R';
  48         cmd.command[2] = '2';
  49         cmd.command[3] = 'C';
  50         cmd.command[4] = '2';
  51         cmd.length = 5;
  52         command_queue.push(cmd);
  53 }
  54
  55 ArduControl::~ArduControl()
  56 {
  57         thread.exit();
  58 }
  59
  60 void ArduControl::set_power(bool p)
  61 {
  62         if(power.set(p))
  63         {
  64                 PendingCommand cmd(POWER);
  65                 cmd.tag.serial = power.serial;
  66                 cmd.command[0] = (p ? POWER_ON : POWER_OFF);
  67                 cmd.length = 1;
  68                 command_queue.push(cmd);
  69         }
  70 }
  71
  72 void ArduControl::halt(bool h)
  73 {
  74         if(h==halted)
  75                 return;
  76
  77         halted = h;
  78         if(halted)
  79         {
  80                 for(LocomotiveMap::const_iterator i=locomotives.begin(); i!=locomotives.end(); ++i)
  81                         set_loco_speed(i->first, 0);
  82         }
  83
  84         signal_halt.emit(halted);
  85 }
  86
  87 const char *ArduControl::enumerate_protocols(unsigned i) const
  88 {
  89         if(i==0)
  90                 return "MM";
  91         else if(i==1)
  92                 return "MFX";
  93         else
  94                 return 0;
  95 }
  96
  97 ArduControl::Protocol ArduControl::map_protocol(const string &proto_name)
  98 {
  99         if(proto_name=="MM")
 100                 return MM;
 101         else if(proto_name=="MFX")
 102                 return MFX;
 103         else
 104                 throw invalid_argument("ArduControl::map_protocol");
 105 }
 106
 107 unsigned ArduControl::get_protocol_speed_steps(const string &proto_name) const
 108 {
 109         return protocol_info[map_protocol(proto_name)].max_speed;
 110 }
 111
 112 const Driver::DetectedLocomotive *ArduControl::enumerate_detected_locos(unsigned i) const
 113 {
 114         if(i>=mfx_info.size())
 115                 return 0;
 116
 117         return &mfx_info[i];
 118 }
 119
 120 unsigned ArduControl::add_loco(unsigned addr, const string &proto_name, const VehicleType &)
 121 {
 122         if(!addr)
 123                 throw invalid_argument("ArduControl::add_loco");
 124
 125         Protocol proto = map_protocol(proto_name);
 126         if(addr>protocol_info[proto].max_address)
 127                 throw invalid_argument("ArduControl::add_loco");
 128
 129         Locomotive loco(proto, addr);
 130         insert_unique(locomotives, loco.id, loco);
 131
 132         return loco.id;
 133 }
 134
 135 ArduControl::MfxInfoArray::iterator ArduControl::add_mfx_info(const MfxInfo &info)
 136 {
 137         MfxInfoArray::iterator i;
 138         for(i=mfx_info.begin(); (i!=mfx_info.end() && i->id!=info.id); ++i) ;
 139         if(i==mfx_info.end())
 140         {
 141                 mfx_info.push_back(info);
 142                 i = --mfx_info.end();
 143         }
 144         else
 145                 *i = info;
 146         return i;
 147 }
 148
 149 void ArduControl::remove_loco(unsigned id)
 150 {
 151         Locomotive &loco = get_item(locomotives, id);
 152         refresh.remove_loco(loco);
 153         locomotives.erase(id);
 154 }
 155
 156 void ArduControl::set_loco_speed(unsigned id, unsigned speed)
 157 {
 158         Locomotive &loco = get_item(locomotives, id);
 159         if(speed>protocol_info[loco.proto].max_speed)
 160                 throw invalid_argument("ArduControl::set_loco_speed");
 161
 162         if(speed && halted)
 163                 return;
 164
 165         if(loco.speed.set(speed))
 166         {
 167                 PendingCommand cmd(loco, Locomotive::SPEED);
 168                 command_queue.push(cmd);
 169
 170                 refresh.add_loco(loco);
 171         }
 172 }
 173
 174 void ArduControl::set_loco_reverse(unsigned id, bool rev)
 175 {
 176         Locomotive &loco = get_item(locomotives, id);
 177         if(loco.reverse.set(rev))
 178         {
 179                 PendingCommand cmd(loco, Locomotive::REVERSE);
 180                 command_queue.push(cmd);
 181
 182                 refresh.add_loco(loco);
 183         }
 184 }
 185
 186 void ArduControl::set_loco_function(unsigned id, unsigned func, bool state)
 187 {
 188         Locomotive &loco = get_item(locomotives, id);
 189         if(func>protocol_info[loco.proto].max_func)
 190                 throw invalid_argument("ArduControl::set_loco_function");
 191
 192         unsigned mask = 1<<func;
 193         if(loco.funcs.set((loco.funcs&~mask)|(mask*state)))
 194         {
 195                 if(func>0 || loco.proto!=MM)
 196                 {
 197                         PendingCommand cmd(loco, Locomotive::FUNCTIONS, func);
 198                         command_queue.push(cmd);
 199                 }
 200
 201                 refresh.add_loco(loco);
 202         }
 203 }
 204
 205 unsigned ArduControl::add_turnout(unsigned addr, const TrackType &type)
 206 {
 207         if(!addr || !type.is_turnout())
 208                 throw invalid_argument("ArduControl::add_turnout");
 209
 210         return add_accessory(Accessory::TURNOUT, addr, type.get_state_bits(), type.get_paths());
 211 }
 212
 213 void ArduControl::remove_turnout(unsigned addr)
 214 {
 215         remove_accessory(Accessory::TURNOUT, addr);
 216 }
 217
 218 void ArduControl::set_turnout(unsigned addr, unsigned state)
 219 {
 220         set_accessory(Accessory::TURNOUT, addr, state);
 221 }
 222
 223 unsigned ArduControl::get_turnout(unsigned addr) const
 224 {
 225         return get_accessory(Accessory::TURNOUT, addr);
 226 }
 227
 228 unsigned ArduControl::add_signal(unsigned addr, const SignalType &)
 229 {
 230         return add_accessory(Accessory::SIGNAL, addr, 1, 3);
 231 }
 232
 233 void ArduControl::remove_signal(unsigned addr)
 234 {
 235         remove_accessory(Accessory::SIGNAL, addr);
 236 }
 237
 238 void ArduControl::set_signal(unsigned addr, unsigned state)
 239 {
 240         set_accessory(Accessory::SIGNAL, addr, state);
 241 }
 242
 243 unsigned ArduControl::get_signal(unsigned addr) const
 244 {
 245         return get_accessory(Accessory::SIGNAL, addr);
 246 }
 247
 248 unsigned ArduControl::add_accessory(Accessory::Kind kind, unsigned addr, unsigned bits, unsigned states)
 249 {
 250         AccessoryMap::iterator i = accessories.lower_bound(addr);
 251         AccessoryMap::iterator j = accessories.upper_bound(addr+bits-1);
 252         if(i!=j)
 253                 throw key_error(addr);
 254         if(i!=accessories.begin())
 255         {
 256                 --i;
 257                 if(i->first+i->second.bits>addr)
 258                         throw key_error(addr);
 259         }
 260
 261         insert_unique(accessories, addr, Accessory(kind, addr, bits, states));
 262         return addr;
 263 }
 264
 265 void ArduControl::remove_accessory(Accessory::Kind kind, unsigned addr)
 266 {
 267         Accessory &acc = get_item(accessories, addr);
 268         if(acc.kind!=kind)
 269                 throw key_error(addr);
 270         accessories.erase(addr);
 271 }
 272
 273 void ArduControl::set_accessory(Accessory::Kind kind, unsigned addr, unsigned state)
 274 {
 275         Accessory &acc = get_item(accessories, addr);
 276         if(acc.kind!=kind)
 277                 throw key_error(addr);
 278
 279         if(state!=acc.target || acc.uncertain)
 280         {
 281                 acc.target = state;
 282                 accessory_queue.push_back(&acc);
 283         }
 284 }
 285
 286 unsigned ArduControl::get_accessory(Accessory::Kind kind, unsigned addr) const
 287 {
 288         const Accessory &acc = get_item(accessories, addr);
 289         if(acc.kind!=kind)
 290                 throw key_error(addr);
 291         return acc.state;
 292 }
 293
 294 void ArduControl::activate_accessory_by_mask(Accessory &acc, unsigned mask)
 295 {
 296         unsigned bit = mask&~(mask-1);
 297         for(active_index=0; (bit>>active_index)>1; ++active_index) ;
 298         acc.state.set((acc.state&~bit)|(acc.target&bit));
 299         PendingCommand cmd(acc, Accessory::ACTIVATE, active_index);
 300         command_queue.push(cmd);
 301         active_accessory = &acc;
 302
 303         monitor.reset_peak();
 304 }
 305
 306 unsigned ArduControl::add_sensor(unsigned addr)
 307 {
 308         if(!addr)
 309                 throw invalid_argument("ArduControl::add_sensor");
 310
 311         insert_unique(sensors, addr, Sensor(addr));
 312         s88.grow_n_octets((addr+7)/8);
 313
 314         return addr;
 315 }
 316
 317 void ArduControl::remove_sensor(unsigned addr)
 318 {
 319         remove_existing(sensors, addr);
 320         // TODO update s88.n_octets
 321 }
 322
 323 bool ArduControl::get_sensor(unsigned addr) const
 324 {
 325         return get_item(sensors, addr).state;
 326 }
 327
 328 void ArduControl::tick()
 329 {
 330         Tag tag;
 331         while(completed_commands.pop(tag))
 332         {
 333                 if(tag.type==Tag::GENERAL)
 334                 {
 335                         if(tag.command==POWER)
 336                         {
 337                                 if(power.commit(tag.serial))
 338                                         signal_power.emit(power.current);
 339                         }
 340                         else if(tag.command==NEW_LOCO)
 341                         {
 342                                 MfxInfo info;
 343                                 if(mfx_search.pop_info(info))
 344                                 {
 345                                         MfxInfoArray::iterator i = add_mfx_info(info);
 346                                         save_state();
 347                                         signal_locomotive_detected.emit(*i);
 348                                 }
 349                         }
 350                 }
 351                 else if(tag.type==Tag::LOCOMOTIVE)
 352                 {
 353                         LocomotiveMap::iterator i = locomotives.find(tag.id);
 354                         if(i==locomotives.end())
 355                                 continue;
 356
 357                         Locomotive &loco = i->second;
 358                         if(tag.command==Locomotive::SPEED)
 359                         {
 360                                 if(loco.speed.commit(tag.serial))
 361                                         signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
 362                         }
 363                         else if(tag.command==Locomotive::REVERSE)
 364                         {
 365                                 if(loco.reverse.commit(tag.serial))
 366                                         signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
 367                         }
 368                         else if(tag.command==Locomotive::FUNCTIONS)
 369                         {
 370                                 unsigned old = loco.funcs;
 371                                 if(loco.funcs.commit(tag.serial))
 372                                 {
 373                                         unsigned changed = old^loco.funcs;
 374                                         for(unsigned j=0; changed>>j; ++j)
 375                                                 if((changed>>j)&1)
 376                                                         signal_loco_function.emit(loco.id, j, (loco.funcs>>j)&1);
 377                                 }
 378                         }
 379                 }
 380                 else if(tag.type==Tag::ACCESSORY)
 381                 {
 382                         AccessoryMap::iterator i = accessories.find(tag.id);
 383                         if(i==accessories.end())
 384                                 continue;
 385
 386                         Accessory &acc = i->second;
 387                         if(tag.command==Accessory::ACTIVATE)
 388                                 off_timeout = Time::now()+acc.active_time;
 389                         else if(tag.command==Accessory::DEACTIVATE)
 390                         {
 391                                 if(acc.state.commit(tag.serial))
 392                                 {
 393                                         if(&acc==active_accessory)
 394                                                 active_accessory = 0;
 395                                 }
 396                         }
 397                 }
 398                 else if(tag.type==Tag::SENSOR)
 399                 {
 400                         SensorMap::iterator i = sensors.find(tag.id);
 401                         if(i==sensors.end())
 402                                 continue;
 403
 404                         Sensor &sensor = i->second;
 405                         if(tag.command==Sensor::STATE)
 406                         {
 407                                 if(sensor.state.commit(tag.serial))
 408                                         signal_sensor.emit(sensor.address, sensor.state);
 409                         }
 410                 }
 411         }
 412
 413         while(power && !active_accessory && !accessory_queue.empty())
 414         {
 415                 Accessory &acc = *accessory_queue.front();
 416
 417                 if(acc.uncertain)
 418                 {
 419                         unsigned zeroes = acc.uncertain&~acc.target;
 420                         if(zeroes)
 421                                 activate_accessory_by_mask(acc, zeroes);
 422                         else
 423                                 activate_accessory_by_mask(acc, acc.uncertain);
 424                 }
 425                 else if(acc.state!=acc.target)
 426                 {
 427                         unsigned changes = acc.state^acc.target;
 428                         if(!(changes&((1<<acc.bits)-1)))
 429                         {
 430                                 // All remaining changes are in non-physical bits
 431                                 acc.state.set(acc.state^changes);
 432                                 acc.state.commit(acc.state.serial);
 433                         }
 434                         else
 435                         {
 436                                 unsigned toggle_bit = 0;
 437                                 for(unsigned bit=1; (!toggle_bit && bit<=changes); bit<<=1)
 438                                         if((changes&bit) && (acc.valid_states&(1<<(acc.state^bit))))
 439                                                 toggle_bit = bit;
 440
 441                                 activate_accessory_by_mask(acc, toggle_bit);
 442                         }
 443                 }
 444                 else
 445                 {
 446                         accessory_queue.pop_front();
 447
 448                         if(acc.state==acc.target)
 449                         {
 450                                 if(acc.kind==Accessory::TURNOUT)
 451                                         signal_turnout.emit(acc.address, acc.state);
 452                                 else if(acc.kind==Accessory::SIGNAL)
 453                                         signal_signal.emit(acc.address, acc.state);
 454                         }
 455                 }
 456         }
 457
 458         if(active_accessory && off_timeout)
 459         {
 460                 Time::TimeStamp t = Time::now();
 461                 if(t>off_timeout)
 462                 {
 463                         Accessory &acc = *active_accessory;
 464
 465                         unsigned bit = 1<<active_index;
 466
 467                         // Assume success if we were uncertain of the physical setting
 468                         if(acc.uncertain&bit)
 469                                 acc.uncertain &= ~bit;
 470                         else if(acc.kind==Accessory::TURNOUT && monitor.get_peak()<0.5f)
 471                         {
 472                                 signal_turnout_failed.emit(acc.address);
 473                                 acc.state.rollback();
 474                                 if(acc.valid_states&(1<<(acc.target^bit)))
 475                                         acc.target ^= bit;
 476                                 else
 477                                         acc.target = acc.state;
 478                         }
 479
 480                         off_timeout = Time::TimeStamp();
 481                         PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
 482                         command_queue.push(cmd);
 483                 }
 484         }
 485 }
 486
 487 void ArduControl::flush()
 488 {
 489         while(!command_queue.empty() || (power && !accessory_queue.empty()))
 490                 tick();
 491 }
 492
 493 void ArduControl::save_state() const
 494 {
 495         FS::RedirectedPath tmp_file(state_file);
 496         IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
 497         DataFile::Writer writer(out);
 498
 499         writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
 500         for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
 501         {
 502                 DataFile::Statement st("mfx_locomotive");
 503                 st.append(i->id);
 504                 st.sub.push_back((DataFile::Statement("address"), i->address));
 505                 st.sub.push_back((DataFile::Statement("name"), i->name));
 506                 writer.write(st);
 507         }
 508 }
 509
 510
 511 ArduControl::Tag::Tag():
 512         type(NONE),
 513         command(0),
 514         serial(0),
 515         id(0)
 516 { }
 517
 518
 519 ArduControl::Locomotive::Locomotive(Protocol p, unsigned a):
 520         id((p<<16)|a),
 521         proto(p),
 522         address(a),
 523         speed(0),
 524         reverse(false),
 525         funcs(0),
 526         last_change_age(0)
 527 { }
 528
 529 unsigned ArduControl::Locomotive::create_speed_dir_command(char *buffer) const
 530 {
 531         if(proto==MM)
 532         {
 533                 buffer[0] = MOTOROLA_SPEED_DIRECTION;
 534                 buffer[1] = address;
 535                 buffer[2] = funcs.pending&1;
 536                 buffer[3] = speed.pending+reverse.pending*0x80;
 537                 return 4;
 538         }
 539         else if(proto==MFX)
 540         {
 541                 buffer[0] = MFX_SPEED;
 542                 buffer[1] = address>>8;
 543                 buffer[2] = address;
 544                 buffer[3] = speed.pending+reverse.pending*0x80;
 545                 return 4;
 546         }
 547         else
 548                 return 0;
 549 }
 550
 551 unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *buffer) const
 552 {
 553         if(proto==MM)
 554         {
 555                 if(f<1 || f>4)
 556                         throw invalid_argument("Locomotive::create_speed_func_command");
 557
 558                 buffer[0] = MOTOROLA_SPEED_FUNCTION;
 559                 buffer[1] = address;
 560                 buffer[2] = (f<<4)|(((funcs.pending>>f)&1)<<1)|(funcs.pending&1);
 561                 buffer[3] = speed.pending;
 562                 return 4;
 563         }
 564         else if(proto==MFX)
 565         {
 566                 bool f16 = (funcs.pending>0xFF);
 567                 buffer[0] = (f16 ? MFX_SPEED_FUNCS16 : MFX_SPEED_FUNCS8);
 568                 buffer[1] = address>>8;
 569                 buffer[2] = address;
 570                 buffer[3] = speed.pending+reverse.pending*0x80;
 571                 if(f16)
 572                 {
 573                         buffer[4] = funcs.pending>>8;
 574                         buffer[5] = funcs.pending;
 575                         return 6;
 576                 }
 577                 else
 578                 {
 579                         buffer[4] = funcs.pending;
 580                         return 5;
 581                 }
 582         }
 583         else
 584                 return 0;
 585 }
 586
 587
 588 ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b, unsigned s):
 589         kind(k),
 590         address(a),
 591         bits(b),
 592         valid_states(s),
 593         state(0),
 594         uncertain((1<<bits)-1),
 595         target(0),
 596         active_time(500*Time::msec)
 597 { }
 598
 599 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
 600 {
 601         if(b>=bits)
 602                 throw invalid_argument("Accessory::create_state_command");
 603
 604         unsigned a = (address+b+3)*2;
 605         if(!((state.pending>>b)&1))
 606                 ++a;
 607         buffer[0] = MOTOROLA_SOLENOID;
 608         buffer[1] = a>>3;
 609         buffer[2] = ((a&7)<<4)|c;
 610         return 3;
 611 }
 612
 613
 614 ArduControl::Sensor::Sensor(unsigned a):
 615         address(a),
 616         state(false)
 617 { }
 618
 619
 620 ArduControl::PendingCommand::PendingCommand():
 621         length(0),
 622         repeat_count(1)
 623 { }
 624
 625 ArduControl::PendingCommand::PendingCommand(GeneralCommand cmd):
 626         length(0),
 627         repeat_count(1)
 628 {
 629         tag.type = Tag::GENERAL;
 630         tag.command = cmd;
 631 }
 632
 633 ArduControl::PendingCommand::PendingCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index):
 634         repeat_count(8)
 635 {
 636         tag.type = Tag::LOCOMOTIVE;
 637         tag.command = cmd;
 638         tag.id = loco.id;
 639         if(cmd==Locomotive::SPEED)
 640         {
 641                 tag.serial = loco.speed.serial;
 642                 length = loco.create_speed_dir_command(command);
 643         }
 644         else if(cmd==Locomotive::REVERSE)
 645         {
 646                 tag.serial = loco.reverse.serial;
 647                 length = loco.create_speed_dir_command(command);
 648         }
 649         else if(cmd==Locomotive::FUNCTIONS)
 650         {
 651                 tag.serial = loco.funcs.serial;
 652                 length = loco.create_speed_func_command(index, command);
 653         }
 654         else
 655                 throw invalid_argument("PendingCommand");
 656 }
 657
 658 ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command cmd, unsigned index):
 659         repeat_count(1)
 660 {
 661         tag.type = Tag::ACCESSORY;
 662         tag.command = cmd;
 663         tag.id = acc.address;
 664         if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
 665         {
 666                 tag.serial = acc.state.serial;
 667                 length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
 668         }
 669         else
 670                 throw invalid_argument("PendingCommand");
 671 }
 672
 673
 674 template<typename T>
 675 void ArduControl::Queue<T>::push(const T &item)
 676 {
 677         MutexLock lock(mutex);
 678         items.push_back(item);
 679 }
 680
 681 template<typename T>
 682 bool ArduControl::Queue<T>::pop(T &item)
 683 {
 684         MutexLock lock(mutex);
 685         if(items.empty())
 686                 return false;
 687
 688         item = items.front();
 689         items.pop_front();
 690         return true;
 691 }
 692
 693 template<typename T>
 694 bool ArduControl::Queue<T>::empty() const
 695 {
 696         return items.empty();
 697 }
 698
 699
 700 ArduControl::RefreshTask::RefreshTask():
 701         next(cycle.end()),
 702         round(0),
 703         loco(0),
 704         phase(0)
 705 { }
 706
 707 bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
 708 {
 709         if(loco && loco->proto==MM && phase==0)
 710         {
 711                 cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
 712                 cmd.repeat_count = 2;
 713                 ++phase;
 714                 return true;
 715         }
 716
 717         loco = get_next_loco();
 718         if(!loco)
 719                 return false;
 720
 721         phase = 0;
 722         if(loco->proto==MM)
 723         {
 724                 cmd.length = loco->create_speed_dir_command(cmd.command);
 725                 cmd.repeat_count = 2;
 726         }
 727         else if(loco->proto==MFX)
 728                 cmd.length = loco->create_speed_func_command(0, cmd.command);
 729         else
 730                 return false;
 731
 732         return true;
 733 }
 734
 735 void ArduControl::RefreshTask::add_loco(Locomotive &l)
 736 {
 737         MutexLock lock(mutex);
 738         cycle.push_back(&l);
 739         if(cycle.size()>15)
 740         {
 741                 LocomotivePtrList::iterator oldest = cycle.begin();
 742                 for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
 743                         if((*i)->last_change_age>(*oldest)->last_change_age)
 744                                 oldest = i;
 745                 if(oldest==next)
 746                         advance();
 747                 cycle.erase(oldest);
 748         }
 749         if(next==cycle.end())
 750                 next = cycle.begin();
 751 }
 752
 753 void ArduControl::RefreshTask::remove_loco(Locomotive &l)
 754 {
 755         MutexLock lock(mutex);
 756         for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
 757                 if(*i==&l)
 758                 {
 759                         if(i==next)
 760                         {
 761                                 if(cycle.size()>1)
 762                                         advance();
 763                                 else
 764                                         next = cycle.end();
 765                         }
 766                         cycle.erase(i);
 767                         return;
 768                 }
 769 }
 770
 771 ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
 772 {
 773         MutexLock lock(mutex);
 774         if(cycle.empty())
 775                 return 0;
 776
 777         Locomotive *l = *next;
 778         advance();
 779         return l;
 780 }
 781
 782 void ArduControl::RefreshTask::advance()
 783 {
 784         ++next;
 785         if(next==cycle.end())
 786         {
 787                 next= cycle.begin();
 788                 ++round;
 789         }
 790 }
 791
 792
 793 ArduControl::S88Task::S88Task(ArduControl &c):
 794         control(c),
 795         n_octets(0),
 796         octets_remaining(0),
 797         delay(0)
 798 { }
 799
 800 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 801 {
 802         if(delay)
 803         {
 804                 --delay;
 805                 return false;
 806         }
 807         if(octets_remaining || !n_octets)
 808                 return false;
 809
 810         octets_remaining = n_octets;
 811         cmd.command[0] = S88_READ;
 812         cmd.command[1] = octets_remaining;
 813         cmd.length = 2;
 814
 815         delay = 4;
 816
 817         return true;
 818 }
 819
 820 void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
 821 {
 822         unsigned char type = reply[0];
 823         if(type==S88_DATA && length>2)
 824         {
 825                 unsigned offset = static_cast<unsigned char>(reply[1]);
 826                 unsigned count = length-2;
 827
 828                 SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
 829                 SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
 830                 for(SensorMap::iterator i=begin; i!=end; ++i)
 831                 {
 832                         unsigned bit_index = i->first-1-offset*8;
 833                         bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
 834                         i->second.state.set(state);
 835
 836                         Tag tag;
 837                         tag.type = Tag::SENSOR;
 838                         tag.command = Sensor::STATE;
 839                         tag.serial = i->second.state.serial;
 840                         tag.id = i->first;
 841                         control.completed_commands.push(tag);
 842                 }
 843
 844                 if(count>octets_remaining)
 845                         octets_remaining = 0;
 846                 else
 847                         octets_remaining -= count;
 848         }
 849 }
 850
 851 void ArduControl::S88Task::set_n_octets(unsigned n)
 852 {
 853         n_octets = n;
 854 }
 855
 856 void ArduControl::S88Task::grow_n_octets(unsigned n)
 857 {
 858         if(n>n_octets)
 859                 n_octets = n;
 860 }
 861
 862
 863 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
 864         serial(0)
 865 { }
 866
 867 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
 868 {
 869         Time::TimeStamp t = Time::now();
 870         if(t<next)
 871                 return false;
 872
 873         cmd.command[0] = MFX_ANNOUNCE;
 874         cmd.command[1] = serial>>8;
 875         cmd.command[2] = serial;
 876         cmd.length = 3;
 877         next = t+400*Time::msec;
 878
 879         return true;
 880 }
 881
 882 void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
 883 {
 884         serial = s;
 885 }
 886
 887
 888 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
 889         control(c),
 890         next_address(1),
 891         size(0),
 892         bits(0),
 893         misses(0)
 894 { }
 895
 896 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 897 {
 898         if(size>32)
 899         {
 900                 if(control.debug>=1)
 901                         IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
 902
 903                 MfxInfo info;
 904                 info.protocol = "MFX";
 905                 info.address = next_address;
 906                 info.name = format("%08X", bits);
 907                 info.id = bits;
 908                 queue.push(info);
 909
 910                 cmd.command[0] = MFX_ASSIGN_ADDRESS;
 911                 cmd.command[1] = next_address>>8;
 912                 cmd.command[2] = next_address;
 913                 for(unsigned i=0; i<4; ++i)
 914                         cmd.command[3+i] = bits>>(24-i*8);
 915                 cmd.length = 7;
 916
 917                 cmd.tag.type = Tag::GENERAL;
 918                 cmd.tag.command = NEW_LOCO;
 919                 cmd.tag.id = bits;
 920
 921                 size = 0;
 922                 bits = 0;
 923                 ++next_address;
 924
 925                 return true;
 926         }
 927
 928         Time::TimeStamp t = Time::now();
 929         if(t<next)
 930                 return false;
 931
 932         cmd.command[0] = MFX_SEARCH;
 933         for(unsigned i=0; i<4; ++i)
 934                 cmd.command[1+i] = bits>>(24-i*8);
 935         cmd.command[5] = size;
 936         cmd.length = 6;
 937
 938         next = t+200*Time::msec;
 939
 940         if(control.debug>=1)
 941                 IO::print("Search %08X/%d\n", bits, size);
 942
 943         return true;
 944 }
 945
 946 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
 947 {
 948         unsigned char type = reply[0];
 949         if(type==MFX_SEARCH_FEEDBACK && length==2)
 950         {
 951                 if(reply[1])
 952                 {
 953                         misses = 0;
 954                         ++size;
 955                 }
 956                 else if(size>0 && misses<6)
 957                 {
 958                         ++misses;
 959                         bits ^= 1<<(32-size);
 960                 }
 961                 else
 962                 {
 963                         next = Time::now()+2*Time::sec;
 964                         bits = 0;
 965                         size = 0;
 966                         misses = 0;
 967                 }
 968         }
 969 }
 970
 971 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
 972 {
 973         next_address = a;
 974 }
 975
 976 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
 977 {
 978         return queue.pop(info);
 979 }
 980
 981
 982 ArduControl::MonitorTask::MonitorTask():
 983         voltage(0),
 984         current(0),
 985         base_level(0),
 986         peak_level(0),
 987         next_type(0)
 988 { }
 989
 990 bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
 991 {
 992         Time::TimeStamp t = Time::now();
 993         if(t<next_poll)
 994                 return false;
 995
 996         if(next_type==0)
 997                 cmd.command[0] = READ_INPUT_VOLTAGE;
 998         else
 999                 cmd.command[0] = READ_TRACK_CURRENT;
1000         cmd.length = 1;
1001
1002         next_poll = t+200*Time::msec;
1003         next_type = (next_type+1)%5;
1004
1005         return true;
1006 }
1007
1008 void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
1009 {
1010         unsigned char type = reply[0];
1011         if(type==INPUT_VOLTAGE && length==3)
1012                 voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1013         else if(type==TRACK_CURRENT && length==5)
1014         {
1015                 current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1016                 float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
1017                 peak_level = max(peak_level, peak);
1018                 base_level = min(base_level, current);
1019         }
1020 }
1021
1022 void ArduControl::MonitorTask::reset_peak()
1023 {
1024         base_level = current;
1025         peak_level = current;
1026 }
1027
1028
1029 ArduControl::ControlThread::ControlThread(ArduControl &c):
1030         control(c),
1031         done(false)
1032 {
1033         tasks.push_back(&control.monitor);
1034         tasks.push_back(&control.mfx_announce);
1035         tasks.push_back(&control.mfx_search);
1036         tasks.push_back(&control.s88);
1037         tasks.push_back(&control.refresh);
1038
1039         launch();
1040 }
1041
1042 void ArduControl::ControlThread::exit()
1043 {
1044         done = true;
1045         join();
1046 }
1047
1048 void ArduControl::ControlThread::main()
1049 {
1050         init_baud_rate();
1051
1052         while(!done)
1053         {
1054                 PendingCommand cmd;
1055                 if(get_work(cmd))
1056                 {
1057                         bool success = true;
1058                         bool resync = false;
1059                         for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
1060                         {
1061                                 unsigned result = do_command(cmd, control.command_timeout);
1062                                 success = (result==COMMAND_OK);
1063                                 resync = (result==0);
1064                         }
1065
1066                         if(success && cmd.tag)
1067                                 control.completed_commands.push(cmd.tag);
1068
1069                         if(resync)
1070                         {
1071                                 if(control.debug>=1)
1072                                         IO::print("Synchronization with ArduControl lost, attempting to recover\n");
1073                                 for(unsigned i=0; (resync && i<16); ++i)
1074                                 {
1075                                         control.serial.put('\xFF');
1076                                         while(IO::poll(control.serial, IO::P_INPUT, control.command_timeout))
1077                                                 resync = (control.serial.get()!=0xFF);
1078                                 }
1079                                 if(resync)
1080                                 {
1081                                         if(control.debug>=1)
1082                                                 IO::print("Resynchronization failed, giving up\n");
1083                                         done = true;
1084                                 }
1085                                 else
1086                                 {
1087                                         if(control.debug>=1)
1088                                                 IO::print("Resynchronization successful\n");
1089                                         if(cmd.tag)
1090                                                 control.command_queue.push(cmd);
1091                                 }
1092                         }
1093                 }
1094                 else
1095                         Time::sleep(10*Time::msec);
1096         }
1097 }
1098
1099 void ArduControl::ControlThread::init_baud_rate()
1100 {
1101         static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
1102         unsigned rate = 0;
1103         control.serial.set_data_bits(8);
1104         control.serial.set_parity(IO::Serial::NONE);
1105         control.serial.set_stop_bits(1);
1106         for(unsigned i=0; rates[i]; ++i)
1107         {
1108                 control.serial.set_baud_rate(rates[i]);
1109                 control.serial.put('\xFF');
1110                 if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
1111                 {
1112                         int c = control.serial.get();
1113                         if(c==0xFF)
1114                         {
1115                                 rate = rates[i];
1116                                 break;
1117                         }
1118                 }
1119         }
1120
1121         if(!rate)
1122         {
1123                 if(control.debug>=1)
1124                         IO::print("ArduControl detection failed\n");
1125                 done = true;
1126                 return;
1127         }
1128
1129         if(control.debug>=1)
1130                 IO::print("ArduControl detected at %d bits/s\n", rate);
1131
1132         if(rate!=rates[0])
1133         {
1134                 PendingCommand cmd;
1135                 cmd.command[0] = SET_BAUD_RATE;
1136                 cmd.command[1] = rates[0]>>8;
1137                 cmd.command[2] = rates[0];
1138                 cmd.length = 3;
1139                 if(do_command(cmd, Time::sec)==COMMAND_OK)
1140                 {
1141                         control.serial.set_baud_rate(rates[0]);
1142                         Time::sleep(Time::sec);
1143                         if(do_command(cmd, Time::sec)==COMMAND_OK)
1144                         {
1145                                 if(control.debug>=1)
1146                                         IO::print("Rate changed to %d bits/s\n", rates[0]);
1147                         }
1148                 }
1149         }
1150 }
1151
1152 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
1153 {
1154         if(control.command_queue.pop(cmd))
1155                 return true;
1156
1157         for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1158                 if((*i)->get_work(cmd))
1159                         return true;
1160
1161         // As fallback, send an idle packet for the MM protocol
1162         cmd.command[0] = MOTOROLA_SPEED;
1163         cmd.command[1] = 80;
1164         cmd.command[2] = 0;
1165         cmd.command[3] = 0;
1166         cmd.length = 4;
1167
1168         return true;
1169 }
1170
1171 unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
1172 {
1173         if(control.debug>=2)
1174         {
1175                 string cmd_hex;
1176                 for(unsigned i=0; i<cmd.length; ++i)
1177                         cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
1178                 IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
1179         }
1180
1181         control.serial.put(cmd.length^0xFF);
1182         control.serial.write(cmd.command, cmd.length);
1183
1184         unsigned result = 0;
1185         while(1)
1186         {
1187                 bool got_data;
1188                 if(result)
1189                         got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
1190                 else
1191                         got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
1192
1193                 if(!got_data)
1194                         break;
1195
1196                 unsigned rlength = control.serial.get()^0xFF;
1197                 if(rlength>15)
1198                 {
1199                         IO::print("Invalid length %02X\n", rlength);
1200                         continue;
1201                 }
1202
1203                 char reply[15];
1204                 unsigned pos = 0;
1205                 while(pos<rlength)
1206                 {
1207                         if(!IO::poll(control.serial, IO::P_INPUT, timeout))
1208                                 return 0;
1209                         pos += control.serial.read(reply+pos, rlength-pos);
1210                 }
1211
1212                 if(control.debug>=2)
1213                 {
1214                         string reply_hex;
1215                         for(unsigned i=0; i<rlength; ++i)
1216                                 reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
1217                         IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
1218                 }
1219
1220                 unsigned r = process_reply(reply, rlength);
1221                 if(r && !result)
1222                         result = r;
1223         }
1224
1225         return result;
1226 }
1227
1228 unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
1229 {
1230         unsigned char type = reply[0];
1231         if((type&0xE0)==0x80)
1232         {
1233                 if(type!=COMMAND_OK)
1234                         IO::print("Error %02X\n", type);
1235                 return type;
1236         }
1237         else if(type==POWER_STATE && rlength==2)
1238                 set_power(reply[1]);
1239         else if(type==OVERCURRENT)
1240         {
1241                 set_power(false);
1242                 IO::print("Overcurrent detected!\n");
1243         }
1244         else
1245         {
1246                 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1247                         (*i)->process_reply(reply, rlength);
1248         }
1249
1250         return 0;
1251 }
1252
1253 void ArduControl::ControlThread::set_power(bool p)
1254 {
1255         control.power.set(p);
1256
1257         Tag tag;
1258         tag.type = Tag::GENERAL;
1259         tag.command = POWER;
1260         tag.serial = control.power.serial;
1261         control.completed_commands.push(tag);
1262 }
1263
1264
1265 ArduControl::Loader::Loader(ArduControl &c):
1266         DataFile::ObjectLoader<ArduControl>(c)
1267 {
1268         add("mfx_announce_serial", &Loader::mfx_announce_serial);
1269         add("mfx_locomotive", &Loader::mfx_locomotive);
1270 }
1271
1272 void ArduControl::Loader::mfx_announce_serial(unsigned s)
1273 {
1274         obj.mfx_announce.set_serial(s);
1275 }
1276
1277 void ArduControl::Loader::mfx_locomotive(unsigned id)
1278 {
1279         MfxInfo info;
1280         info.id = id;
1281         info.protocol = "MFX";
1282         load_sub(info);
1283         obj.add_mfx_info(info);
1284 }
1285
1286
1287 ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
1288         DataFile::ObjectLoader<MfxInfo>(i)
1289 {
1290         add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
1291         add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));
1292 }
1293
1294 } // namespace R2C2