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         if(debug>=1)
 300                 IO::print("Setting accessory %d bit %d, state=%d\n", acc.address, active_index, acc.state.pending);
 301         PendingCommand cmd(acc, Accessory::ACTIVATE, active_index);
 302         command_queue.push(cmd);
 303         active_accessory = &acc;
 304
 305         monitor.reset_peak();
 306 }
 307
 308 unsigned ArduControl::add_sensor(unsigned addr)
 309 {
 310         if(!addr)
 311                 throw invalid_argument("ArduControl::add_sensor");
 312
 313         insert_unique(sensors, addr, Sensor(addr));
 314         s88.grow_n_octets((addr+7)/8);
 315
 316         return addr;
 317 }
 318
 319 void ArduControl::remove_sensor(unsigned addr)
 320 {
 321         remove_existing(sensors, addr);
 322         // TODO update s88.n_octets
 323 }
 324
 325 bool ArduControl::get_sensor(unsigned addr) const
 326 {
 327         return get_item(sensors, addr).state;
 328 }
 329
 330 float ArduControl::get_telemetry_value(const string &name) const
 331 {
 332         throw key_error(name);
 333 }
 334
 335 void ArduControl::tick()
 336 {
 337         Tag tag;
 338         while(completed_commands.pop(tag))
 339         {
 340                 if(tag.type==Tag::GENERAL)
 341                 {
 342                         if(tag.command==POWER)
 343                         {
 344                                 if(power.commit(tag.serial))
 345                                         signal_power.emit(power.current);
 346                         }
 347                         else if(tag.command==NEW_LOCO)
 348                         {
 349                                 MfxInfo info;
 350                                 if(mfx_search.pop_info(info))
 351                                 {
 352                                         MfxInfoArray::iterator i = add_mfx_info(info);
 353                                         save_state();
 354                                         signal_locomotive_detected.emit(*i);
 355                                 }
 356                         }
 357                 }
 358                 else if(tag.type==Tag::LOCOMOTIVE)
 359                 {
 360                         LocomotiveMap::iterator i = locomotives.find(tag.id);
 361                         if(i==locomotives.end())
 362                                 continue;
 363
 364                         Locomotive &loco = i->second;
 365                         if(tag.command==Locomotive::SPEED)
 366                         {
 367                                 if(loco.speed.commit(tag.serial))
 368                                         signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
 369                         }
 370                         else if(tag.command==Locomotive::REVERSE)
 371                         {
 372                                 if(loco.reverse.commit(tag.serial))
 373                                         signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
 374                         }
 375                         else if(tag.command==Locomotive::FUNCTIONS)
 376                         {
 377                                 unsigned old = loco.funcs;
 378                                 if(loco.funcs.commit(tag.serial))
 379                                 {
 380                                         unsigned changed = old^loco.funcs;
 381                                         for(unsigned j=0; changed>>j; ++j)
 382                                                 if((changed>>j)&1)
 383                                                         signal_loco_function.emit(loco.id, j, (loco.funcs>>j)&1);
 384                                 }
 385                         }
 386                 }
 387                 else if(tag.type==Tag::ACCESSORY)
 388                 {
 389                         AccessoryMap::iterator i = accessories.find(tag.id);
 390                         if(i==accessories.end())
 391                                 continue;
 392
 393                         Accessory &acc = i->second;
 394                         if(tag.command==Accessory::ACTIVATE)
 395                                 off_timeout = Time::now()+acc.active_time;
 396                         else if(tag.command==Accessory::DEACTIVATE)
 397                         {
 398                                 if(acc.state.commit(tag.serial))
 399                                 {
 400                                         if(&acc==active_accessory)
 401                                                 active_accessory = 0;
 402                                 }
 403                         }
 404                 }
 405                 else if(tag.type==Tag::SENSOR)
 406                 {
 407                         SensorMap::iterator i = sensors.find(tag.id);
 408                         if(i==sensors.end())
 409                                 continue;
 410
 411                         Sensor &sensor = i->second;
 412                         if(tag.command==Sensor::STATE)
 413                         {
 414                                 if(sensor.state.commit(tag.serial))
 415                                         signal_sensor.emit(sensor.address, sensor.state);
 416                         }
 417                 }
 418         }
 419
 420         while(power && !active_accessory && !accessory_queue.empty())
 421         {
 422                 Accessory &acc = *accessory_queue.front();
 423
 424                 if(acc.uncertain)
 425                 {
 426                         unsigned zeroes = acc.uncertain&~acc.target;
 427                         if(zeroes)
 428                                 activate_accessory_by_mask(acc, zeroes);
 429                         else
 430                                 activate_accessory_by_mask(acc, acc.uncertain);
 431                 }
 432                 else if(acc.state!=acc.target)
 433                 {
 434                         unsigned changes = acc.state^acc.target;
 435                         if(!(changes&((1<<acc.bits)-1)))
 436                         {
 437                                 // All remaining changes are in non-physical bits
 438                                 acc.state.set(acc.state^changes);
 439                                 acc.state.commit(acc.state.serial);
 440                         }
 441                         else
 442                         {
 443                                 unsigned toggle_bit = 0;
 444                                 for(unsigned bit=1; (!toggle_bit && bit<=changes); bit<<=1)
 445                                         if((changes&bit) && (acc.valid_states&(1<<(acc.state^bit))))
 446                                                 toggle_bit = bit;
 447
 448                                 activate_accessory_by_mask(acc, toggle_bit);
 449                         }
 450                 }
 451                 else
 452                 {
 453                         accessory_queue.pop_front();
 454
 455                         if(acc.state==acc.target)
 456                         {
 457                                 if(acc.kind==Accessory::TURNOUT)
 458                                         signal_turnout.emit(acc.address, acc.state);
 459                                 else if(acc.kind==Accessory::SIGNAL)
 460                                         signal_signal.emit(acc.address, acc.state);
 461                         }
 462                 }
 463         }
 464
 465         if(active_accessory && off_timeout)
 466         {
 467                 bool success = (monitor.get_peak()>0.35f && monitor.get_current()<monitor.get_peak()-0.2f);
 468                 Time::TimeStamp t = Time::now();
 469                 if(t>off_timeout || success)
 470                 {
 471                         Accessory &acc = *active_accessory;
 472
 473                         unsigned bit = 1<<active_index;
 474
 475                         // Assume success if we were uncertain of the physical setting
 476                         if(acc.uncertain&bit)
 477                                 acc.uncertain &= ~bit;
 478                         else if(acc.kind==Accessory::TURNOUT && !success)
 479                         {
 480                                 if(debug>=1)
 481                                         IO::print("Peak current only %.2f A\n", monitor.get_peak());
 482                                 signal_turnout_failed.emit(acc.address);
 483                                 acc.state.rollback();
 484                                 if(acc.valid_states&(1<<(acc.target^bit)))
 485                                         acc.target ^= bit;
 486                                 else
 487                                         acc.target = acc.state;
 488                         }
 489
 490                         off_timeout = Time::TimeStamp();
 491                         PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
 492                         command_queue.push(cmd);
 493                 }
 494         }
 495 }
 496
 497 void ArduControl::flush()
 498 {
 499         while(!command_queue.empty() || (power && !accessory_queue.empty()))
 500                 tick();
 501 }
 502
 503 void ArduControl::save_state() const
 504 {
 505         FS::RedirectedPath tmp_file(state_file);
 506         IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
 507         DataFile::Writer writer(out);
 508
 509         writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
 510         for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
 511         {
 512                 DataFile::Statement st("mfx_locomotive");
 513                 st.append(i->id);
 514                 st.sub.push_back((DataFile::Statement("address"), i->address));
 515                 st.sub.push_back((DataFile::Statement("name"), i->name));
 516                 writer.write(st);
 517         }
 518 }
 519
 520
 521 ArduControl::Tag::Tag():
 522         type(NONE),
 523         command(0),
 524         serial(0),
 525         id(0)
 526 { }
 527
 528
 529 ArduControl::Locomotive::Locomotive(Protocol p, unsigned a):
 530         id((p<<16)|a),
 531         proto(p),
 532         address(a),
 533         speed(0),
 534         reverse(false),
 535         funcs(0),
 536         last_change_age(0)
 537 { }
 538
 539 unsigned ArduControl::Locomotive::create_speed_dir_command(char *buffer) const
 540 {
 541         if(proto==MM)
 542         {
 543                 buffer[0] = MOTOROLA_SPEED_DIRECTION;
 544                 buffer[1] = address;
 545                 buffer[2] = funcs.pending&1;
 546                 buffer[3] = speed.pending+reverse.pending*0x80;
 547                 return 4;
 548         }
 549         else if(proto==MFX)
 550         {
 551                 buffer[0] = MFX_SPEED;
 552                 buffer[1] = address>>8;
 553                 buffer[2] = address;
 554                 buffer[3] = speed.pending+reverse.pending*0x80;
 555                 return 4;
 556         }
 557         else
 558                 return 0;
 559 }
 560
 561 unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *buffer) const
 562 {
 563         if(proto==MM)
 564         {
 565                 if(f<1 || f>4)
 566                         throw invalid_argument("Locomotive::create_speed_func_command");
 567
 568                 buffer[0] = MOTOROLA_SPEED_FUNCTION;
 569                 buffer[1] = address;
 570                 buffer[2] = (f<<4)|(((funcs.pending>>f)&1)<<1)|(funcs.pending&1);
 571                 buffer[3] = speed.pending;
 572                 return 4;
 573         }
 574         else if(proto==MFX)
 575         {
 576                 bool f16 = (funcs.pending>0xFF);
 577                 buffer[0] = (f16 ? MFX_SPEED_FUNCS16 : MFX_SPEED_FUNCS8);
 578                 buffer[1] = address>>8;
 579                 buffer[2] = address;
 580                 buffer[3] = speed.pending+reverse.pending*0x80;
 581                 if(f16)
 582                 {
 583                         buffer[4] = funcs.pending>>8;
 584                         buffer[5] = funcs.pending;
 585                         return 6;
 586                 }
 587                 else
 588                 {
 589                         buffer[4] = funcs.pending;
 590                         return 5;
 591                 }
 592         }
 593         else
 594                 return 0;
 595 }
 596
 597
 598 ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b, unsigned s):
 599         kind(k),
 600         address(a),
 601         bits(b),
 602         valid_states(s),
 603         state(0),
 604         uncertain((1<<bits)-1),
 605         target(0),
 606         active_time((bits*700)*Time::msec)
 607 { }
 608
 609 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
 610 {
 611         if(b>=bits)
 612                 throw invalid_argument("Accessory::create_state_command");
 613
 614         unsigned a = (address+b+3)*2;
 615         if(!((state.pending>>b)&1))
 616                 ++a;
 617         buffer[0] = MOTOROLA_SOLENOID;
 618         buffer[1] = a>>3;
 619         buffer[2] = ((a&7)<<4)|c;
 620         return 3;
 621 }
 622
 623
 624 ArduControl::Sensor::Sensor(unsigned a):
 625         address(a),
 626         state(false)
 627 { }
 628
 629
 630 ArduControl::PendingCommand::PendingCommand():
 631         length(0),
 632         repeat_count(1)
 633 { }
 634
 635 ArduControl::PendingCommand::PendingCommand(GeneralCommand cmd):
 636         length(0),
 637         repeat_count(1)
 638 {
 639         tag.type = Tag::GENERAL;
 640         tag.command = cmd;
 641 }
 642
 643 ArduControl::PendingCommand::PendingCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index):
 644         repeat_count(8)
 645 {
 646         tag.type = Tag::LOCOMOTIVE;
 647         tag.command = cmd;
 648         tag.id = loco.id;
 649         if(cmd==Locomotive::SPEED)
 650         {
 651                 tag.serial = loco.speed.serial;
 652                 length = loco.create_speed_dir_command(command);
 653         }
 654         else if(cmd==Locomotive::REVERSE)
 655         {
 656                 tag.serial = loco.reverse.serial;
 657                 length = loco.create_speed_dir_command(command);
 658         }
 659         else if(cmd==Locomotive::FUNCTIONS)
 660         {
 661                 tag.serial = loco.funcs.serial;
 662                 length = loco.create_speed_func_command(index, command);
 663         }
 664         else
 665                 throw invalid_argument("PendingCommand");
 666 }
 667
 668 ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command cmd, unsigned index):
 669         repeat_count(1)
 670 {
 671         tag.type = Tag::ACCESSORY;
 672         tag.command = cmd;
 673         tag.id = acc.address;
 674         if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
 675         {
 676                 tag.serial = acc.state.serial;
 677                 length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
 678         }
 679         else
 680                 throw invalid_argument("PendingCommand");
 681 }
 682
 683
 684 template<typename T>
 685 void ArduControl::Queue<T>::push(const T &item)
 686 {
 687         MutexLock lock(mutex);
 688         items.push_back(item);
 689 }
 690
 691 template<typename T>
 692 bool ArduControl::Queue<T>::pop(T &item)
 693 {
 694         MutexLock lock(mutex);
 695         if(items.empty())
 696                 return false;
 697
 698         item = items.front();
 699         items.pop_front();
 700         return true;
 701 }
 702
 703 template<typename T>
 704 bool ArduControl::Queue<T>::empty() const
 705 {
 706         return items.empty();
 707 }
 708
 709
 710 bool ArduControl::CommandQueueTask::get_work(PendingCommand &cmd)
 711 {
 712         return queue.pop(cmd);
 713 }
 714
 715 void ArduControl::CommandQueueTask::push(const PendingCommand &cmd)
 716 {
 717         queue.push(cmd);
 718 }
 719
 720
 721 ArduControl::Task::Task(const string &n, unsigned p):
 722         name(n),
 723         priority(p)
 724 { }
 725
 726 void ArduControl::Task::sleep(const Time::TimeDelta &dt)
 727 {
 728         sleep_timeout = Time::now()+dt;
 729 }
 730
 731
 732 ArduControl::CommandQueueTask::CommandQueueTask():
 733         Task("CommandQueue")
 734 { }
 735
 736
 737 ArduControl::RefreshTask::RefreshTask():
 738         Task("Refresh", 2),
 739         next(cycle.end()),
 740         round(0),
 741         loco(0),
 742         phase(0)
 743 { }
 744
 745 bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
 746 {
 747         if(loco && loco->proto==MM && phase==0)
 748         {
 749                 cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
 750                 cmd.repeat_count = 2;
 751                 ++phase;
 752                 return true;
 753         }
 754
 755         loco = get_next_loco();
 756         if(!loco)
 757                 return false;
 758
 759         phase = 0;
 760         if(loco->proto==MM)
 761         {
 762                 cmd.length = loco->create_speed_dir_command(cmd.command);
 763                 cmd.repeat_count = 2;
 764         }
 765         else if(loco->proto==MFX)
 766                 cmd.length = loco->create_speed_func_command(0, cmd.command);
 767         else
 768                 return false;
 769
 770         return true;
 771 }
 772
 773 void ArduControl::RefreshTask::add_loco(Locomotive &l)
 774 {
 775         MutexLock lock(mutex);
 776         cycle.push_back(&l);
 777         if(cycle.size()>15)
 778         {
 779                 LocomotivePtrList::iterator oldest = cycle.begin();
 780                 for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
 781                         if((*i)->last_change_age>(*oldest)->last_change_age)
 782                                 oldest = i;
 783                 if(oldest==next)
 784                         advance();
 785                 cycle.erase(oldest);
 786         }
 787         if(next==cycle.end())
 788                 next = cycle.begin();
 789 }
 790
 791 void ArduControl::RefreshTask::remove_loco(Locomotive &l)
 792 {
 793         MutexLock lock(mutex);
 794         for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
 795                 if(*i==&l)
 796                 {
 797                         if(i==next)
 798                         {
 799                                 if(cycle.size()>1)
 800                                         advance();
 801                                 else
 802                                         next = cycle.end();
 803                         }
 804                         cycle.erase(i);
 805                         return;
 806                 }
 807 }
 808
 809 ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
 810 {
 811         MutexLock lock(mutex);
 812         if(cycle.empty())
 813                 return 0;
 814
 815         Locomotive *l = *next;
 816         advance();
 817         return l;
 818 }
 819
 820 void ArduControl::RefreshTask::advance()
 821 {
 822         ++next;
 823         if(next==cycle.end())
 824         {
 825                 next= cycle.begin();
 826                 ++round;
 827         }
 828 }
 829
 830
 831 ArduControl::S88Task::S88Task(ArduControl &c):
 832         Task("S88"),
 833         control(c),
 834         n_octets(0),
 835         octets_remaining(0)
 836 { }
 837
 838 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 839 {
 840         if(octets_remaining || !n_octets)
 841                 return false;
 842
 843         octets_remaining = n_octets;
 844         cmd.command[0] = S88_READ;
 845         cmd.command[1] = octets_remaining;
 846         cmd.length = 2;
 847
 848         sleep(100*Time::msec);
 849
 850         return true;
 851 }
 852
 853 void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
 854 {
 855         unsigned char type = reply[0];
 856         if(type==S88_DATA && length>2)
 857         {
 858                 unsigned offset = static_cast<unsigned char>(reply[1]);
 859                 unsigned count = length-2;
 860
 861                 SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
 862                 SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
 863                 for(SensorMap::iterator i=begin; i!=end; ++i)
 864                 {
 865                         unsigned bit_index = i->first-1-offset*8;
 866                         bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
 867                         i->second.state.set(state);
 868
 869                         Tag tag;
 870                         tag.type = Tag::SENSOR;
 871                         tag.command = Sensor::STATE;
 872                         tag.serial = i->second.state.serial;
 873                         tag.id = i->first;
 874                         control.completed_commands.push(tag);
 875                 }
 876
 877                 if(count>octets_remaining)
 878                         octets_remaining = 0;
 879                 else
 880                         octets_remaining -= count;
 881         }
 882 }
 883
 884 void ArduControl::S88Task::set_n_octets(unsigned n)
 885 {
 886         n_octets = n;
 887 }
 888
 889 void ArduControl::S88Task::grow_n_octets(unsigned n)
 890 {
 891         if(n>n_octets)
 892                 n_octets = n;
 893 }
 894
 895
 896 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
 897         Task("MfxAnnounce", 1),
 898         serial(0)
 899 { }
 900
 901 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
 902 {
 903         cmd.command[0] = MFX_ANNOUNCE;
 904         cmd.command[1] = serial>>8;
 905         cmd.command[2] = serial;
 906         cmd.length = 3;
 907
 908         sleep(400*Time::msec);
 909
 910         return true;
 911 }
 912
 913 void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
 914 {
 915         serial = s;
 916 }
 917
 918
 919 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
 920         Task("MfxSearch", 1),
 921         control(c),
 922         next_address(1),
 923         size(0),
 924         bits(0),
 925         misses(0)
 926 { }
 927
 928 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 929 {
 930         if(size>32)
 931         {
 932                 if(control.debug>=1)
 933                         IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
 934
 935                 MfxInfo info;
 936                 info.protocol = "MFX";
 937                 info.address = next_address;
 938                 info.name = format("%08X", bits);
 939                 info.id = bits;
 940                 queue.push(info);
 941
 942                 cmd.command[0] = MFX_ASSIGN_ADDRESS;
 943                 cmd.command[1] = next_address>>8;
 944                 cmd.command[2] = next_address;
 945                 for(unsigned i=0; i<4; ++i)
 946                         cmd.command[3+i] = bits>>(24-i*8);
 947                 cmd.length = 7;
 948
 949                 cmd.tag.type = Tag::GENERAL;
 950                 cmd.tag.command = NEW_LOCO;
 951                 cmd.tag.id = bits;
 952
 953                 size = 0;
 954                 bits = 0;
 955                 ++next_address;
 956
 957                 return true;
 958         }
 959
 960         cmd.command[0] = MFX_SEARCH;
 961         for(unsigned i=0; i<4; ++i)
 962                 cmd.command[1+i] = bits>>(24-i*8);
 963         cmd.command[5] = size;
 964         cmd.length = 6;
 965
 966         sleep(200*Time::msec);
 967
 968         if(control.debug>=1)
 969                 IO::print("Search %08X/%d\n", bits, size);
 970
 971         return true;
 972 }
 973
 974 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
 975 {
 976         unsigned char type = reply[0];
 977         if(type==MFX_SEARCH_FEEDBACK && length==2)
 978         {
 979                 if(reply[1])
 980                 {
 981                         misses = 0;
 982                         ++size;
 983                 }
 984                 else if(size>0 && misses<6)
 985                 {
 986                         ++misses;
 987                         bits ^= 1<<(32-size);
 988                 }
 989                 else
 990                 {
 991                         sleep(2*Time::sec);
 992                         bits = 0;
 993                         size = 0;
 994                         misses = 0;
 995                 }
 996         }
 997 }
 998
 999 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
1000 {
1001         next_address = a;
1002 }
1003
1004 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
1005 {
1006         return queue.pop(info);
1007 }
1008
1009
1010 ArduControl::MonitorTask::MonitorTask():
1011         Task("Monitor"),
1012         voltage(0),
1013         current(0),
1014         base_level(0),
1015         peak_level(0),
1016         next_type(0)
1017 { }
1018
1019 bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
1020 {
1021         if(next_type==0)
1022                 cmd.command[0] = READ_INPUT_VOLTAGE;
1023         else
1024                 cmd.command[0] = READ_TRACK_CURRENT;
1025         cmd.length = 1;
1026
1027         sleep(200*Time::msec);
1028         next_type = (next_type+1)%5;
1029
1030         return true;
1031 }
1032
1033 void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
1034 {
1035         unsigned char type = reply[0];
1036         if(type==INPUT_VOLTAGE && length==3)
1037                 voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1038         else if(type==TRACK_CURRENT && length==5)
1039         {
1040                 current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1041                 float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
1042                 peak_level = max(peak_level, peak);
1043                 base_level = min(base_level, current);
1044         }
1045 }
1046
1047 void ArduControl::MonitorTask::reset_peak()
1048 {
1049         base_level = current;
1050         peak_level = current;
1051 }
1052
1053
1054 ArduControl::ControlThread::ControlThread(ArduControl &c):
1055         control(c),
1056         done(false)
1057 {
1058         tasks.push_back(&control.command_queue);
1059         tasks.push_back(&control.monitor);
1060         tasks.push_back(&control.mfx_announce);
1061         tasks.push_back(&control.mfx_search);
1062         tasks.push_back(&control.s88);
1063         tasks.push_back(&control.refresh);
1064
1065         launch();
1066 }
1067
1068 void ArduControl::ControlThread::exit()
1069 {
1070         done = true;
1071         join();
1072 }
1073
1074 void ArduControl::ControlThread::main()
1075 {
1076         init_baud_rate();
1077
1078         while(!done)
1079         {
1080                 PendingCommand cmd;
1081                 if(get_work(cmd))
1082                 {
1083                         bool success = true;
1084                         bool resync = false;
1085                         for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
1086                         {
1087                                 unsigned result = do_command(cmd, control.command_timeout);
1088                                 success = (result==COMMAND_OK);
1089                                 resync = (result==0);
1090                         }
1091
1092                         if(success && cmd.tag)
1093                                 control.completed_commands.push(cmd.tag);
1094
1095                         if(resync)
1096                         {
1097                                 if(control.debug>=1)
1098                                         IO::print("Synchronization with ArduControl lost, attempting to recover\n");
1099                                 for(unsigned i=0; (resync && i<16); ++i)
1100                                 {
1101                                         control.serial.put('\xFF');
1102                                         while(IO::poll(control.serial, IO::P_INPUT, control.command_timeout))
1103                                                 resync = (control.serial.get()!=0xFF);
1104                                 }
1105                                 if(resync)
1106                                 {
1107                                         if(control.debug>=1)
1108                                                 IO::print("Resynchronization failed, giving up\n");
1109                                         done = true;
1110                                 }
1111                                 else
1112                                 {
1113                                         if(control.debug>=1)
1114                                                 IO::print("Resynchronization successful\n");
1115                                         if(cmd.tag)
1116                                                 control.command_queue.push(cmd);
1117                                 }
1118                         }
1119                 }
1120                 else
1121                         Time::sleep(10*Time::msec);
1122         }
1123 }
1124
1125 void ArduControl::ControlThread::init_baud_rate()
1126 {
1127         static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
1128         unsigned rate = 0;
1129         control.serial.set_data_bits(8);
1130         control.serial.set_parity(IO::Serial::NONE);
1131         control.serial.set_stop_bits(1);
1132         for(unsigned i=0; rates[i]; ++i)
1133         {
1134                 control.serial.set_baud_rate(rates[i]);
1135                 control.serial.put('\xFF');
1136                 if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
1137                 {
1138                         int c = control.serial.get();
1139                         if(c==0xFF)
1140                         {
1141                                 rate = rates[i];
1142                                 break;
1143                         }
1144                 }
1145         }
1146
1147         if(!rate)
1148         {
1149                 if(control.debug>=1)
1150                         IO::print("ArduControl detection failed\n");
1151                 done = true;
1152                 return;
1153         }
1154
1155         if(control.debug>=1)
1156                 IO::print("ArduControl detected at %d bits/s\n", rate);
1157
1158         if(rate!=rates[0])
1159         {
1160                 PendingCommand cmd;
1161                 cmd.command[0] = SET_BAUD_RATE;
1162                 cmd.command[1] = rates[0]>>8;
1163                 cmd.command[2] = rates[0];
1164                 cmd.length = 3;
1165                 if(do_command(cmd, Time::sec)==COMMAND_OK)
1166                 {
1167                         control.serial.set_baud_rate(rates[0]);
1168                         Time::sleep(Time::sec);
1169                         if(do_command(cmd, Time::sec)==COMMAND_OK)
1170                         {
1171                                 if(control.debug>=1)
1172                                         IO::print("Rate changed to %d bits/s\n", rates[0]);
1173                         }
1174                 }
1175         }
1176 }
1177
1178 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
1179 {
1180         Time::TimeStamp t = Time::now();
1181
1182         unsigned count = 0;
1183         for(; (count<tasks.size() && tasks[count]->get_sleep_timeout()<=t); ++count) ;
1184
1185         for(; count>0; --count)
1186         {
1187                 unsigned i = 0;
1188                 for(unsigned j=1; j<count; ++j)
1189                         if(tasks[j]->get_priority()<tasks[i]->get_priority())
1190                                 i = j;
1191
1192                 Task *task = tasks[i];
1193                 bool result = task->get_work(cmd);
1194
1195                 Time::TimeStamp st = max(task->get_sleep_timeout(), t);
1196                 for(; (i+1<tasks.size() && tasks[i+1]->get_sleep_timeout()<=st); ++i)
1197                         tasks[i] = tasks[i+1];
1198                 tasks[i] = task;
1199
1200                 if(result)
1201                 {
1202                         if(control.debug>=2)
1203                                 IO::print("Scheduled task %s\n", task->get_name());
1204                         return true;
1205                 }
1206         }
1207
1208         // As fallback, send an idle packet for the MM protocol
1209         cmd.command[0] = MOTOROLA_SPEED;
1210         cmd.command[1] = 80;
1211         cmd.command[2] = 0;
1212         cmd.command[3] = 0;
1213         cmd.length = 4;
1214
1215         return true;
1216 }
1217
1218 unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
1219 {
1220         if(control.debug>=2)
1221         {
1222                 string cmd_hex;
1223                 for(unsigned i=0; i<cmd.length; ++i)
1224                         cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
1225                 IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
1226         }
1227
1228         control.serial.put(cmd.length^0xFF);
1229         control.serial.write(cmd.command, cmd.length);
1230
1231         unsigned result = 0;
1232         while(1)
1233         {
1234                 bool got_data;
1235                 if(result)
1236                         got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
1237                 else
1238                         got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
1239
1240                 if(!got_data)
1241                         break;
1242
1243                 unsigned rlength = control.serial.get()^0xFF;
1244                 if(rlength>15)
1245                 {
1246                         IO::print("Invalid length %02X\n", rlength);
1247                         continue;
1248                 }
1249
1250                 char reply[15];
1251                 unsigned pos = 0;
1252                 while(pos<rlength)
1253                 {
1254                         if(!IO::poll(control.serial, IO::P_INPUT, timeout))
1255                                 return 0;
1256                         pos += control.serial.read(reply+pos, rlength-pos);
1257                 }
1258
1259                 if(control.debug>=2)
1260                 {
1261                         string reply_hex;
1262                         for(unsigned i=0; i<rlength; ++i)
1263                                 reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
1264                         IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
1265                 }
1266
1267                 unsigned r = process_reply(reply, rlength);
1268                 if(r && !result)
1269                         result = r;
1270         }
1271
1272         return result;
1273 }
1274
1275 unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
1276 {
1277         unsigned char type = reply[0];
1278         if((type&0xE0)==0x80)
1279         {
1280                 if(type!=COMMAND_OK)
1281                         IO::print("Error %02X\n", type);
1282                 return type;
1283         }
1284         else if(type==POWER_STATE && rlength==2)
1285                 set_power(reply[1]);
1286         else if(type==OVERCURRENT)
1287         {
1288                 set_power(false);
1289                 IO::print("Overcurrent detected!\n");
1290         }
1291         else
1292         {
1293                 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1294                         (*i)->process_reply(reply, rlength);
1295         }
1296
1297         return 0;
1298 }
1299
1300 void ArduControl::ControlThread::set_power(bool p)
1301 {
1302         control.power.set(p);
1303
1304         Tag tag;
1305         tag.type = Tag::GENERAL;
1306         tag.command = POWER;
1307         tag.serial = control.power.serial;
1308         control.completed_commands.push(tag);
1309 }
1310
1311
1312 ArduControl::Loader::Loader(ArduControl &c):
1313         DataFile::ObjectLoader<ArduControl>(c)
1314 {
1315         add("mfx_announce_serial", &Loader::mfx_announce_serial);
1316         add("mfx_locomotive", &Loader::mfx_locomotive);
1317 }
1318
1319 void ArduControl::Loader::mfx_announce_serial(unsigned s)
1320 {
1321         obj.mfx_announce.set_serial(s);
1322 }
1323
1324 void ArduControl::Loader::mfx_locomotive(unsigned id)
1325 {
1326         MfxInfo info;
1327         info.id = id;
1328         info.protocol = "MFX";
1329         load_sub(info);
1330         obj.add_mfx_info(info);
1331 }
1332
1333
1334 ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
1335         DataFile::ObjectLoader<MfxInfo>(i)
1336 {
1337         add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
1338         add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));
1339 }
1340
1341 } // namespace R2C2