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());
 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);
 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)
 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));
 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 unsigned ArduControl::add_sensor(unsigned addr)
 295 {
 296         if(!addr)
 297                 throw invalid_argument("ArduControl::add_sensor");
 298
 299         insert_unique(sensors, addr, Sensor(addr));
 300         s88.grow_n_octets((addr+7)/8);
 301
 302         return addr;
 303 }
 304
 305 void ArduControl::remove_sensor(unsigned addr)
 306 {
 307         remove_existing(sensors, addr);
 308         // TODO update s88.n_octets
 309 }
 310
 311 bool ArduControl::get_sensor(unsigned addr) const
 312 {
 313         return get_item(sensors, addr).state;
 314 }
 315
 316 void ArduControl::tick()
 317 {
 318         Tag tag;
 319         while(completed_commands.pop(tag))
 320         {
 321                 if(tag.type==Tag::GENERAL)
 322                 {
 323                         if(tag.command==POWER)
 324                         {
 325                                 if(power.commit(tag.serial))
 326                                         signal_power.emit(power.current);
 327                         }
 328                         else if(tag.command==NEW_LOCO)
 329                         {
 330                                 MfxInfo info;
 331                                 if(mfx_search.pop_info(info))
 332                                 {
 333                                         MfxInfoArray::iterator i = add_mfx_info(info);
 334                                         save_state();
 335                                         signal_locomotive_detected.emit(*i);
 336                                 }
 337                         }
 338                 }
 339                 else if(tag.type==Tag::LOCOMOTIVE)
 340                 {
 341                         LocomotiveMap::iterator i = locomotives.find(tag.id);
 342                         if(i==locomotives.end())
 343                                 continue;
 344
 345                         Locomotive &loco = i->second;
 346                         if(tag.command==Locomotive::SPEED)
 347                         {
 348                                 if(loco.speed.commit(tag.serial))
 349                                         signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
 350                         }
 351                         else if(tag.command==Locomotive::REVERSE)
 352                         {
 353                                 if(loco.reverse.commit(tag.serial))
 354                                         signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
 355                         }
 356                         else if(tag.command==Locomotive::FUNCTIONS)
 357                         {
 358                                 unsigned old = loco.funcs;
 359                                 if(loco.funcs.commit(tag.serial))
 360                                 {
 361                                         unsigned changed = old^loco.funcs;
 362                                         for(unsigned j=0; changed>>j; ++j)
 363                                                 if((changed>>j)&1)
 364                                                         signal_loco_function.emit(loco.id, j, (loco.funcs>>j)&1);
 365                                 }
 366                         }
 367                 }
 368                 else if(tag.type==Tag::ACCESSORY)
 369                 {
 370                         AccessoryMap::iterator i = accessories.find(tag.id);
 371                         if(i==accessories.end())
 372                                 continue;
 373
 374                         Accessory &acc = i->second;
 375                         if(tag.command==Accessory::ACTIVATE)
 376                                 off_timeout = Time::now()+acc.active_time;
 377                         else if(tag.command==Accessory::DEACTIVATE)
 378                         {
 379                                 if(acc.state.commit(tag.serial))
 380                                 {
 381                                         if(&acc==active_accessory)
 382                                                 active_accessory = 0;
 383                                 }
 384                         }
 385                 }
 386                 else if(tag.type==Tag::SENSOR)
 387                 {
 388                         SensorMap::iterator i = sensors.find(tag.id);
 389                         if(i==sensors.end())
 390                                 continue;
 391
 392                         Sensor &sensor = i->second;
 393                         if(tag.command==Sensor::STATE)
 394                         {
 395                                 if(sensor.state.commit(tag.serial))
 396                                         signal_sensor.emit(sensor.address, sensor.state);
 397                         }
 398                 }
 399         }
 400
 401         while(power && !active_accessory && !accessory_queue.empty())
 402         {
 403                 Accessory &acc = *accessory_queue.front();
 404
 405                 if(acc.state!=acc.target || acc.uncertain)
 406                 {
 407                         unsigned changes = acc.state^acc.target;
 408                         unsigned lowest_bit = changes&~(changes-1);
 409                         if(lowest_bit>>acc.bits)
 410                         {
 411                                 // All remaining changes are in non-physical bits
 412                                 acc.state.set(acc.state^changes);
 413                                 acc.state.commit(acc.state.serial);
 414                         }
 415                         else
 416                         {
 417                                 unsigned mask = (lowest_bit ? lowest_bit : acc.uncertain);
 418                                 for(active_index=0; (mask>>active_index)>1; ++active_index) ;
 419                                 acc.state.set(acc.state^lowest_bit);
 420                                 PendingCommand cmd(acc, Accessory::ACTIVATE, active_index);
 421                                 command_queue.push(cmd);
 422                                 active_accessory = &acc;
 423
 424                                 monitor.reset_peak();
 425                         }
 426                 }
 427                 else
 428                 {
 429                         accessory_queue.pop_front();
 430
 431                         if(acc.state==acc.target)
 432                         {
 433                                 if(acc.kind==Accessory::TURNOUT)
 434                                         signal_turnout.emit(acc.address, acc.state);
 435                                 else if(acc.kind==Accessory::SIGNAL)
 436                                         signal_signal.emit(acc.address, acc.state);
 437                         }
 438                 }
 439         }
 440
 441         if(active_accessory && off_timeout)
 442         {
 443                 Time::TimeStamp t = Time::now();
 444                 if(t>off_timeout)
 445                 {
 446                         Accessory &acc = *active_accessory;
 447
 448                         unsigned bit = 1<<active_index;
 449
 450                         // Assume success if we were uncertain of the physical setting
 451                         if(acc.uncertain&bit)
 452                                 acc.uncertain &= ~bit;
 453                         else if(acc.kind==Accessory::TURNOUT && monitor.get_peak()<0.5f)
 454                         {
 455                                 signal_turnout_failed.emit(acc.address);
 456                                 acc.state.rollback();
 457                                 acc.target ^= bit;
 458                         }
 459
 460                         off_timeout = Time::TimeStamp();
 461                         PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
 462                         command_queue.push(cmd);
 463                 }
 464         }
 465 }
 466
 467 void ArduControl::flush()
 468 {
 469         while(!command_queue.empty() || (power && !accessory_queue.empty()))
 470                 tick();
 471 }
 472
 473 void ArduControl::save_state() const
 474 {
 475         FS::RedirectedPath tmp_file(state_file);
 476         IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
 477         DataFile::Writer writer(out);
 478
 479         writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
 480         for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
 481         {
 482                 DataFile::Statement st("mfx_locomotive");
 483                 st.append(i->id);
 484                 st.sub.push_back((DataFile::Statement("address"), i->address));
 485                 st.sub.push_back((DataFile::Statement("name"), i->name));
 486                 writer.write(st);
 487         }
 488 }
 489
 490
 491 ArduControl::Tag::Tag():
 492         type(NONE),
 493         command(0),
 494         serial(0),
 495         id(0)
 496 { }
 497
 498
 499 ArduControl::Locomotive::Locomotive(Protocol p, unsigned a):
 500         id((p<<16)|a),
 501         proto(p),
 502         address(a),
 503         speed(0),
 504         reverse(false),
 505         funcs(0),
 506         last_change_age(0)
 507 { }
 508
 509 unsigned ArduControl::Locomotive::create_speed_dir_command(char *buffer) const
 510 {
 511         if(proto==MM)
 512         {
 513                 buffer[0] = MOTOROLA_SPEED_DIRECTION;
 514                 buffer[1] = address;
 515                 buffer[2] = funcs.pending&1;
 516                 buffer[3] = speed.pending+reverse.pending*0x80;
 517                 return 4;
 518         }
 519         else if(proto==MFX)
 520         {
 521                 buffer[0] = MFX_SPEED;
 522                 buffer[1] = address>>8;
 523                 buffer[2] = address;
 524                 buffer[3] = speed.pending+reverse.pending*0x80;
 525                 return 4;
 526         }
 527         else
 528                 return 0;
 529 }
 530
 531 unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *buffer) const
 532 {
 533         if(proto==MM)
 534         {
 535                 if(f<1 || f>4)
 536                         throw invalid_argument("Locomotive::create_speed_func_command");
 537
 538                 buffer[0] = MOTOROLA_SPEED_FUNCTION;
 539                 buffer[1] = address;
 540                 buffer[2] = (f<<4)|(((funcs.pending>>f)&1)<<1)|(funcs.pending&1);
 541                 buffer[3] = speed.pending;
 542                 return 4;
 543         }
 544         else if(proto==MFX)
 545         {
 546                 bool f16 = (funcs.pending>0xFF);
 547                 buffer[0] = (f16 ? MFX_SPEED_FUNCS16 : MFX_SPEED_FUNCS8);
 548                 buffer[1] = address>>8;
 549                 buffer[2] = address;
 550                 buffer[3] = speed.pending+reverse.pending*0x80;
 551                 if(f16)
 552                 {
 553                         buffer[4] = funcs.pending>>8;
 554                         buffer[5] = funcs.pending;
 555                         return 6;
 556                 }
 557                 else
 558                 {
 559                         buffer[4] = funcs.pending;
 560                         return 5;
 561                 }
 562         }
 563         else
 564                 return 0;
 565 }
 566
 567
 568 ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b):
 569         kind(k),
 570         address(a),
 571         bits(b),
 572         state(0),
 573         uncertain((1<<bits)-1),
 574         target(0),
 575         active_time(500*Time::msec)
 576 { }
 577
 578 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
 579 {
 580         if(b>=bits)
 581                 throw invalid_argument("Accessory::create_state_command");
 582
 583         unsigned a = (address+b+3)*2;
 584         if(!((state.pending>>b)&1))
 585                 ++a;
 586         buffer[0] = MOTOROLA_SOLENOID;
 587         buffer[1] = a>>3;
 588         buffer[2] = ((a&7)<<4)|c;
 589         return 3;
 590 }
 591
 592
 593 ArduControl::Sensor::Sensor(unsigned a):
 594         address(a),
 595         state(false)
 596 { }
 597
 598
 599 ArduControl::PendingCommand::PendingCommand():
 600         length(0),
 601         repeat_count(1)
 602 { }
 603
 604 ArduControl::PendingCommand::PendingCommand(GeneralCommand cmd):
 605         length(0),
 606         repeat_count(1)
 607 {
 608         tag.type = Tag::GENERAL;
 609         tag.command = cmd;
 610 }
 611
 612 ArduControl::PendingCommand::PendingCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index):
 613         repeat_count(8)
 614 {
 615         tag.type = Tag::LOCOMOTIVE;
 616         tag.command = cmd;
 617         tag.id = loco.id;
 618         if(cmd==Locomotive::SPEED)
 619         {
 620                 tag.serial = loco.speed.serial;
 621                 length = loco.create_speed_dir_command(command);
 622         }
 623         else if(cmd==Locomotive::REVERSE)
 624         {
 625                 tag.serial = loco.reverse.serial;
 626                 length = loco.create_speed_dir_command(command);
 627         }
 628         else if(cmd==Locomotive::FUNCTIONS)
 629         {
 630                 tag.serial = loco.funcs.serial;
 631                 length = loco.create_speed_func_command(index, command);
 632         }
 633         else
 634                 throw invalid_argument("PendingCommand");
 635 }
 636
 637 ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command cmd, unsigned index):
 638         repeat_count(1)
 639 {
 640         tag.type = Tag::ACCESSORY;
 641         tag.command = cmd;
 642         tag.id = acc.address;
 643         if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
 644         {
 645                 tag.serial = acc.state.serial;
 646                 length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
 647         }
 648         else
 649                 throw invalid_argument("PendingCommand");
 650 }
 651
 652
 653 template<typename T>
 654 void ArduControl::Queue<T>::push(const T &item)
 655 {
 656         MutexLock lock(mutex);
 657         items.push_back(item);
 658 }
 659
 660 template<typename T>
 661 bool ArduControl::Queue<T>::pop(T &item)
 662 {
 663         MutexLock lock(mutex);
 664         if(items.empty())
 665                 return false;
 666
 667         item = items.front();
 668         items.pop_front();
 669         return true;
 670 }
 671
 672 template<typename T>
 673 bool ArduControl::Queue<T>::empty() const
 674 {
 675         return items.empty();
 676 }
 677
 678
 679 ArduControl::RefreshTask::RefreshTask():
 680         next(cycle.end()),
 681         round(0),
 682         loco(0),
 683         phase(0)
 684 { }
 685
 686 bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
 687 {
 688         if(loco && loco->proto==MM && phase==0)
 689         {
 690                 cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
 691                 cmd.repeat_count = 2;
 692                 ++phase;
 693                 return true;
 694         }
 695
 696         loco = get_next_loco();
 697         if(!loco)
 698                 return false;
 699
 700         phase = 0;
 701         if(loco->proto==MM)
 702         {
 703                 cmd.length = loco->create_speed_dir_command(cmd.command);
 704                 cmd.repeat_count = 2;
 705         }
 706         else if(loco->proto==MFX)
 707                 cmd.length = loco->create_speed_func_command(0, cmd.command);
 708         else
 709                 return false;
 710
 711         return true;
 712 }
 713
 714 void ArduControl::RefreshTask::add_loco(Locomotive &l)
 715 {
 716         MutexLock lock(mutex);
 717         cycle.push_back(&l);
 718         if(cycle.size()>15)
 719         {
 720                 LocomotivePtrList::iterator oldest = cycle.begin();
 721                 for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
 722                         if((*i)->last_change_age>(*oldest)->last_change_age)
 723                                 oldest = i;
 724                 if(oldest==next)
 725                         advance();
 726                 cycle.erase(oldest);
 727         }
 728         if(next==cycle.end())
 729                 next = cycle.begin();
 730 }
 731
 732 void ArduControl::RefreshTask::remove_loco(Locomotive &l)
 733 {
 734         MutexLock lock(mutex);
 735         for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
 736                 if(*i==&l)
 737                 {
 738                         if(i==next)
 739                         {
 740                                 if(cycle.size()>1)
 741                                         advance();
 742                                 else
 743                                         next = cycle.end();
 744                         }
 745                         cycle.erase(i);
 746                         return;
 747                 }
 748 }
 749
 750 ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
 751 {
 752         MutexLock lock(mutex);
 753         if(cycle.empty())
 754                 return 0;
 755
 756         Locomotive *l = *next;
 757         advance();
 758         return l;
 759 }
 760
 761 void ArduControl::RefreshTask::advance()
 762 {
 763         ++next;
 764         if(next==cycle.end())
 765         {
 766                 next= cycle.begin();
 767                 ++round;
 768         }
 769 }
 770
 771
 772 ArduControl::S88Task::S88Task(ArduControl &c):
 773         control(c),
 774         n_octets(0),
 775         octets_remaining(0),
 776         delay(0)
 777 { }
 778
 779 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 780 {
 781         if(delay)
 782         {
 783                 --delay;
 784                 return false;
 785         }
 786         if(octets_remaining || !n_octets)
 787                 return false;
 788
 789         octets_remaining = n_octets;
 790         cmd.command[0] = S88_READ;
 791         cmd.command[1] = octets_remaining;
 792         cmd.length = 2;
 793
 794         delay = 4;
 795
 796         return true;
 797 }
 798
 799 void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
 800 {
 801         unsigned char type = reply[0];
 802         if(type==S88_DATA && length>2)
 803         {
 804                 unsigned offset = static_cast<unsigned char>(reply[1]);
 805                 unsigned count = length-2;
 806
 807                 SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
 808                 SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
 809                 for(SensorMap::iterator i=begin; i!=end; ++i)
 810                 {
 811                         unsigned bit_index = i->first-1-offset*8;
 812                         bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
 813                         i->second.state.set(state);
 814
 815                         Tag tag;
 816                         tag.type = Tag::SENSOR;
 817                         tag.command = Sensor::STATE;
 818                         tag.serial = i->second.state.serial;
 819                         tag.id = i->first;
 820                         control.completed_commands.push(tag);
 821                 }
 822
 823                 if(count>octets_remaining)
 824                         octets_remaining = 0;
 825                 else
 826                         octets_remaining -= count;
 827         }
 828 }
 829
 830 void ArduControl::S88Task::set_n_octets(unsigned n)
 831 {
 832         n_octets = n;
 833 }
 834
 835 void ArduControl::S88Task::grow_n_octets(unsigned n)
 836 {
 837         if(n>n_octets)
 838                 n_octets = n;
 839 }
 840
 841
 842 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
 843         serial(0)
 844 { }
 845
 846 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
 847 {
 848         Time::TimeStamp t = Time::now();
 849         if(t<next)
 850                 return false;
 851
 852         cmd.command[0] = MFX_ANNOUNCE;
 853         cmd.command[1] = serial>>8;
 854         cmd.command[2] = serial;
 855         cmd.length = 3;
 856         next = t+400*Time::msec;
 857
 858         return true;
 859 }
 860
 861 void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
 862 {
 863         serial = s;
 864 }
 865
 866
 867 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
 868         control(c),
 869         next_address(1),
 870         size(0),
 871         bits(0),
 872         misses(0)
 873 { }
 874
 875 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 876 {
 877         if(size>32)
 878         {
 879                 if(control.debug>=1)
 880                         IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
 881
 882                 MfxInfo info;
 883                 info.protocol = "MFX";
 884                 info.address = next_address;
 885                 info.name = format("%08X", bits);
 886                 info.id = bits;
 887                 queue.push(info);
 888
 889                 cmd.command[0] = MFX_ASSIGN_ADDRESS;
 890                 cmd.command[1] = next_address>>8;
 891                 cmd.command[2] = next_address;
 892                 for(unsigned i=0; i<4; ++i)
 893                         cmd.command[3+i] = bits>>(24-i*8);
 894                 cmd.length = 7;
 895
 896                 cmd.tag.type = Tag::GENERAL;
 897                 cmd.tag.command = NEW_LOCO;
 898                 cmd.tag.id = bits;
 899
 900                 size = 0;
 901                 bits = 0;
 902                 ++next_address;
 903
 904                 return true;
 905         }
 906
 907         Time::TimeStamp t = Time::now();
 908         if(t<next)
 909                 return false;
 910
 911         cmd.command[0] = MFX_SEARCH;
 912         for(unsigned i=0; i<4; ++i)
 913                 cmd.command[1+i] = bits>>(24-i*8);
 914         cmd.command[5] = size;
 915         cmd.length = 6;
 916
 917         next = t+200*Time::msec;
 918
 919         if(control.debug>=1)
 920                 IO::print("Search %08X/%d\n", bits, size);
 921
 922         return true;
 923 }
 924
 925 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
 926 {
 927         unsigned char type = reply[0];
 928         if(type==MFX_SEARCH_FEEDBACK && length==2)
 929         {
 930                 if(reply[1])
 931                 {
 932                         misses = 0;
 933                         ++size;
 934                 }
 935                 else if(size>0 && misses<6)
 936                 {
 937                         ++misses;
 938                         bits ^= 1<<(32-size);
 939                 }
 940                 else
 941                 {
 942                         next = Time::now()+2*Time::sec;
 943                         bits = 0;
 944                         size = 0;
 945                         misses = 0;
 946                 }
 947         }
 948 }
 949
 950 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
 951 {
 952         next_address = a;
 953 }
 954
 955 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
 956 {
 957         return queue.pop(info);
 958 }
 959
 960
 961 ArduControl::MonitorTask::MonitorTask():
 962         voltage(0),
 963         current(0),
 964         base_level(0),
 965         peak_level(0),
 966         next_type(0)
 967 { }
 968
 969 bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
 970 {
 971         Time::TimeStamp t = Time::now();
 972         if(t<next_poll)
 973                 return false;
 974
 975         if(next_type==0)
 976                 cmd.command[0] = READ_INPUT_VOLTAGE;
 977         else
 978                 cmd.command[0] = READ_TRACK_CURRENT;
 979         cmd.length = 1;
 980
 981         next_poll = t+200*Time::msec;
 982         next_type = (next_type+1)%5;
 983
 984         return true;
 985 }
 986
 987 void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
 988 {
 989         unsigned char type = reply[0];
 990         if(type==INPUT_VOLTAGE && length==3)
 991                 voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
 992         else if(type==TRACK_CURRENT && length==5)
 993         {
 994                 current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
 995                 float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
 996                 peak_level = max(peak_level, peak);
 997                 base_level = min(base_level, current);
 998         }
 999 }
1000
1001 void ArduControl::MonitorTask::reset_peak()
1002 {
1003         base_level = current;
1004         peak_level = current;
1005 }
1006
1007
1008 ArduControl::ControlThread::ControlThread(ArduControl &c):
1009         control(c),
1010         done(false)
1011 {
1012         tasks.push_back(&control.monitor);
1013         tasks.push_back(&control.mfx_announce);
1014         tasks.push_back(&control.mfx_search);
1015         tasks.push_back(&control.s88);
1016         tasks.push_back(&control.refresh);
1017
1018         launch();
1019 }
1020
1021 void ArduControl::ControlThread::exit()
1022 {
1023         done = true;
1024         join();
1025 }
1026
1027 void ArduControl::ControlThread::main()
1028 {
1029         init_baud_rate();
1030
1031         while(!done)
1032         {
1033                 PendingCommand cmd;
1034                 if(get_work(cmd))
1035                 {
1036                         bool success = true;
1037                         bool resync = false;
1038                         for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
1039                         {
1040                                 unsigned result = do_command(cmd, control.command_timeout);
1041                                 success = (result==COMMAND_OK);
1042                                 resync = (result==0);
1043                         }
1044
1045                         if(success && cmd.tag)
1046                                 control.completed_commands.push(cmd.tag);
1047
1048                         if(resync)
1049                         {
1050                                 if(control.debug>=1)
1051                                         IO::print("Synchronization with ArduControl lost, attempting to recover\n");
1052                                 for(unsigned i=0; (resync && i<16); ++i)
1053                                 {
1054                                         control.serial.put('\xFF');
1055                                         while(IO::poll(control.serial, IO::P_INPUT, control.command_timeout))
1056                                                 resync = (control.serial.get()!=0xFF);
1057                                 }
1058                                 if(resync)
1059                                 {
1060                                         if(control.debug>=1)
1061                                                 IO::print("Resynchronization failed, giving up\n");
1062                                         done = true;
1063                                 }
1064                                 else
1065                                 {
1066                                         if(control.debug>=1)
1067                                                 IO::print("Resynchronization successful\n");
1068                                         if(cmd.tag)
1069                                                 control.command_queue.push(cmd);
1070                                 }
1071                         }
1072                 }
1073                 else
1074                         Time::sleep(10*Time::msec);
1075         }
1076 }
1077
1078 void ArduControl::ControlThread::init_baud_rate()
1079 {
1080         static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
1081         unsigned rate = 0;
1082         control.serial.set_data_bits(8);
1083         control.serial.set_parity(IO::Serial::NONE);
1084         control.serial.set_stop_bits(1);
1085         for(unsigned i=0; rates[i]; ++i)
1086         {
1087                 control.serial.set_baud_rate(rates[i]);
1088                 control.serial.put('\xFF');
1089                 if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
1090                 {
1091                         int c = control.serial.get();
1092                         if(c==0xFF)
1093                         {
1094                                 rate = rates[i];
1095                                 break;
1096                         }
1097                 }
1098         }
1099
1100         if(!rate)
1101         {
1102                 if(control.debug>=1)
1103                         IO::print("ArduControl detection failed\n");
1104                 done = true;
1105                 return;
1106         }
1107
1108         if(control.debug>=1)
1109                 IO::print("ArduControl detected at %d bits/s\n", rate);
1110
1111         if(rate!=rates[0])
1112         {
1113                 PendingCommand cmd;
1114                 cmd.command[0] = SET_BAUD_RATE;
1115                 cmd.command[1] = rates[0]>>8;
1116                 cmd.command[2] = rates[0];
1117                 cmd.length = 3;
1118                 if(do_command(cmd, Time::sec)==COMMAND_OK)
1119                 {
1120                         control.serial.set_baud_rate(rates[0]);
1121                         Time::sleep(Time::sec);
1122                         if(do_command(cmd, Time::sec)==COMMAND_OK)
1123                         {
1124                                 if(control.debug>=1)
1125                                         IO::print("Rate changed to %d bits/s\n", rates[0]);
1126                         }
1127                 }
1128         }
1129 }
1130
1131 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
1132 {
1133         if(control.command_queue.pop(cmd))
1134                 return true;
1135
1136         for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1137                 if((*i)->get_work(cmd))
1138                         return true;
1139
1140         // As fallback, send an idle packet for the MM protocol
1141         cmd.command[0] = MOTOROLA_SPEED;
1142         cmd.command[1] = 80;
1143         cmd.command[2] = 0;
1144         cmd.command[3] = 0;
1145         cmd.length = 4;
1146
1147         return true;
1148 }
1149
1150 unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
1151 {
1152         if(control.debug>=2)
1153         {
1154                 string cmd_hex;
1155                 for(unsigned i=0; i<cmd.length; ++i)
1156                         cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
1157                 IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
1158         }
1159
1160         control.serial.put(cmd.length^0xFF);
1161         control.serial.write(cmd.command, cmd.length);
1162
1163         unsigned result = 0;
1164         while(1)
1165         {
1166                 bool got_data;
1167                 if(result)
1168                         got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
1169                 else
1170                         got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
1171
1172                 if(!got_data)
1173                         break;
1174
1175                 unsigned rlength = control.serial.get()^0xFF;
1176                 if(rlength>15)
1177                 {
1178                         IO::print("Invalid length %02X\n", rlength);
1179                         continue;
1180                 }
1181
1182                 char reply[15];
1183                 unsigned pos = 0;
1184                 while(pos<rlength)
1185                 {
1186                         if(!IO::poll(control.serial, IO::P_INPUT, timeout))
1187                                 return 0;
1188                         pos += control.serial.read(reply+pos, rlength-pos);
1189                 }
1190
1191                 if(control.debug>=2)
1192                 {
1193                         string reply_hex;
1194                         for(unsigned i=0; i<rlength; ++i)
1195                                 reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
1196                         IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
1197                 }
1198
1199                 unsigned r = process_reply(reply, rlength);
1200                 if(r && !result)
1201                         result = r;
1202         }
1203
1204         return result;
1205 }
1206
1207 unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
1208 {
1209         unsigned char type = reply[0];
1210         if((type&0xE0)==0x80)
1211         {
1212                 if(type!=COMMAND_OK)
1213                         IO::print("Error %02X\n", type);
1214                 return type;
1215         }
1216         else if(type==POWER_STATE && rlength==2)
1217                 set_power(reply[1]);
1218         else if(type==OVERCURRENT)
1219         {
1220                 set_power(false);
1221                 IO::print("Overcurrent detected!\n");
1222         }
1223         else
1224         {
1225                 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1226                         (*i)->process_reply(reply, rlength);
1227         }
1228
1229         return 0;
1230 }
1231
1232 void ArduControl::ControlThread::set_power(bool p)
1233 {
1234         control.power.set(p);
1235
1236         Tag tag;
1237         tag.type = Tag::GENERAL;
1238         tag.command = POWER;
1239         tag.serial = control.power.serial;
1240         control.completed_commands.push(tag);
1241 }
1242
1243
1244 ArduControl::Loader::Loader(ArduControl &c):
1245         DataFile::ObjectLoader<ArduControl>(c)
1246 {
1247         add("mfx_announce_serial", &Loader::mfx_announce_serial);
1248         add("mfx_locomotive", &Loader::mfx_locomotive);
1249 }
1250
1251 void ArduControl::Loader::mfx_announce_serial(unsigned s)
1252 {
1253         obj.mfx_announce.set_serial(s);
1254 }
1255
1256 void ArduControl::Loader::mfx_locomotive(unsigned id)
1257 {
1258         MfxInfo info;
1259         info.id = id;
1260         info.protocol = "MFX";
1261         load_sub(info);
1262         obj.add_mfx_info(info);
1263 }
1264
1265
1266 ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
1267         DataFile::ObjectLoader<MfxInfo>(i)
1268 {
1269         add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
1270         add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));
1271 }
1272
1273 } // namespace R2C2