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