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 Driver::TelemetryInfo ArduControl::telemetry_info[4] =
  22 {
  23         { "voltage", "Voltage", "V", 1 },
  24         { "current", "Current", "A", 2 },
  25         { "cmd-queue-depth", "Cmd queue", "", 0 },
  26         { "s88-latency", "S88 latency", "ms", 0 }
  27 };
  28
  29 ArduControl::ArduControl(const Options &opts):
  30         serial(opts.get<string>(string(), "ttyUSB0")),
  31         debug(opts.get<unsigned>("debug")),
  32         state_file("arducontrol.state"),
  33         power(false),
  34         halted(false),
  35         active_accessory(0),
  36         command_timeout(200*Time::msec),
  37         s88(*this),
  38         mfx_search(*this),
  39         thread(*this)
  40 {
  41         if(FS::exists(state_file))
  42                 DataFile::load(*this, state_file.str());
  43
  44         unsigned max_address = 0;
  45         for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
  46                 max_address = max(max_address, i->address);
  47         mfx_search.set_next_address(max_address+1);
  48
  49         PendingCommand cmd;
  50         cmd.command[0] = READ_POWER_STATE;
  51         cmd.length = 1;
  52         command_queue.push(cmd);
  53
  54         cmd.command[0] = MFX_SET_STATION_ID;
  55         cmd.command[1] = 'R';
  56         cmd.command[2] = '2';
  57         cmd.command[3] = 'C';
  58         cmd.command[4] = '2';
  59         cmd.length = 5;
  60         command_queue.push(cmd);
  61 }
  62
  63 ArduControl::~ArduControl()
  64 {
  65         thread.exit();
  66 }
  67
  68 void ArduControl::set_power(bool p)
  69 {
  70         if(power.set(p))
  71         {
  72                 PendingCommand cmd(POWER);
  73                 cmd.tag.serial = power.serial;
  74                 cmd.command[0] = (p ? POWER_ON : POWER_OFF);
  75                 cmd.length = 1;
  76                 command_queue.push(cmd);
  77         }
  78 }
  79
  80 void ArduControl::halt(bool h)
  81 {
  82         if(h==halted)
  83                 return;
  84
  85         halted = h;
  86         if(halted)
  87         {
  88                 for(LocomotiveMap::const_iterator i=locomotives.begin(); i!=locomotives.end(); ++i)
  89                         set_loco_speed(i->first, 0);
  90         }
  91
  92         signal_halt.emit(halted);
  93 }
  94
  95 const char *ArduControl::enumerate_protocols(unsigned i) const
  96 {
  97         if(i==0)
  98                 return "MM";
  99         else if(i==1)
 100                 return "MFX";
 101         else
 102                 return 0;
 103 }
 104
 105 ArduControl::Protocol ArduControl::map_protocol(const string &proto_name)
 106 {
 107         if(proto_name=="MM")
 108                 return MM;
 109         else if(proto_name=="MFX")
 110                 return MFX;
 111         else
 112                 throw invalid_argument("ArduControl::map_protocol");
 113 }
 114
 115 unsigned ArduControl::get_protocol_speed_steps(const string &proto_name) const
 116 {
 117         return protocol_info[map_protocol(proto_name)].max_speed;
 118 }
 119
 120 const Driver::DetectedLocomotive *ArduControl::enumerate_detected_locos(unsigned i) const
 121 {
 122         if(i>=mfx_info.size())
 123                 return 0;
 124
 125         return &mfx_info[i];
 126 }
 127
 128 unsigned ArduControl::add_loco(unsigned addr, const string &proto_name, const VehicleType &)
 129 {
 130         if(!addr)
 131                 throw invalid_argument("ArduControl::add_loco");
 132
 133         Protocol proto = map_protocol(proto_name);
 134         if(addr>protocol_info[proto].max_address)
 135                 throw invalid_argument("ArduControl::add_loco");
 136
 137         Locomotive loco(proto, addr);
 138         insert_unique(locomotives, loco.id, loco);
 139
 140         return loco.id;
 141 }
 142
 143 ArduControl::MfxInfoArray::iterator ArduControl::add_mfx_info(const MfxInfo &info)
 144 {
 145         MfxInfoArray::iterator i;
 146         for(i=mfx_info.begin(); (i!=mfx_info.end() && i->id!=info.id); ++i) ;
 147         if(i==mfx_info.end())
 148         {
 149                 mfx_info.push_back(info);
 150                 i = --mfx_info.end();
 151         }
 152         else
 153                 *i = info;
 154         return i;
 155 }
 156
 157 void ArduControl::remove_loco(unsigned id)
 158 {
 159         Locomotive &loco = get_item(locomotives, id);
 160         refresh.remove_loco(loco);
 161         locomotives.erase(id);
 162 }
 163
 164 void ArduControl::set_loco_speed(unsigned id, unsigned speed)
 165 {
 166         Locomotive &loco = get_item(locomotives, id);
 167         if(speed>protocol_info[loco.proto].max_speed)
 168                 throw invalid_argument("ArduControl::set_loco_speed");
 169
 170         if(speed && halted)
 171                 return;
 172
 173         if(loco.speed.set(speed))
 174         {
 175                 PendingCommand cmd(loco, Locomotive::SPEED);
 176                 command_queue.push(cmd);
 177
 178                 refresh.add_loco(loco);
 179         }
 180 }
 181
 182 void ArduControl::set_loco_reverse(unsigned id, bool rev)
 183 {
 184         Locomotive &loco = get_item(locomotives, id);
 185         if(loco.reverse.set(rev))
 186         {
 187                 PendingCommand cmd(loco, Locomotive::REVERSE);
 188                 command_queue.push(cmd);
 189
 190                 refresh.add_loco(loco);
 191         }
 192 }
 193
 194 void ArduControl::set_loco_function(unsigned id, unsigned func, bool state)
 195 {
 196         Locomotive &loco = get_item(locomotives, id);
 197         if(func>protocol_info[loco.proto].max_func)
 198                 throw invalid_argument("ArduControl::set_loco_function");
 199
 200         unsigned mask = 1<<func;
 201         if(loco.funcs.set((loco.funcs&~mask)|(mask*state)))
 202         {
 203                 if(func>0 || loco.proto!=MM)
 204                 {
 205                         PendingCommand cmd(loco, Locomotive::FUNCTIONS, func);
 206                         command_queue.push(cmd);
 207                 }
 208
 209                 refresh.add_loco(loco);
 210         }
 211 }
 212
 213 unsigned ArduControl::add_turnout(unsigned addr, const TrackType &type)
 214 {
 215         if(!addr || !type.is_turnout())
 216                 throw invalid_argument("ArduControl::add_turnout");
 217
 218         return add_accessory(Accessory::TURNOUT, addr, type.get_state_bits(), type.get_paths());
 219 }
 220
 221 void ArduControl::remove_turnout(unsigned addr)
 222 {
 223         remove_accessory(Accessory::TURNOUT, addr);
 224 }
 225
 226 void ArduControl::set_turnout(unsigned addr, unsigned state)
 227 {
 228         set_accessory(Accessory::TURNOUT, addr, state);
 229 }
 230
 231 unsigned ArduControl::get_turnout(unsigned addr) const
 232 {
 233         return get_accessory(Accessory::TURNOUT, addr);
 234 }
 235
 236 unsigned ArduControl::add_signal(unsigned addr, const SignalType &)
 237 {
 238         return add_accessory(Accessory::SIGNAL, addr, 1, 3);
 239 }
 240
 241 void ArduControl::remove_signal(unsigned addr)
 242 {
 243         remove_accessory(Accessory::SIGNAL, addr);
 244 }
 245
 246 void ArduControl::set_signal(unsigned addr, unsigned state)
 247 {
 248         set_accessory(Accessory::SIGNAL, addr, state);
 249 }
 250
 251 unsigned ArduControl::get_signal(unsigned addr) const
 252 {
 253         return get_accessory(Accessory::SIGNAL, addr);
 254 }
 255
 256 unsigned ArduControl::add_accessory(Accessory::Kind kind, unsigned addr, unsigned bits, unsigned states)
 257 {
 258         AccessoryMap::iterator i = accessories.lower_bound(addr);
 259         AccessoryMap::iterator j = accessories.upper_bound(addr+bits-1);
 260         if(i!=j)
 261                 throw key_error(addr);
 262         if(i!=accessories.begin())
 263         {
 264                 --i;
 265                 if(i->first+i->second.bits>addr)
 266                         throw key_error(addr);
 267         }
 268
 269         insert_unique(accessories, addr, Accessory(kind, addr, bits, states));
 270         return addr;
 271 }
 272
 273 void ArduControl::remove_accessory(Accessory::Kind kind, unsigned addr)
 274 {
 275         Accessory &acc = get_item(accessories, addr);
 276         if(acc.kind!=kind)
 277                 throw key_error(addr);
 278         accessories.erase(addr);
 279 }
 280
 281 void ArduControl::set_accessory(Accessory::Kind kind, unsigned addr, unsigned state)
 282 {
 283         Accessory &acc = get_item(accessories, addr);
 284         if(acc.kind!=kind)
 285                 throw key_error(addr);
 286
 287         if(state!=acc.target || acc.uncertain)
 288         {
 289                 acc.target = state;
 290                 accessory_queue.push_back(&acc);
 291         }
 292 }
 293
 294 unsigned ArduControl::get_accessory(Accessory::Kind kind, unsigned addr) const
 295 {
 296         const Accessory &acc = get_item(accessories, addr);
 297         if(acc.kind!=kind)
 298                 throw key_error(addr);
 299         return acc.state;
 300 }
 301
 302 void ArduControl::activate_accessory_by_mask(Accessory &acc, unsigned mask)
 303 {
 304         unsigned bit = mask&~(mask-1);
 305         for(active_index=0; (bit>>active_index)>1; ++active_index) ;
 306         acc.state.set((acc.state&~bit)|(acc.target&bit));
 307         if(debug>=1)
 308                 IO::print("Setting accessory %d bit %d, state=%d\n", acc.address, active_index, acc.state.pending);
 309         PendingCommand cmd(acc, Accessory::ACTIVATE, active_index);
 310         command_queue.push(cmd);
 311         active_accessory = &acc;
 312
 313         monitor.reset_peak();
 314 }
 315
 316 unsigned ArduControl::add_sensor(unsigned addr)
 317 {
 318         if(!addr)
 319                 throw invalid_argument("ArduControl::add_sensor");
 320
 321         insert_unique(sensors, addr, Sensor(addr));
 322         s88.grow_n_octets((addr+7)/8);
 323
 324         return addr;
 325 }
 326
 327 void ArduControl::remove_sensor(unsigned addr)
 328 {
 329         remove_existing(sensors, addr);
 330         // TODO update s88.n_octets
 331 }
 332
 333 bool ArduControl::get_sensor(unsigned addr) const
 334 {
 335         return get_item(sensors, addr).state;
 336 }
 337
 338 const Driver::TelemetryInfo *ArduControl::enumerate_telemetry(unsigned i) const
 339 {
 340         if(i<4)
 341                 return telemetry_info+i;
 342         else
 343                 return 0;
 344 }
 345
 346 float ArduControl::get_telemetry_value(const string &name) const
 347 {
 348         if(name==telemetry_info[0].name)
 349                 return monitor.get_voltage();
 350         else if(name==telemetry_info[1].name)
 351                 return monitor.get_current();
 352         else if(name==telemetry_info[2].name)
 353                 return command_queue.size();
 354         else if(name==telemetry_info[3].name)
 355                 return s88.get_latency()/Time::msec;
 356         else
 357                 throw key_error(name);
 358 }
 359
 360 void ArduControl::tick()
 361 {
 362         Tag tag;
 363         while(completed_commands.pop(tag))
 364         {
 365                 if(tag.type==Tag::GENERAL)
 366                 {
 367                         if(tag.command==POWER)
 368                         {
 369                                 if(power.commit(tag.serial))
 370                                         signal_power.emit(power.current);
 371                         }
 372                         else if(tag.command==NEW_LOCO)
 373                         {
 374                                 MfxInfo info;
 375                                 if(mfx_search.pop_info(info))
 376                                 {
 377                                         MfxInfoArray::iterator i = add_mfx_info(info);
 378                                         save_state();
 379                                         signal_locomotive_detected.emit(*i);
 380                                 }
 381                         }
 382                 }
 383                 else if(tag.type==Tag::LOCOMOTIVE)
 384                 {
 385                         LocomotiveMap::iterator i = locomotives.find(tag.id);
 386                         if(i==locomotives.end())
 387                                 continue;
 388
 389                         Locomotive &loco = i->second;
 390                         if(tag.command==Locomotive::SPEED)
 391                         {
 392                                 if(loco.speed.commit(tag.serial))
 393                                         signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
 394                         }
 395                         else if(tag.command==Locomotive::REVERSE)
 396                         {
 397                                 if(loco.reverse.commit(tag.serial))
 398                                         signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
 399                         }
 400                         else if(tag.command==Locomotive::FUNCTIONS)
 401                         {
 402                                 unsigned old = loco.funcs;
 403                                 if(loco.funcs.commit(tag.serial))
 404                                 {
 405                                         unsigned changed = old^loco.funcs;
 406                                         for(unsigned j=0; changed>>j; ++j)
 407                                                 if((changed>>j)&1)
 408                                                         signal_loco_function.emit(loco.id, j, (loco.funcs>>j)&1);
 409                                 }
 410                         }
 411                 }
 412                 else if(tag.type==Tag::ACCESSORY)
 413                 {
 414                         AccessoryMap::iterator i = accessories.find(tag.id);
 415                         if(i==accessories.end())
 416                                 continue;
 417
 418                         Accessory &acc = i->second;
 419                         if(tag.command==Accessory::ACTIVATE)
 420                                 off_timeout = Time::now()+acc.active_time;
 421                         else if(tag.command==Accessory::DEACTIVATE)
 422                         {
 423                                 if(acc.state.commit(tag.serial))
 424                                 {
 425                                         if(&acc==active_accessory)
 426                                                 active_accessory = 0;
 427                                 }
 428                         }
 429                 }
 430                 else if(tag.type==Tag::SENSOR)
 431                 {
 432                         SensorMap::iterator i = sensors.find(tag.id);
 433                         if(i==sensors.end())
 434                                 continue;
 435
 436                         Sensor &sensor = i->second;
 437                         if(tag.command==Sensor::STATE)
 438                         {
 439                                 if(sensor.state.commit(tag.serial))
 440                                         signal_sensor.emit(sensor.address, sensor.state);
 441                         }
 442                 }
 443         }
 444
 445         while(power && !active_accessory && !accessory_queue.empty())
 446         {
 447                 Accessory &acc = *accessory_queue.front();
 448
 449                 if(acc.uncertain)
 450                 {
 451                         unsigned zeroes = acc.uncertain&~acc.target;
 452                         if(zeroes)
 453                                 activate_accessory_by_mask(acc, zeroes);
 454                         else
 455                                 activate_accessory_by_mask(acc, acc.uncertain);
 456                 }
 457                 else if(acc.state!=acc.target)
 458                 {
 459                         unsigned changes = acc.state^acc.target;
 460                         if(!(changes&((1<<acc.bits)-1)))
 461                         {
 462                                 // All remaining changes are in non-physical bits
 463                                 acc.state.set(acc.state^changes);
 464                                 acc.state.commit(acc.state.serial);
 465                         }
 466                         else
 467                         {
 468                                 unsigned toggle_bit = 0;
 469                                 for(unsigned bit=1; (!toggle_bit && bit<=changes); bit<<=1)
 470                                         if((changes&bit) && (acc.valid_states&(1<<(acc.state^bit))))
 471                                                 toggle_bit = bit;
 472
 473                                 activate_accessory_by_mask(acc, toggle_bit);
 474                         }
 475                 }
 476                 else
 477                 {
 478                         accessory_queue.pop_front();
 479
 480                         if(acc.state==acc.target)
 481                         {
 482                                 if(acc.kind==Accessory::TURNOUT)
 483                                         signal_turnout.emit(acc.address, acc.state);
 484                                 else if(acc.kind==Accessory::SIGNAL)
 485                                         signal_signal.emit(acc.address, acc.state);
 486                         }
 487                 }
 488         }
 489
 490         if(active_accessory && off_timeout)
 491         {
 492                 bool success = (monitor.get_peak()>0.35f && monitor.get_current()<monitor.get_peak()-0.2f);
 493                 Time::TimeStamp t = Time::now();
 494                 if(t>off_timeout || success)
 495                 {
 496                         Accessory &acc = *active_accessory;
 497
 498                         unsigned bit = 1<<active_index;
 499
 500                         // Assume success if we were uncertain of the physical setting
 501                         if(acc.uncertain&bit)
 502                                 acc.uncertain &= ~bit;
 503                         else if(acc.kind==Accessory::TURNOUT && !success)
 504                         {
 505                                 if(debug>=1)
 506                                         IO::print("Peak current only %.2f A\n", monitor.get_peak());
 507                                 signal_turnout_failed.emit(acc.address);
 508                                 acc.state.rollback();
 509                                 if(acc.valid_states&(1<<(acc.target^bit)))
 510                                         acc.target ^= bit;
 511                                 else
 512                                         acc.target = acc.state;
 513                         }
 514
 515                         off_timeout = Time::TimeStamp();
 516                         PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
 517                         command_queue.push(cmd);
 518                 }
 519         }
 520 }
 521
 522 void ArduControl::flush()
 523 {
 524         while(!command_queue.empty() || (power && !accessory_queue.empty()))
 525                 tick();
 526 }
 527
 528 void ArduControl::save_state() const
 529 {
 530         FS::RedirectedPath tmp_file(state_file);
 531         IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
 532         DataFile::Writer writer(out);
 533
 534         writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
 535         for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
 536         {
 537                 DataFile::Statement st("mfx_locomotive");
 538                 st.append(i->id);
 539                 st.sub.push_back((DataFile::Statement("address"), i->address));
 540                 st.sub.push_back((DataFile::Statement("name"), i->name));
 541                 writer.write(st);
 542         }
 543 }
 544
 545
 546 ArduControl::Tag::Tag():
 547         type(NONE),
 548         command(0),
 549         serial(0),
 550         id(0)
 551 { }
 552
 553
 554 ArduControl::Locomotive::Locomotive(Protocol p, unsigned a):
 555         id((p<<16)|a),
 556         proto(p),
 557         address(a),
 558         speed(0),
 559         reverse(false),
 560         funcs(0),
 561         last_change_age(0)
 562 { }
 563
 564 unsigned ArduControl::Locomotive::create_speed_dir_command(char *buffer) const
 565 {
 566         if(proto==MM)
 567         {
 568                 buffer[0] = MOTOROLA_SPEED_DIRECTION;
 569                 buffer[1] = address;
 570                 buffer[2] = funcs.pending&1;
 571                 buffer[3] = speed.pending+reverse.pending*0x80;
 572                 return 4;
 573         }
 574         else if(proto==MFX)
 575         {
 576                 buffer[0] = MFX_SPEED;
 577                 buffer[1] = address>>8;
 578                 buffer[2] = address;
 579                 buffer[3] = speed.pending+reverse.pending*0x80;
 580                 return 4;
 581         }
 582         else
 583                 return 0;
 584 }
 585
 586 unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *buffer) const
 587 {
 588         if(proto==MM)
 589         {
 590                 if(f<1 || f>4)
 591                         throw invalid_argument("Locomotive::create_speed_func_command");
 592
 593                 buffer[0] = MOTOROLA_SPEED_FUNCTION;
 594                 buffer[1] = address;
 595                 buffer[2] = (f<<4)|(((funcs.pending>>f)&1)<<1)|(funcs.pending&1);
 596                 buffer[3] = speed.pending;
 597                 return 4;
 598         }
 599         else if(proto==MFX)
 600         {
 601                 bool f16 = (funcs.pending>0xFF);
 602                 buffer[0] = (f16 ? MFX_SPEED_FUNCS16 : MFX_SPEED_FUNCS8);
 603                 buffer[1] = address>>8;
 604                 buffer[2] = address;
 605                 buffer[3] = speed.pending+reverse.pending*0x80;
 606                 if(f16)
 607                 {
 608                         buffer[4] = funcs.pending>>8;
 609                         buffer[5] = funcs.pending;
 610                         return 6;
 611                 }
 612                 else
 613                 {
 614                         buffer[4] = funcs.pending;
 615                         return 5;
 616                 }
 617         }
 618         else
 619                 return 0;
 620 }
 621
 622
 623 ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b, unsigned s):
 624         kind(k),
 625         address(a),
 626         bits(b),
 627         valid_states(s),
 628         state(0),
 629         uncertain((1<<bits)-1),
 630         target(0),
 631         active_time((bits*700)*Time::msec)
 632 { }
 633
 634 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
 635 {
 636         if(b>=bits)
 637                 throw invalid_argument("Accessory::create_state_command");
 638
 639         unsigned a = (address+b+3)*2;
 640         if(!((state.pending>>b)&1))
 641                 ++a;
 642         buffer[0] = MOTOROLA_SOLENOID;
 643         buffer[1] = a>>3;
 644         buffer[2] = ((a&7)<<4)|c;
 645         return 3;
 646 }
 647
 648
 649 ArduControl::Sensor::Sensor(unsigned a):
 650         address(a),
 651         state(false)
 652 { }
 653
 654
 655 ArduControl::PendingCommand::PendingCommand():
 656         length(0),
 657         repeat_count(1)
 658 { }
 659
 660 ArduControl::PendingCommand::PendingCommand(GeneralCommand cmd):
 661         length(0),
 662         repeat_count(1)
 663 {
 664         tag.type = Tag::GENERAL;
 665         tag.command = cmd;
 666 }
 667
 668 ArduControl::PendingCommand::PendingCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index):
 669         repeat_count(8)
 670 {
 671         tag.type = Tag::LOCOMOTIVE;
 672         tag.command = cmd;
 673         tag.id = loco.id;
 674         if(cmd==Locomotive::SPEED)
 675         {
 676                 tag.serial = loco.speed.serial;
 677                 length = loco.create_speed_dir_command(command);
 678         }
 679         else if(cmd==Locomotive::REVERSE)
 680         {
 681                 tag.serial = loco.reverse.serial;
 682                 length = loco.create_speed_dir_command(command);
 683         }
 684         else if(cmd==Locomotive::FUNCTIONS)
 685         {
 686                 tag.serial = loco.funcs.serial;
 687                 length = loco.create_speed_func_command(index, command);
 688         }
 689         else
 690                 throw invalid_argument("PendingCommand");
 691 }
 692
 693 ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command cmd, unsigned index):
 694         repeat_count(1)
 695 {
 696         tag.type = Tag::ACCESSORY;
 697         tag.command = cmd;
 698         tag.id = acc.address;
 699         if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
 700         {
 701                 tag.serial = acc.state.serial;
 702                 length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
 703         }
 704         else
 705                 throw invalid_argument("PendingCommand");
 706 }
 707
 708
 709 template<typename T>
 710 void ArduControl::Queue<T>::push(const T &item)
 711 {
 712         MutexLock lock(mutex);
 713         items.push_back(item);
 714 }
 715
 716 template<typename T>
 717 bool ArduControl::Queue<T>::pop(T &item)
 718 {
 719         MutexLock lock(mutex);
 720         if(items.empty())
 721                 return false;
 722
 723         item = items.front();
 724         items.pop_front();
 725         return true;
 726 }
 727
 728 template<typename T>
 729 unsigned ArduControl::Queue<T>::size() const
 730 {
 731         return items.size();
 732 }
 733
 734 template<typename T>
 735 bool ArduControl::Queue<T>::empty() const
 736 {
 737         return items.empty();
 738 }
 739
 740
 741 bool ArduControl::CommandQueueTask::get_work(PendingCommand &cmd)
 742 {
 743         return queue.pop(cmd);
 744 }
 745
 746 void ArduControl::CommandQueueTask::push(const PendingCommand &cmd)
 747 {
 748         queue.push(cmd);
 749 }
 750
 751
 752 ArduControl::Task::Task(const string &n, unsigned p):
 753         name(n),
 754         priority(p)
 755 { }
 756
 757 void ArduControl::Task::sleep(const Time::TimeDelta &dt)
 758 {
 759         sleep_timeout = Time::now()+dt;
 760 }
 761
 762
 763 ArduControl::CommandQueueTask::CommandQueueTask():
 764         Task("CommandQueue")
 765 { }
 766
 767
 768 ArduControl::RefreshTask::RefreshTask():
 769         Task("Refresh", 2),
 770         next(cycle.end()),
 771         round(0),
 772         loco(0),
 773         phase(0)
 774 { }
 775
 776 bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
 777 {
 778         if(loco && loco->proto==MM && phase==0)
 779         {
 780                 cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
 781                 cmd.repeat_count = 2;
 782                 ++phase;
 783                 return true;
 784         }
 785
 786         loco = get_next_loco();
 787         if(!loco)
 788                 return false;
 789
 790         phase = 0;
 791         if(loco->proto==MM)
 792         {
 793                 cmd.length = loco->create_speed_dir_command(cmd.command);
 794                 cmd.repeat_count = 2;
 795         }
 796         else if(loco->proto==MFX)
 797                 cmd.length = loco->create_speed_func_command(0, cmd.command);
 798         else
 799                 return false;
 800
 801         return true;
 802 }
 803
 804 void ArduControl::RefreshTask::add_loco(Locomotive &l)
 805 {
 806         MutexLock lock(mutex);
 807         cycle.push_back(&l);
 808         if(cycle.size()>15)
 809         {
 810                 LocomotivePtrList::iterator oldest = cycle.begin();
 811                 for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
 812                         if((*i)->last_change_age>(*oldest)->last_change_age)
 813                                 oldest = i;
 814                 if(oldest==next)
 815                         advance();
 816                 cycle.erase(oldest);
 817         }
 818         if(next==cycle.end())
 819                 next = cycle.begin();
 820 }
 821
 822 void ArduControl::RefreshTask::remove_loco(Locomotive &l)
 823 {
 824         MutexLock lock(mutex);
 825         for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
 826                 if(*i==&l)
 827                 {
 828                         if(i==next)
 829                         {
 830                                 if(cycle.size()>1)
 831                                         advance();
 832                                 else
 833                                         next = cycle.end();
 834                         }
 835                         cycle.erase(i);
 836                         return;
 837                 }
 838 }
 839
 840 ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
 841 {
 842         MutexLock lock(mutex);
 843         if(cycle.empty())
 844                 return 0;
 845
 846         Locomotive *l = *next;
 847         advance();
 848         return l;
 849 }
 850
 851 void ArduControl::RefreshTask::advance()
 852 {
 853         ++next;
 854         if(next==cycle.end())
 855         {
 856                 next = cycle.begin();
 857                 ++round;
 858         }
 859 }
 860
 861
 862 ArduControl::S88Task::S88Task(ArduControl &c):
 863         Task("S88"),
 864         control(c),
 865         n_octets(0),
 866         octets_remaining(0)
 867 { }
 868
 869 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 870 {
 871         if(octets_remaining || !n_octets)
 872                 return false;
 873
 874         Time::TimeStamp t = Time::now();
 875         if(last_poll)
 876                 latency = t-last_poll;
 877         last_poll = t;
 878
 879         octets_remaining = n_octets;
 880         cmd.command[0] = S88_READ;
 881         cmd.command[1] = octets_remaining;
 882         cmd.length = 2;
 883
 884         sleep(100*Time::msec);
 885
 886         return true;
 887 }
 888
 889 void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
 890 {
 891         unsigned char type = reply[0];
 892         if(type==S88_DATA && length>2)
 893         {
 894                 unsigned offset = static_cast<unsigned char>(reply[1]);
 895                 unsigned count = length-2;
 896
 897                 SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
 898                 SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
 899                 for(SensorMap::iterator i=begin; i!=end; ++i)
 900                 {
 901                         unsigned bit_index = i->first-1-offset*8;
 902                         bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
 903                         i->second.state.set(state);
 904
 905                         Tag tag;
 906                         tag.type = Tag::SENSOR;
 907                         tag.command = Sensor::STATE;
 908                         tag.serial = i->second.state.serial;
 909                         tag.id = i->first;
 910                         control.completed_commands.push(tag);
 911                 }
 912
 913                 if(count>octets_remaining)
 914                         octets_remaining = 0;
 915                 else
 916                         octets_remaining -= count;
 917         }
 918 }
 919
 920 void ArduControl::S88Task::set_n_octets(unsigned n)
 921 {
 922         n_octets = n;
 923 }
 924
 925 void ArduControl::S88Task::grow_n_octets(unsigned n)
 926 {
 927         if(n>n_octets)
 928                 n_octets = n;
 929 }
 930
 931
 932 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
 933         Task("MfxAnnounce", 1),
 934         serial(0)
 935 { }
 936
 937 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
 938 {
 939         cmd.command[0] = MFX_ANNOUNCE;
 940         cmd.command[1] = serial>>8;
 941         cmd.command[2] = serial;
 942         cmd.length = 3;
 943
 944         sleep(400*Time::msec);
 945
 946         return true;
 947 }
 948
 949 void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
 950 {
 951         serial = s;
 952 }
 953
 954
 955 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
 956         Task("MfxSearch", 1),
 957         control(c),
 958         next_address(1),
 959         size(0),
 960         bits(0),
 961         misses(0),
 962         pending_info(0),
 963         read_array(0),
 964         read_offset(0),
 965         read_length(0),
 966         block_size(0)
 967 { }
 968
 969 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 970 {
 971         if(read_length>0)
 972         {
 973                 cmd.command[0] = MFX_READ;
 974                 cmd.command[1] = pending_info->address>>8;
 975                 cmd.command[2] = pending_info->address;
 976                 unsigned index = read_array*0x40+read_offset;
 977                 cmd.command[3] = index>>8;
 978                 cmd.command[4] = index;
 979                 unsigned length = (read_length>=4 ? 4 : read_length>=2 ? 2 : 1);
 980                 cmd.command[5] = length;
 981                 cmd.length = 6;
 982
 983                 sleep(100*Time::msec);
 984
 985                 return true;
 986         }
 987         else if(pending_info)
 988         {
 989                 queue.push(*pending_info);
 990                 Tag tag;
 991                 tag.type = Tag::GENERAL;
 992                 tag.command = NEW_LOCO;
 993                 tag.id = pending_info->id;
 994                 control.completed_commands.push(tag);
 995
 996                 if(control.debug>=1)
 997                         IO::print("Completed processing locomotive %s at address %d\n", pending_info->name, pending_info->address);
 998
 999                 delete pending_info;
1000                 pending_info = 0;
1001         }
1002
1003         if(size>32)
1004         {
1005                 if(control.debug>=1)
1006                         IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
1007
1008                 pending_info = new MfxInfo;
1009                 pending_info->protocol = "MFX";
1010                 pending_info->address = next_address;
1011                 pending_info->name = format("%08X", bits);
1012                 pending_info->id = bits;
1013
1014                 cmd.command[0] = MFX_ASSIGN_ADDRESS;
1015                 cmd.command[1] = next_address>>8;
1016                 cmd.command[2] = next_address;
1017                 for(unsigned i=0; i<4; ++i)
1018                         cmd.command[3+i] = bits>>(24-i*8);
1019                 cmd.length = 7;
1020
1021                 size = 0;
1022                 bits = 0;
1023                 misses = 0;
1024                 ++next_address;
1025
1026                 read_array = 0;
1027                 read_offset = 0;
1028                 read_length = 6;
1029
1030                 return true;
1031         }
1032
1033         cmd.command[0] = MFX_SEARCH;
1034         for(unsigned i=0; i<4; ++i)
1035                 cmd.command[1+i] = bits>>(24-i*8);
1036         cmd.command[5] = size;
1037         cmd.length = 6;
1038
1039         sleep(100*Time::msec);
1040
1041         if(control.debug>=1)
1042                 IO::print("Search %08X/%d\n", bits, size);
1043
1044         return true;
1045 }
1046
1047 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
1048 {
1049         unsigned char type = reply[0];
1050         if(type==MFX_SEARCH_FEEDBACK && length==2)
1051         {
1052                 if(reply[1])
1053                 {
1054                         misses = 0;
1055                         ++size;
1056                 }
1057                 else if(size>0 && misses<6)
1058                 {
1059                         ++misses;
1060                         bits ^= 1<<(32-size);
1061                 }
1062                 else
1063                 {
1064                         sleep(2*Time::sec);
1065                         bits = 0;
1066                         size = 0;
1067                         misses = 0;
1068                 }
1069         }
1070         else if(type==MFX_READ_FEEDBACK && length>=3)
1071         {
1072                 if(reply[1])
1073                 {
1074                         misses = 0;
1075
1076                         for(unsigned i=2; i<length; ++i)
1077                                 read_data[read_offset+i-2] = reply[i];
1078                         read_offset += length-2;
1079                         read_length -= length-2;
1080
1081                         if(!read_length)
1082                         {
1083                                 if(read_array==0)
1084                                         block_size = static_cast<unsigned char>(read_data[4])*static_cast<unsigned char>(read_data[5]);
1085
1086                                 bool array_handled = false;
1087                                 if(read_data[0]==0x18)
1088                                 {
1089                                         for(unsigned i=1; i<read_offset; ++i)
1090                                                 if(!read_data[i])
1091                                                 {
1092                                                         pending_info->name = string(read_data+1, i-1);
1093                                                         array_handled = true;
1094                                                         break;
1095                                                 }
1096
1097                                         if(!array_handled)
1098                                                 read_length = 4;
1099                                 }
1100                                 else
1101                                         array_handled = true;
1102
1103                                 if(array_handled && control.debug>=1)
1104                                 {
1105                                         IO::print("MFX CA %03X:", read_array);
1106                                         for(unsigned i=0; i<read_offset; ++i)
1107                                                 IO::print(" %02X", static_cast<unsigned char>(read_data[i]));
1108                                         IO::print("\n");
1109                                 }
1110
1111                                 if(array_handled && read_array<block_size)
1112                                 {
1113                                         ++read_array;
1114                                         read_offset = 0;
1115                                         read_length = 1;
1116                                 }
1117                         }
1118                 }
1119                 else
1120                 {
1121                         ++misses;
1122                         if(misses>=10)
1123                         {
1124                                 if(control.debug>=1)
1125                                         IO::print("Failed to read MFX configuration from %d\n", pending_info->address);
1126                                 read_length = 0;
1127                         }
1128                 }
1129         }
1130 }
1131
1132 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
1133 {
1134         next_address = a;
1135 }
1136
1137 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
1138 {
1139         return queue.pop(info);
1140 }
1141
1142
1143 ArduControl::MonitorTask::MonitorTask():
1144         Task("Monitor"),
1145         voltage(0),
1146         current(0),
1147         base_level(0),
1148         peak_level(0),
1149         next_type(0)
1150 { }
1151
1152 bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
1153 {
1154         if(next_type==0)
1155                 cmd.command[0] = READ_INPUT_VOLTAGE;
1156         else
1157                 cmd.command[0] = READ_TRACK_CURRENT;
1158         cmd.length = 1;
1159
1160         sleep(200*Time::msec);
1161         next_type = (next_type+1)%5;
1162
1163         return true;
1164 }
1165
1166 void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
1167 {
1168         unsigned char type = reply[0];
1169         if(type==INPUT_VOLTAGE && length==3)
1170                 voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1171         else if(type==TRACK_CURRENT && length==5)
1172         {
1173                 current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1174                 float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
1175                 peak_level = max(peak_level, peak);
1176                 base_level = min(base_level, current);
1177         }
1178 }
1179
1180 void ArduControl::MonitorTask::reset_peak()
1181 {
1182         base_level = current;
1183         peak_level = current;
1184 }
1185
1186
1187 ArduControl::ControlThread::ControlThread(ArduControl &c):
1188         control(c),
1189         done(false)
1190 {
1191         tasks.push_back(&control.command_queue);
1192         tasks.push_back(&control.monitor);
1193         tasks.push_back(&control.mfx_announce);
1194         tasks.push_back(&control.mfx_search);
1195         tasks.push_back(&control.s88);
1196         tasks.push_back(&control.refresh);
1197
1198         launch();
1199 }
1200
1201 void ArduControl::ControlThread::exit()
1202 {
1203         done = true;
1204         join();
1205 }
1206
1207 void ArduControl::ControlThread::main()
1208 {
1209         init_baud_rate();
1210
1211         while(!done)
1212         {
1213                 PendingCommand cmd;
1214                 if(get_work(cmd))
1215                 {
1216                         bool success = true;
1217                         bool resync = false;
1218                         for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
1219                         {
1220                                 unsigned result = do_command(cmd, control.command_timeout);
1221                                 success = (result==COMMAND_OK);
1222                                 resync = (result==0);
1223                         }
1224
1225                         if(success && cmd.tag)
1226                                 control.completed_commands.push(cmd.tag);
1227
1228                         if(resync)
1229                         {
1230                                 if(control.debug>=1)
1231                                         IO::print("Synchronization with ArduControl lost, attempting to recover\n");
1232                                 for(unsigned i=0; (resync && i<16); ++i)
1233                                 {
1234                                         control.serial.put('\xFF');
1235                                         while(IO::poll(control.serial, IO::P_INPUT, control.command_timeout))
1236                                                 resync = (control.serial.get()!=0xFF);
1237                                 }
1238                                 if(resync)
1239                                 {
1240                                         if(control.debug>=1)
1241                                                 IO::print("Resynchronization failed, giving up\n");
1242                                         done = true;
1243                                 }
1244                                 else
1245                                 {
1246                                         if(control.debug>=1)
1247                                                 IO::print("Resynchronization successful\n");
1248                                         if(cmd.tag)
1249                                                 control.command_queue.push(cmd);
1250                                 }
1251                         }
1252                 }
1253                 else
1254                         Time::sleep(10*Time::msec);
1255         }
1256 }
1257
1258 void ArduControl::ControlThread::init_baud_rate()
1259 {
1260         static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
1261         unsigned rate = 0;
1262         control.serial.set_data_bits(8);
1263         control.serial.set_parity(IO::Serial::NONE);
1264         control.serial.set_stop_bits(1);
1265         for(unsigned i=0; rates[i]; ++i)
1266         {
1267                 control.serial.set_baud_rate(rates[i]);
1268                 control.serial.put('\xFF');
1269                 if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
1270                 {
1271                         int c = control.serial.get();
1272                         if(c==0xFF)
1273                         {
1274                                 rate = rates[i];
1275                                 break;
1276                         }
1277                 }
1278         }
1279
1280         if(!rate)
1281         {
1282                 if(control.debug>=1)
1283                         IO::print("ArduControl detection failed\n");
1284                 done = true;
1285                 return;
1286         }
1287
1288         if(control.debug>=1)
1289                 IO::print("ArduControl detected at %d bits/s\n", rate);
1290
1291         if(rate!=rates[0])
1292         {
1293                 PendingCommand cmd;
1294                 cmd.command[0] = SET_BAUD_RATE;
1295                 cmd.command[1] = rates[0]>>8;
1296                 cmd.command[2] = rates[0];
1297                 cmd.length = 3;
1298                 if(do_command(cmd, Time::sec)==COMMAND_OK)
1299                 {
1300                         control.serial.set_baud_rate(rates[0]);
1301                         Time::sleep(Time::sec);
1302                         if(do_command(cmd, Time::sec)==COMMAND_OK)
1303                         {
1304                                 if(control.debug>=1)
1305                                         IO::print("Rate changed to %d bits/s\n", rates[0]);
1306                         }
1307                 }
1308         }
1309 }
1310
1311 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
1312 {
1313         Time::TimeStamp t = Time::now();
1314
1315         unsigned count = 0;
1316         for(; (count<tasks.size() && tasks[count]->get_sleep_timeout()<=t); ++count) ;
1317
1318         for(; count>0; --count)
1319         {
1320                 unsigned i = 0;
1321                 for(unsigned j=1; j<count; ++j)
1322                         if(tasks[j]->get_priority()<tasks[i]->get_priority())
1323                                 i = j;
1324
1325                 Task *task = tasks[i];
1326                 bool result = task->get_work(cmd);
1327
1328                 Time::TimeStamp st = max(task->get_sleep_timeout(), t);
1329                 for(; (i+1<tasks.size() && tasks[i+1]->get_sleep_timeout()<=st); ++i)
1330                         tasks[i] = tasks[i+1];
1331                 tasks[i] = task;
1332
1333                 if(result)
1334                 {
1335                         if(control.debug>=2)
1336                                 IO::print("Scheduled task %s\n", task->get_name());
1337                         return true;
1338                 }
1339         }
1340
1341         // As fallback, send an idle packet for the MM protocol
1342         cmd.command[0] = MOTOROLA_SPEED;
1343         cmd.command[1] = 80;
1344         cmd.command[2] = 0;
1345         cmd.command[3] = 0;
1346         cmd.length = 4;
1347
1348         return true;
1349 }
1350
1351 unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
1352 {
1353         if(control.debug>=2)
1354         {
1355                 string cmd_hex;
1356                 for(unsigned i=0; i<cmd.length; ++i)
1357                         cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
1358                 IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
1359         }
1360
1361         control.serial.put(cmd.length^0xFF);
1362         control.serial.write(cmd.command, cmd.length);
1363
1364         unsigned result = 0;
1365         while(1)
1366         {
1367                 bool got_data;
1368                 if(result)
1369                         got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
1370                 else
1371                         got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
1372
1373                 if(!got_data)
1374                         break;
1375
1376                 unsigned rlength = control.serial.get()^0xFF;
1377                 if(rlength>15)
1378                 {
1379                         IO::print("Invalid length %02X\n", rlength);
1380                         continue;
1381                 }
1382
1383                 char reply[15];
1384                 unsigned pos = 0;
1385                 while(pos<rlength)
1386                 {
1387                         if(!IO::poll(control.serial, IO::P_INPUT, timeout))
1388                                 return 0;
1389                         pos += control.serial.read(reply+pos, rlength-pos);
1390                 }
1391
1392                 if(control.debug>=2)
1393                 {
1394                         string reply_hex;
1395                         for(unsigned i=0; i<rlength; ++i)
1396                                 reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
1397                         IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
1398                 }
1399
1400                 unsigned r = process_reply(reply, rlength);
1401                 if(r && !result)
1402                         result = r;
1403         }
1404
1405         return result;
1406 }
1407
1408 unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
1409 {
1410         unsigned char type = reply[0];
1411         if((type&0xE0)==0x80)
1412         {
1413                 if(type!=COMMAND_OK)
1414                         IO::print("Error %02X\n", type);
1415                 return type;
1416         }
1417         else if(type==POWER_STATE && rlength==2)
1418                 set_power(reply[1]);
1419         else if(type==OVERCURRENT)
1420         {
1421                 set_power(false);
1422                 IO::print("Overcurrent detected!\n");
1423         }
1424         else
1425         {
1426                 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1427                         (*i)->process_reply(reply, rlength);
1428         }
1429
1430         return 0;
1431 }
1432
1433 void ArduControl::ControlThread::set_power(bool p)
1434 {
1435         control.power.set(p);
1436
1437         Tag tag;
1438         tag.type = Tag::GENERAL;
1439         tag.command = POWER;
1440         tag.serial = control.power.serial;
1441         control.completed_commands.push(tag);
1442 }
1443
1444
1445 ArduControl::Loader::Loader(ArduControl &c):
1446         DataFile::ObjectLoader<ArduControl>(c)
1447 {
1448         add("mfx_announce_serial", &Loader::mfx_announce_serial);
1449         add("mfx_locomotive", &Loader::mfx_locomotive);
1450 }
1451
1452 void ArduControl::Loader::mfx_announce_serial(unsigned s)
1453 {
1454         obj.mfx_announce.set_serial(s);
1455 }
1456
1457 void ArduControl::Loader::mfx_locomotive(unsigned id)
1458 {
1459         MfxInfo info;
1460         info.id = id;
1461         info.protocol = "MFX";
1462         load_sub(info);
1463         obj.add_mfx_info(info);
1464 }
1465
1466
1467 ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
1468         DataFile::ObjectLoader<MfxInfo>(i)
1469 {
1470         add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
1471         add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));
1472 }
1473
1474 } // namespace R2C2