source/libr2c2/arducontrol.cpp

   1 #include <msp/core/maputils.h>
   2 #include <msp/datafile/writer.h>
   3 #include <msp/fs/redirectedpath.h>
   4 #include <msp/fs/stat.h>
   5 #include <msp/io/print.h>
   6 #include <msp/time/utils.h>
   7 #include "arducontrol.h"
   8 #include "tracktype.h"
   9
  10 using namespace std;
  11 using namespace Msp;
  12
  13 namespace R2C2 {
  14
  15 ArduControl::ProtocolInfo ArduControl::protocol_info[2] =
  16 {
  17         { 79, 14, 4 },       // MM
  18         { 0x3FFF, 126, 15 }  // MFX
  19 };
  20
  21 ArduControl::ArduControl(const Options &opts):
  22         serial(opts.get<string>(string(), "ttyUSB0")),
  23         debug(opts.get<unsigned>("debug")),
  24         state_file("arducontrol.state"),
  25         power(false),
  26         halted(false),
  27         active_accessory(0),
  28         command_timeout(200*Time::msec),
  29         s88(*this),
  30         mfx_search(*this),
  31         thread(*this)
  32 {
  33         if(FS::exists(state_file))
  34                 DataFile::load(*this, state_file.str());
  35
  36         unsigned max_address = 0;
  37         for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
  38                 max_address = max(max_address, i->address);
  39         mfx_search.set_next_address(max_address+1);
  40
  41         PendingCommand cmd;
  42         cmd.command[0] = READ_POWER_STATE;
  43         cmd.length = 1;
  44         command_queue.push(cmd);
  45
  46         cmd.command[0] = MFX_SET_STATION_ID;
  47         cmd.command[1] = 'R';
  48         cmd.command[2] = '2';
  49         cmd.command[3] = 'C';
  50         cmd.command[4] = '2';
  51         cmd.length = 5;
  52         command_queue.push(cmd);
  53 }
  54
  55 ArduControl::~ArduControl()
  56 {
  57         thread.exit();
  58 }
  59
  60 void ArduControl::set_power(bool p)
  61 {
  62         if(power.set(p))
  63         {
  64                 PendingCommand cmd(POWER);
  65                 cmd.tag.serial = power.serial;
  66                 cmd.command[0] = (p ? POWER_ON : POWER_OFF);
  67                 cmd.length = 1;
  68                 command_queue.push(cmd);
  69         }
  70 }
  71
  72 void ArduControl::halt(bool h)
  73 {
  74         if(h==halted)
  75                 return;
  76
  77         halted = h;
  78         if(halted)
  79         {
  80                 for(LocomotiveMap::const_iterator i=locomotives.begin(); i!=locomotives.end(); ++i)
  81                         set_loco_speed(i->first, 0);
  82         }
  83
  84         signal_halt.emit(halted);
  85 }
  86
  87 const char *ArduControl::enumerate_protocols(unsigned i) const
  88 {
  89         if(i==0)
  90                 return "MM";
  91         else if(i==1)
  92                 return "MFX";
  93         else
  94                 return 0;
  95 }
  96
  97 ArduControl::Protocol ArduControl::map_protocol(const string &proto_name)
  98 {
  99         if(proto_name=="MM")
 100                 return MM;
 101         else if(proto_name=="MFX")
 102                 return MFX;
 103         else
 104                 throw invalid_argument("ArduControl::map_protocol");
 105 }
 106
 107 unsigned ArduControl::get_protocol_speed_steps(const string &proto_name) const
 108 {
 109         return protocol_info[map_protocol(proto_name)].max_speed;
 110 }
 111
 112 const Driver::DetectedLocomotive *ArduControl::enumerate_detected_locos(unsigned i) const
 113 {
 114         if(i>=mfx_info.size())
 115                 return 0;
 116
 117         return &mfx_info[i];
 118 }
 119
 120 unsigned ArduControl::add_loco(unsigned addr, const string &proto_name, const VehicleType &)
 121 {
 122         if(!addr)
 123                 throw invalid_argument("ArduControl::add_loco");
 124
 125         Protocol proto = map_protocol(proto_name);
 126         if(addr>protocol_info[proto].max_address)
 127                 throw invalid_argument("ArduControl::add_loco");
 128
 129         Locomotive loco(proto, addr);
 130         insert_unique(locomotives, loco.id, loco);
 131
 132         return loco.id;
 133 }
 134
 135 ArduControl::MfxInfoArray::iterator ArduControl::add_mfx_info(const MfxInfo &info)
 136 {
 137         MfxInfoArray::iterator i;
 138         for(i=mfx_info.begin(); (i!=mfx_info.end() && i->id!=info.id); ++i) ;
 139         if(i==mfx_info.end())
 140         {
 141                 mfx_info.push_back(info);
 142                 i = --mfx_info.end();
 143         }
 144         else
 145                 *i = info;
 146         return i;
 147 }
 148
 149 void ArduControl::remove_loco(unsigned id)
 150 {
 151         Locomotive &loco = get_item(locomotives, id);
 152         refresh.remove_loco(loco);
 153         locomotives.erase(id);
 154 }
 155
 156 void ArduControl::set_loco_speed(unsigned id, unsigned speed)
 157 {
 158         Locomotive &loco = get_item(locomotives, id);
 159         if(speed>protocol_info[loco.proto].max_speed)
 160                 throw invalid_argument("ArduControl::set_loco_speed");
 161
 162         if(speed && halted)
 163                 return;
 164
 165         if(loco.speed.set(speed))
 166         {
 167                 PendingCommand cmd(loco, Locomotive::SPEED);
 168                 command_queue.push(cmd);
 169
 170                 refresh.add_loco(loco);
 171         }
 172 }
 173
 174 void ArduControl::set_loco_reverse(unsigned id, bool rev)
 175 {
 176         Locomotive &loco = get_item(locomotives, id);
 177         if(loco.reverse.set(rev))
 178         {
 179                 PendingCommand cmd(loco, Locomotive::REVERSE);
 180                 command_queue.push(cmd);
 181
 182                 refresh.add_loco(loco);
 183         }
 184 }
 185
 186 void ArduControl::set_loco_function(unsigned id, unsigned func, bool state)
 187 {
 188         Locomotive &loco = get_item(locomotives, id);
 189         if(func>protocol_info[loco.proto].max_func)
 190                 throw invalid_argument("ArduControl::set_loco_function");
 191
 192         unsigned mask = 1<<func;
 193         if(loco.funcs.set((loco.funcs&~mask)|(mask*state)))
 194         {
 195                 if(func>0 || loco.proto!=MM)
 196                 {
 197                         PendingCommand cmd(loco, Locomotive::FUNCTIONS, func);
 198                         command_queue.push(cmd);
 199                 }
 200
 201                 refresh.add_loco(loco);
 202         }
 203 }
 204
 205 unsigned ArduControl::add_turnout(unsigned addr, const TrackType &type)
 206 {
 207         if(!addr || !type.is_turnout())
 208                 throw invalid_argument("ArduControl::add_turnout");
 209
 210         return add_accessory(Accessory::TURNOUT, addr, type.get_state_bits(), type.get_paths());
 211 }
 212
 213 void ArduControl::remove_turnout(unsigned addr)
 214 {
 215         remove_accessory(Accessory::TURNOUT, addr);
 216 }
 217
 218 void ArduControl::set_turnout(unsigned addr, unsigned state)
 219 {
 220         set_accessory(Accessory::TURNOUT, addr, state);
 221 }
 222
 223 unsigned ArduControl::get_turnout(unsigned addr) const
 224 {
 225         return get_accessory(Accessory::TURNOUT, addr);
 226 }
 227
 228 unsigned ArduControl::add_signal(unsigned addr, const SignalType &)
 229 {
 230         return add_accessory(Accessory::SIGNAL, addr, 1, 3);
 231 }
 232
 233 void ArduControl::remove_signal(unsigned addr)
 234 {
 235         remove_accessory(Accessory::SIGNAL, addr);
 236 }
 237
 238 void ArduControl::set_signal(unsigned addr, unsigned state)
 239 {
 240         set_accessory(Accessory::SIGNAL, addr, state);
 241 }
 242
 243 unsigned ArduControl::get_signal(unsigned addr) const
 244 {
 245         return get_accessory(Accessory::SIGNAL, addr);
 246 }
 247
 248 unsigned ArduControl::add_accessory(Accessory::Kind kind, unsigned addr, unsigned bits, unsigned states)
 249 {
 250         AccessoryMap::iterator i = accessories.lower_bound(addr);
 251         AccessoryMap::iterator j = accessories.upper_bound(addr+bits-1);
 252         if(i!=j)
 253                 throw key_error(addr);
 254         if(i!=accessories.begin())
 255         {
 256                 --i;
 257                 if(i->first+i->second.bits>addr)
 258                         throw key_error(addr);
 259         }
 260
 261         insert_unique(accessories, addr, Accessory(kind, addr, bits, states));
 262         return addr;
 263 }
 264
 265 void ArduControl::remove_accessory(Accessory::Kind kind, unsigned addr)
 266 {
 267         Accessory &acc = get_item(accessories, addr);
 268         if(acc.kind!=kind)
 269                 throw key_error(addr);
 270         accessories.erase(addr);
 271 }
 272
 273 void ArduControl::set_accessory(Accessory::Kind kind, unsigned addr, unsigned state)
 274 {
 275         Accessory &acc = get_item(accessories, addr);
 276         if(acc.kind!=kind)
 277                 throw key_error(addr);
 278
 279         if(state!=acc.target || acc.uncertain)
 280         {
 281                 acc.target = state;
 282                 accessory_queue.push_back(&acc);
 283         }
 284 }
 285
 286 unsigned ArduControl::get_accessory(Accessory::Kind kind, unsigned addr) const
 287 {
 288         const Accessory &acc = get_item(accessories, addr);
 289         if(acc.kind!=kind)
 290                 throw key_error(addr);
 291         return acc.state;
 292 }
 293
 294 void ArduControl::activate_accessory_by_mask(Accessory &acc, unsigned mask)
 295 {
 296         unsigned bit = mask&~(mask-1);
 297         for(active_index=0; (bit>>active_index)>1; ++active_index) ;
 298         acc.state.set((acc.state&~bit)|(acc.target&bit));
 299         if(debug>=1)
 300                 IO::print("Setting accessory %d bit %d, state=%d\n", acc.address, active_index, acc.state.pending);
 301         PendingCommand cmd(acc, Accessory::ACTIVATE, active_index);
 302         command_queue.push(cmd);
 303         active_accessory = &acc;
 304
 305         monitor.reset_peak();
 306 }
 307
 308 unsigned ArduControl::add_sensor(unsigned addr)
 309 {
 310         if(!addr)
 311                 throw invalid_argument("ArduControl::add_sensor");
 312
 313         insert_unique(sensors, addr, Sensor(addr));
 314         s88.grow_n_octets((addr+7)/8);
 315
 316         return addr;
 317 }
 318
 319 void ArduControl::remove_sensor(unsigned addr)
 320 {
 321         remove_existing(sensors, addr);
 322         // TODO update s88.n_octets
 323 }
 324
 325 bool ArduControl::get_sensor(unsigned addr) const
 326 {
 327         return get_item(sensors, addr).state;
 328 }
 329
 330 void ArduControl::tick()
 331 {
 332         Tag tag;
 333         while(completed_commands.pop(tag))
 334         {
 335                 if(tag.type==Tag::GENERAL)
 336                 {
 337                         if(tag.command==POWER)
 338                         {
 339                                 if(power.commit(tag.serial))
 340                                         signal_power.emit(power.current);
 341                         }
 342                         else if(tag.command==NEW_LOCO)
 343                         {
 344                                 MfxInfo info;
 345                                 if(mfx_search.pop_info(info))
 346                                 {
 347                                         MfxInfoArray::iterator i = add_mfx_info(info);
 348                                         save_state();
 349                                         signal_locomotive_detected.emit(*i);
 350                                 }
 351                         }
 352                 }
 353                 else if(tag.type==Tag::LOCOMOTIVE)
 354                 {
 355                         LocomotiveMap::iterator i = locomotives.find(tag.id);
 356                         if(i==locomotives.end())
 357                                 continue;
 358
 359                         Locomotive &loco = i->second;
 360                         if(tag.command==Locomotive::SPEED)
 361                         {
 362                                 if(loco.speed.commit(tag.serial))
 363                                         signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
 364                         }
 365                         else if(tag.command==Locomotive::REVERSE)
 366                         {
 367                                 if(loco.reverse.commit(tag.serial))
 368                                         signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
 369                         }
 370                         else if(tag.command==Locomotive::FUNCTIONS)
 371                         {
 372                                 unsigned old = loco.funcs;
 373                                 if(loco.funcs.commit(tag.serial))
 374                                 {
 375                                         unsigned changed = old^loco.funcs;
 376                                         for(unsigned j=0; changed>>j; ++j)
 377                                                 if((changed>>j)&1)
 378                                                         signal_loco_function.emit(loco.id, j, (loco.funcs>>j)&1);
 379                                 }
 380                         }
 381                 }
 382                 else if(tag.type==Tag::ACCESSORY)
 383                 {
 384                         AccessoryMap::iterator i = accessories.find(tag.id);
 385                         if(i==accessories.end())
 386                                 continue;
 387
 388                         Accessory &acc = i->second;
 389                         if(tag.command==Accessory::ACTIVATE)
 390                                 off_timeout = Time::now()+acc.active_time;
 391                         else if(tag.command==Accessory::DEACTIVATE)
 392                         {
 393                                 if(acc.state.commit(tag.serial))
 394                                 {
 395                                         if(&acc==active_accessory)
 396                                                 active_accessory = 0;
 397                                 }
 398                         }
 399                 }
 400                 else if(tag.type==Tag::SENSOR)
 401                 {
 402                         SensorMap::iterator i = sensors.find(tag.id);
 403                         if(i==sensors.end())
 404                                 continue;
 405
 406                         Sensor &sensor = i->second;
 407                         if(tag.command==Sensor::STATE)
 408                         {
 409                                 if(sensor.state.commit(tag.serial))
 410                                         signal_sensor.emit(sensor.address, sensor.state);
 411                         }
 412                 }
 413         }
 414
 415         while(power && !active_accessory && !accessory_queue.empty())
 416         {
 417                 Accessory &acc = *accessory_queue.front();
 418
 419                 if(acc.uncertain)
 420                 {
 421                         unsigned zeroes = acc.uncertain&~acc.target;
 422                         if(zeroes)
 423                                 activate_accessory_by_mask(acc, zeroes);
 424                         else
 425                                 activate_accessory_by_mask(acc, acc.uncertain);
 426                 }
 427                 else if(acc.state!=acc.target)
 428                 {
 429                         unsigned changes = acc.state^acc.target;
 430                         if(!(changes&((1<<acc.bits)-1)))
 431                         {
 432                                 // All remaining changes are in non-physical bits
 433                                 acc.state.set(acc.state^changes);
 434                                 acc.state.commit(acc.state.serial);
 435                         }
 436                         else
 437                         {
 438                                 unsigned toggle_bit = 0;
 439                                 for(unsigned bit=1; (!toggle_bit && bit<=changes); bit<<=1)
 440                                         if((changes&bit) && (acc.valid_states&(1<<(acc.state^bit))))
 441                                                 toggle_bit = bit;
 442
 443                                 activate_accessory_by_mask(acc, toggle_bit);
 444                         }
 445                 }
 446                 else
 447                 {
 448                         accessory_queue.pop_front();
 449
 450                         if(acc.state==acc.target)
 451                         {
 452                                 if(acc.kind==Accessory::TURNOUT)
 453                                         signal_turnout.emit(acc.address, acc.state);
 454                                 else if(acc.kind==Accessory::SIGNAL)
 455                                         signal_signal.emit(acc.address, acc.state);
 456                         }
 457                 }
 458         }
 459
 460         if(active_accessory && off_timeout)
 461         {
 462                 bool success = (monitor.get_peak()>0.35f && monitor.get_current()<monitor.get_peak()-0.2f);
 463                 Time::TimeStamp t = Time::now();
 464                 if(t>off_timeout || success)
 465                 {
 466                         Accessory &acc = *active_accessory;
 467
 468                         unsigned bit = 1<<active_index;
 469
 470                         // Assume success if we were uncertain of the physical setting
 471                         if(acc.uncertain&bit)
 472                                 acc.uncertain &= ~bit;
 473                         else if(acc.kind==Accessory::TURNOUT && !success)
 474                         {
 475                                 if(debug>=1)
 476                                         IO::print("Peak current only %.2f A\n", monitor.get_peak());
 477                                 signal_turnout_failed.emit(acc.address);
 478                                 acc.state.rollback();
 479                                 if(acc.valid_states&(1<<(acc.target^bit)))
 480                                         acc.target ^= bit;
 481                                 else
 482                                         acc.target = acc.state;
 483                         }
 484
 485                         off_timeout = Time::TimeStamp();
 486                         PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
 487                         command_queue.push(cmd);
 488                 }
 489         }
 490 }
 491
 492 void ArduControl::flush()
 493 {
 494         while(!command_queue.empty() || (power && !accessory_queue.empty()))
 495                 tick();
 496 }
 497
 498 void ArduControl::save_state() const
 499 {
 500         FS::RedirectedPath tmp_file(state_file);
 501         IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
 502         DataFile::Writer writer(out);
 503
 504         writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
 505         for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
 506         {
 507                 DataFile::Statement st("mfx_locomotive");
 508                 st.append(i->id);
 509                 st.sub.push_back((DataFile::Statement("address"), i->address));
 510                 st.sub.push_back((DataFile::Statement("name"), i->name));
 511                 writer.write(st);
 512         }
 513 }
 514
 515
 516 ArduControl::Tag::Tag():
 517         type(NONE),
 518         command(0),
 519         serial(0),
 520         id(0)
 521 { }
 522
 523
 524 ArduControl::Locomotive::Locomotive(Protocol p, unsigned a):
 525         id((p<<16)|a),
 526         proto(p),
 527         address(a),
 528         speed(0),
 529         reverse(false),
 530         funcs(0),
 531         last_change_age(0)
 532 { }
 533
 534 unsigned ArduControl::Locomotive::create_speed_dir_command(char *buffer) const
 535 {
 536         if(proto==MM)
 537         {
 538                 buffer[0] = MOTOROLA_SPEED_DIRECTION;
 539                 buffer[1] = address;
 540                 buffer[2] = funcs.pending&1;
 541                 buffer[3] = speed.pending+reverse.pending*0x80;
 542                 return 4;
 543         }
 544         else if(proto==MFX)
 545         {
 546                 buffer[0] = MFX_SPEED;
 547                 buffer[1] = address>>8;
 548                 buffer[2] = address;
 549                 buffer[3] = speed.pending+reverse.pending*0x80;
 550                 return 4;
 551         }
 552         else
 553                 return 0;
 554 }
 555
 556 unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *buffer) const
 557 {
 558         if(proto==MM)
 559         {
 560                 if(f<1 || f>4)
 561                         throw invalid_argument("Locomotive::create_speed_func_command");
 562
 563                 buffer[0] = MOTOROLA_SPEED_FUNCTION;
 564                 buffer[1] = address;
 565                 buffer[2] = (f<<4)|(((funcs.pending>>f)&1)<<1)|(funcs.pending&1);
 566                 buffer[3] = speed.pending;
 567                 return 4;
 568         }
 569         else if(proto==MFX)
 570         {
 571                 bool f16 = (funcs.pending>0xFF);
 572                 buffer[0] = (f16 ? MFX_SPEED_FUNCS16 : MFX_SPEED_FUNCS8);
 573                 buffer[1] = address>>8;
 574                 buffer[2] = address;
 575                 buffer[3] = speed.pending+reverse.pending*0x80;
 576                 if(f16)
 577                 {
 578                         buffer[4] = funcs.pending>>8;
 579                         buffer[5] = funcs.pending;
 580                         return 6;
 581                 }
 582                 else
 583                 {
 584                         buffer[4] = funcs.pending;
 585                         return 5;
 586                 }
 587         }
 588         else
 589                 return 0;
 590 }
 591
 592
 593 ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b, unsigned s):
 594         kind(k),
 595         address(a),
 596         bits(b),
 597         valid_states(s),
 598         state(0),
 599         uncertain((1<<bits)-1),
 600         target(0),
 601         active_time((bits*700)*Time::msec)
 602 { }
 603
 604 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
 605 {
 606         if(b>=bits)
 607                 throw invalid_argument("Accessory::create_state_command");
 608
 609         unsigned a = (address+b+3)*2;
 610         if(!((state.pending>>b)&1))
 611                 ++a;
 612         buffer[0] = MOTOROLA_SOLENOID;
 613         buffer[1] = a>>3;
 614         buffer[2] = ((a&7)<<4)|c;
 615         return 3;
 616 }
 617
 618
 619 ArduControl::Sensor::Sensor(unsigned a):
 620         address(a),
 621         state(false)
 622 { }
 623
 624
 625 ArduControl::PendingCommand::PendingCommand():
 626         length(0),
 627         repeat_count(1)
 628 { }
 629
 630 ArduControl::PendingCommand::PendingCommand(GeneralCommand cmd):
 631         length(0),
 632         repeat_count(1)
 633 {
 634         tag.type = Tag::GENERAL;
 635         tag.command = cmd;
 636 }
 637
 638 ArduControl::PendingCommand::PendingCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index):
 639         repeat_count(8)
 640 {
 641         tag.type = Tag::LOCOMOTIVE;
 642         tag.command = cmd;
 643         tag.id = loco.id;
 644         if(cmd==Locomotive::SPEED)
 645         {
 646                 tag.serial = loco.speed.serial;
 647                 length = loco.create_speed_dir_command(command);
 648         }
 649         else if(cmd==Locomotive::REVERSE)
 650         {
 651                 tag.serial = loco.reverse.serial;
 652                 length = loco.create_speed_dir_command(command);
 653         }
 654         else if(cmd==Locomotive::FUNCTIONS)
 655         {
 656                 tag.serial = loco.funcs.serial;
 657                 length = loco.create_speed_func_command(index, command);
 658         }
 659         else
 660                 throw invalid_argument("PendingCommand");
 661 }
 662
 663 ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command cmd, unsigned index):
 664         repeat_count(1)
 665 {
 666         tag.type = Tag::ACCESSORY;
 667         tag.command = cmd;
 668         tag.id = acc.address;
 669         if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
 670         {
 671                 tag.serial = acc.state.serial;
 672                 length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
 673         }
 674         else
 675                 throw invalid_argument("PendingCommand");
 676 }
 677
 678
 679 template<typename T>
 680 void ArduControl::Queue<T>::push(const T &item)
 681 {
 682         MutexLock lock(mutex);
 683         items.push_back(item);
 684 }
 685
 686 template<typename T>
 687 bool ArduControl::Queue<T>::pop(T &item)
 688 {
 689         MutexLock lock(mutex);
 690         if(items.empty())
 691                 return false;
 692
 693         item = items.front();
 694         items.pop_front();
 695         return true;
 696 }
 697
 698 template<typename T>
 699 bool ArduControl::Queue<T>::empty() const
 700 {
 701         return items.empty();
 702 }
 703
 704
 705 bool ArduControl::CommandQueueTask::get_work(PendingCommand &cmd)
 706 {
 707         return queue.pop(cmd);
 708 }
 709
 710 void ArduControl::CommandQueueTask::push(const PendingCommand &cmd)
 711 {
 712         queue.push(cmd);
 713 }
 714
 715
 716 ArduControl::Task::Task(const string &n, unsigned p):
 717         name(n),
 718         priority(p)
 719 { }
 720
 721 void ArduControl::Task::sleep(const Time::TimeDelta &dt)
 722 {
 723         sleep_timeout = Time::now()+dt;
 724 }
 725
 726
 727 ArduControl::CommandQueueTask::CommandQueueTask():
 728         Task("CommandQueue")
 729 { }
 730
 731
 732 ArduControl::RefreshTask::RefreshTask():
 733         Task("Refresh", 2),
 734         next(cycle.end()),
 735         round(0),
 736         loco(0),
 737         phase(0)
 738 { }
 739
 740 bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
 741 {
 742         if(loco && loco->proto==MM && phase==0)
 743         {
 744                 cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
 745                 cmd.repeat_count = 2;
 746                 ++phase;
 747                 return true;
 748         }
 749
 750         loco = get_next_loco();
 751         if(!loco)
 752                 return false;
 753
 754         phase = 0;
 755         if(loco->proto==MM)
 756         {
 757                 cmd.length = loco->create_speed_dir_command(cmd.command);
 758                 cmd.repeat_count = 2;
 759         }
 760         else if(loco->proto==MFX)
 761                 cmd.length = loco->create_speed_func_command(0, cmd.command);
 762         else
 763                 return false;
 764
 765         return true;
 766 }
 767
 768 void ArduControl::RefreshTask::add_loco(Locomotive &l)
 769 {
 770         MutexLock lock(mutex);
 771         cycle.push_back(&l);
 772         if(cycle.size()>15)
 773         {
 774                 LocomotivePtrList::iterator oldest = cycle.begin();
 775                 for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
 776                         if((*i)->last_change_age>(*oldest)->last_change_age)
 777                                 oldest = i;
 778                 if(oldest==next)
 779                         advance();
 780                 cycle.erase(oldest);
 781         }
 782         if(next==cycle.end())
 783                 next = cycle.begin();
 784 }
 785
 786 void ArduControl::RefreshTask::remove_loco(Locomotive &l)
 787 {
 788         MutexLock lock(mutex);
 789         for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
 790                 if(*i==&l)
 791                 {
 792                         if(i==next)
 793                         {
 794                                 if(cycle.size()>1)
 795                                         advance();
 796                                 else
 797                                         next = cycle.end();
 798                         }
 799                         cycle.erase(i);
 800                         return;
 801                 }
 802 }
 803
 804 ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
 805 {
 806         MutexLock lock(mutex);
 807         if(cycle.empty())
 808                 return 0;
 809
 810         Locomotive *l = *next;
 811         advance();
 812         return l;
 813 }
 814
 815 void ArduControl::RefreshTask::advance()
 816 {
 817         ++next;
 818         if(next==cycle.end())
 819         {
 820                 next= cycle.begin();
 821                 ++round;
 822         }
 823 }
 824
 825
 826 ArduControl::S88Task::S88Task(ArduControl &c):
 827         Task("S88"),
 828         control(c),
 829         n_octets(0),
 830         octets_remaining(0)
 831 { }
 832
 833 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 834 {
 835         if(octets_remaining || !n_octets)
 836                 return false;
 837
 838         octets_remaining = n_octets;
 839         cmd.command[0] = S88_READ;
 840         cmd.command[1] = octets_remaining;
 841         cmd.length = 2;
 842
 843         sleep(100*Time::msec);
 844
 845         return true;
 846 }
 847
 848 void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
 849 {
 850         unsigned char type = reply[0];
 851         if(type==S88_DATA && length>2)
 852         {
 853                 unsigned offset = static_cast<unsigned char>(reply[1]);
 854                 unsigned count = length-2;
 855
 856                 SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
 857                 SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
 858                 for(SensorMap::iterator i=begin; i!=end; ++i)
 859                 {
 860                         unsigned bit_index = i->first-1-offset*8;
 861                         bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
 862                         i->second.state.set(state);
 863
 864                         Tag tag;
 865                         tag.type = Tag::SENSOR;
 866                         tag.command = Sensor::STATE;
 867                         tag.serial = i->second.state.serial;
 868                         tag.id = i->first;
 869                         control.completed_commands.push(tag);
 870                 }
 871
 872                 if(count>octets_remaining)
 873                         octets_remaining = 0;
 874                 else
 875                         octets_remaining -= count;
 876         }
 877 }
 878
 879 void ArduControl::S88Task::set_n_octets(unsigned n)
 880 {
 881         n_octets = n;
 882 }
 883
 884 void ArduControl::S88Task::grow_n_octets(unsigned n)
 885 {
 886         if(n>n_octets)
 887                 n_octets = n;
 888 }
 889
 890
 891 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
 892         Task("MfxAnnounce", 1),
 893         serial(0)
 894 { }
 895
 896 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
 897 {
 898         cmd.command[0] = MFX_ANNOUNCE;
 899         cmd.command[1] = serial>>8;
 900         cmd.command[2] = serial;
 901         cmd.length = 3;
 902
 903         sleep(400*Time::msec);
 904
 905         return true;
 906 }
 907
 908 void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
 909 {
 910         serial = s;
 911 }
 912
 913
 914 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
 915         Task("MfxSearch", 1),
 916         control(c),
 917         next_address(1),
 918         size(0),
 919         bits(0),
 920         misses(0)
 921 { }
 922
 923 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 924 {
 925         if(size>32)
 926         {
 927                 if(control.debug>=1)
 928                         IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
 929
 930                 MfxInfo info;
 931                 info.protocol = "MFX";
 932                 info.address = next_address;
 933                 info.name = format("%08X", bits);
 934                 info.id = bits;
 935                 queue.push(info);
 936
 937                 cmd.command[0] = MFX_ASSIGN_ADDRESS;
 938                 cmd.command[1] = next_address>>8;
 939                 cmd.command[2] = next_address;
 940                 for(unsigned i=0; i<4; ++i)
 941                         cmd.command[3+i] = bits>>(24-i*8);
 942                 cmd.length = 7;
 943
 944                 cmd.tag.type = Tag::GENERAL;
 945                 cmd.tag.command = NEW_LOCO;
 946                 cmd.tag.id = bits;
 947
 948                 size = 0;
 949                 bits = 0;
 950                 ++next_address;
 951
 952                 return true;
 953         }
 954
 955         cmd.command[0] = MFX_SEARCH;
 956         for(unsigned i=0; i<4; ++i)
 957                 cmd.command[1+i] = bits>>(24-i*8);
 958         cmd.command[5] = size;
 959         cmd.length = 6;
 960
 961         sleep(200*Time::msec);
 962
 963         if(control.debug>=1)
 964                 IO::print("Search %08X/%d\n", bits, size);
 965
 966         return true;
 967 }
 968
 969 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
 970 {
 971         unsigned char type = reply[0];
 972         if(type==MFX_SEARCH_FEEDBACK && length==2)
 973         {
 974                 if(reply[1])
 975                 {
 976                         misses = 0;
 977                         ++size;
 978                 }
 979                 else if(size>0 && misses<6)
 980                 {
 981                         ++misses;
 982                         bits ^= 1<<(32-size);
 983                 }
 984                 else
 985                 {
 986                         sleep(2*Time::sec);
 987                         bits = 0;
 988                         size = 0;
 989                         misses = 0;
 990                 }
 991         }
 992 }
 993
 994 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
 995 {
 996         next_address = a;
 997 }
 998
 999 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
1000 {
1001         return queue.pop(info);
1002 }
1003
1004
1005 ArduControl::MonitorTask::MonitorTask():
1006         Task("Monitor"),
1007         voltage(0),
1008         current(0),
1009         base_level(0),
1010         peak_level(0),
1011         next_type(0)
1012 { }
1013
1014 bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
1015 {
1016         if(next_type==0)
1017                 cmd.command[0] = READ_INPUT_VOLTAGE;
1018         else
1019                 cmd.command[0] = READ_TRACK_CURRENT;
1020         cmd.length = 1;
1021
1022         sleep(200*Time::msec);
1023         next_type = (next_type+1)%5;
1024
1025         return true;
1026 }
1027
1028 void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
1029 {
1030         unsigned char type = reply[0];
1031         if(type==INPUT_VOLTAGE && length==3)
1032                 voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1033         else if(type==TRACK_CURRENT && length==5)
1034         {
1035                 current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1036                 float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
1037                 peak_level = max(peak_level, peak);
1038                 base_level = min(base_level, current);
1039         }
1040 }
1041
1042 void ArduControl::MonitorTask::reset_peak()
1043 {
1044         base_level = current;
1045         peak_level = current;
1046 }
1047
1048
1049 ArduControl::ControlThread::ControlThread(ArduControl &c):
1050         control(c),
1051         done(false)
1052 {
1053         tasks.push_back(&control.command_queue);
1054         tasks.push_back(&control.monitor);
1055         tasks.push_back(&control.mfx_announce);
1056         tasks.push_back(&control.mfx_search);
1057         tasks.push_back(&control.s88);
1058         tasks.push_back(&control.refresh);
1059
1060         launch();
1061 }
1062
1063 void ArduControl::ControlThread::exit()
1064 {
1065         done = true;
1066         join();
1067 }
1068
1069 void ArduControl::ControlThread::main()
1070 {
1071         init_baud_rate();
1072
1073         while(!done)
1074         {
1075                 PendingCommand cmd;
1076                 if(get_work(cmd))
1077                 {
1078                         bool success = true;
1079                         bool resync = false;
1080                         for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
1081                         {
1082                                 unsigned result = do_command(cmd, control.command_timeout);
1083                                 success = (result==COMMAND_OK);
1084                                 resync = (result==0);
1085                         }
1086
1087                         if(success && cmd.tag)
1088                                 control.completed_commands.push(cmd.tag);
1089
1090                         if(resync)
1091                         {
1092                                 if(control.debug>=1)
1093                                         IO::print("Synchronization with ArduControl lost, attempting to recover\n");
1094                                 for(unsigned i=0; (resync && i<16); ++i)
1095                                 {
1096                                         control.serial.put('\xFF');
1097                                         while(IO::poll(control.serial, IO::P_INPUT, control.command_timeout))
1098                                                 resync = (control.serial.get()!=0xFF);
1099                                 }
1100                                 if(resync)
1101                                 {
1102                                         if(control.debug>=1)
1103                                                 IO::print("Resynchronization failed, giving up\n");
1104                                         done = true;
1105                                 }
1106                                 else
1107                                 {
1108                                         if(control.debug>=1)
1109                                                 IO::print("Resynchronization successful\n");
1110                                         if(cmd.tag)
1111                                                 control.command_queue.push(cmd);
1112                                 }
1113                         }
1114                 }
1115                 else
1116                         Time::sleep(10*Time::msec);
1117         }
1118 }
1119
1120 void ArduControl::ControlThread::init_baud_rate()
1121 {
1122         static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
1123         unsigned rate = 0;
1124         control.serial.set_data_bits(8);
1125         control.serial.set_parity(IO::Serial::NONE);
1126         control.serial.set_stop_bits(1);
1127         for(unsigned i=0; rates[i]; ++i)
1128         {
1129                 control.serial.set_baud_rate(rates[i]);
1130                 control.serial.put('\xFF');
1131                 if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
1132                 {
1133                         int c = control.serial.get();
1134                         if(c==0xFF)
1135                         {
1136                                 rate = rates[i];
1137                                 break;
1138                         }
1139                 }
1140         }
1141
1142         if(!rate)
1143         {
1144                 if(control.debug>=1)
1145                         IO::print("ArduControl detection failed\n");
1146                 done = true;
1147                 return;
1148         }
1149
1150         if(control.debug>=1)
1151                 IO::print("ArduControl detected at %d bits/s\n", rate);
1152
1153         if(rate!=rates[0])
1154         {
1155                 PendingCommand cmd;
1156                 cmd.command[0] = SET_BAUD_RATE;
1157                 cmd.command[1] = rates[0]>>8;
1158                 cmd.command[2] = rates[0];
1159                 cmd.length = 3;
1160                 if(do_command(cmd, Time::sec)==COMMAND_OK)
1161                 {
1162                         control.serial.set_baud_rate(rates[0]);
1163                         Time::sleep(Time::sec);
1164                         if(do_command(cmd, Time::sec)==COMMAND_OK)
1165                         {
1166                                 if(control.debug>=1)
1167                                         IO::print("Rate changed to %d bits/s\n", rates[0]);
1168                         }
1169                 }
1170         }
1171 }
1172
1173 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
1174 {
1175         Time::TimeStamp t = Time::now();
1176
1177         unsigned count = 0;
1178         for(; (count<tasks.size() && tasks[count]->get_sleep_timeout()<=t); ++count) ;
1179
1180         for(; count>0; --count)
1181         {
1182                 unsigned i = 0;
1183                 for(unsigned j=1; j<count; ++j)
1184                         if(tasks[j]->get_priority()<tasks[i]->get_priority())
1185                                 i = j;
1186
1187                 Task *task = tasks[i];
1188                 bool result = task->get_work(cmd);
1189
1190                 Time::TimeStamp st = max(task->get_sleep_timeout(), t);
1191                 for(; (i+1<tasks.size() && tasks[i+1]->get_sleep_timeout()<=st); ++i)
1192                         tasks[i] = tasks[i+1];
1193                 tasks[i] = task;
1194
1195                 if(result)
1196                 {
1197                         if(control.debug>=2)
1198                                 IO::print("Scheduled task %s\n", task->get_name());
1199                         return true;
1200                 }
1201         }
1202
1203         // As fallback, send an idle packet for the MM protocol
1204         cmd.command[0] = MOTOROLA_SPEED;
1205         cmd.command[1] = 80;
1206         cmd.command[2] = 0;
1207         cmd.command[3] = 0;
1208         cmd.length = 4;
1209
1210         return true;
1211 }
1212
1213 unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
1214 {
1215         if(control.debug>=2)
1216         {
1217                 string cmd_hex;
1218                 for(unsigned i=0; i<cmd.length; ++i)
1219                         cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
1220                 IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
1221         }
1222
1223         control.serial.put(cmd.length^0xFF);
1224         control.serial.write(cmd.command, cmd.length);
1225
1226         unsigned result = 0;
1227         while(1)
1228         {
1229                 bool got_data;
1230                 if(result)
1231                         got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
1232                 else
1233                         got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
1234
1235                 if(!got_data)
1236                         break;
1237
1238                 unsigned rlength = control.serial.get()^0xFF;
1239                 if(rlength>15)
1240                 {
1241                         IO::print("Invalid length %02X\n", rlength);
1242                         continue;
1243                 }
1244
1245                 char reply[15];
1246                 unsigned pos = 0;
1247                 while(pos<rlength)
1248                 {
1249                         if(!IO::poll(control.serial, IO::P_INPUT, timeout))
1250                                 return 0;
1251                         pos += control.serial.read(reply+pos, rlength-pos);
1252                 }
1253
1254                 if(control.debug>=2)
1255                 {
1256                         string reply_hex;
1257                         for(unsigned i=0; i<rlength; ++i)
1258                                 reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
1259                         IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
1260                 }
1261
1262                 unsigned r = process_reply(reply, rlength);
1263                 if(r && !result)
1264                         result = r;
1265         }
1266
1267         return result;
1268 }
1269
1270 unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
1271 {
1272         unsigned char type = reply[0];
1273         if((type&0xE0)==0x80)
1274         {
1275                 if(type!=COMMAND_OK)
1276                         IO::print("Error %02X\n", type);
1277                 return type;
1278         }
1279         else if(type==POWER_STATE && rlength==2)
1280                 set_power(reply[1]);
1281         else if(type==OVERCURRENT)
1282         {
1283                 set_power(false);
1284                 IO::print("Overcurrent detected!\n");
1285         }
1286         else
1287         {
1288                 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1289                         (*i)->process_reply(reply, rlength);
1290         }
1291
1292         return 0;
1293 }
1294
1295 void ArduControl::ControlThread::set_power(bool p)
1296 {
1297         control.power.set(p);
1298
1299         Tag tag;
1300         tag.type = Tag::GENERAL;
1301         tag.command = POWER;
1302         tag.serial = control.power.serial;
1303         control.completed_commands.push(tag);
1304 }
1305
1306
1307 ArduControl::Loader::Loader(ArduControl &c):
1308         DataFile::ObjectLoader<ArduControl>(c)
1309 {
1310         add("mfx_announce_serial", &Loader::mfx_announce_serial);
1311         add("mfx_locomotive", &Loader::mfx_locomotive);
1312 }
1313
1314 void ArduControl::Loader::mfx_announce_serial(unsigned s)
1315 {
1316         obj.mfx_announce.set_serial(s);
1317 }
1318
1319 void ArduControl::Loader::mfx_locomotive(unsigned id)
1320 {
1321         MfxInfo info;
1322         info.id = id;
1323         info.protocol = "MFX";
1324         load_sub(info);
1325         obj.add_mfx_info(info);
1326 }
1327
1328
1329 ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
1330         DataFile::ObjectLoader<MfxInfo>(i)
1331 {
1332         add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
1333         add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));
1334 }
1335
1336 } // namespace R2C2