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::RefreshTask::RefreshTask():
 717         next(cycle.end()),
 718         round(0),
 719         loco(0),
 720         phase(0)
 721 { }
 722
 723 bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
 724 {
 725         if(loco && loco->proto==MM && phase==0)
 726         {
 727                 cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
 728                 cmd.repeat_count = 2;
 729                 ++phase;
 730                 return true;
 731         }
 732
 733         loco = get_next_loco();
 734         if(!loco)
 735                 return false;
 736
 737         phase = 0;
 738         if(loco->proto==MM)
 739         {
 740                 cmd.length = loco->create_speed_dir_command(cmd.command);
 741                 cmd.repeat_count = 2;
 742         }
 743         else if(loco->proto==MFX)
 744                 cmd.length = loco->create_speed_func_command(0, cmd.command);
 745         else
 746                 return false;
 747
 748         return true;
 749 }
 750
 751 void ArduControl::RefreshTask::add_loco(Locomotive &l)
 752 {
 753         MutexLock lock(mutex);
 754         cycle.push_back(&l);
 755         if(cycle.size()>15)
 756         {
 757                 LocomotivePtrList::iterator oldest = cycle.begin();
 758                 for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
 759                         if((*i)->last_change_age>(*oldest)->last_change_age)
 760                                 oldest = i;
 761                 if(oldest==next)
 762                         advance();
 763                 cycle.erase(oldest);
 764         }
 765         if(next==cycle.end())
 766                 next = cycle.begin();
 767 }
 768
 769 void ArduControl::RefreshTask::remove_loco(Locomotive &l)
 770 {
 771         MutexLock lock(mutex);
 772         for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
 773                 if(*i==&l)
 774                 {
 775                         if(i==next)
 776                         {
 777                                 if(cycle.size()>1)
 778                                         advance();
 779                                 else
 780                                         next = cycle.end();
 781                         }
 782                         cycle.erase(i);
 783                         return;
 784                 }
 785 }
 786
 787 ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
 788 {
 789         MutexLock lock(mutex);
 790         if(cycle.empty())
 791                 return 0;
 792
 793         Locomotive *l = *next;
 794         advance();
 795         return l;
 796 }
 797
 798 void ArduControl::RefreshTask::advance()
 799 {
 800         ++next;
 801         if(next==cycle.end())
 802         {
 803                 next= cycle.begin();
 804                 ++round;
 805         }
 806 }
 807
 808
 809 ArduControl::S88Task::S88Task(ArduControl &c):
 810         control(c),
 811         n_octets(0),
 812         octets_remaining(0),
 813         delay(0)
 814 { }
 815
 816 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 817 {
 818         if(delay)
 819         {
 820                 --delay;
 821                 return false;
 822         }
 823         if(octets_remaining || !n_octets)
 824                 return false;
 825
 826         octets_remaining = n_octets;
 827         cmd.command[0] = S88_READ;
 828         cmd.command[1] = octets_remaining;
 829         cmd.length = 2;
 830
 831         delay = 4;
 832
 833         return true;
 834 }
 835
 836 void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
 837 {
 838         unsigned char type = reply[0];
 839         if(type==S88_DATA && length>2)
 840         {
 841                 unsigned offset = static_cast<unsigned char>(reply[1]);
 842                 unsigned count = length-2;
 843
 844                 SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
 845                 SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
 846                 for(SensorMap::iterator i=begin; i!=end; ++i)
 847                 {
 848                         unsigned bit_index = i->first-1-offset*8;
 849                         bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
 850                         i->second.state.set(state);
 851
 852                         Tag tag;
 853                         tag.type = Tag::SENSOR;
 854                         tag.command = Sensor::STATE;
 855                         tag.serial = i->second.state.serial;
 856                         tag.id = i->first;
 857                         control.completed_commands.push(tag);
 858                 }
 859
 860                 if(count>octets_remaining)
 861                         octets_remaining = 0;
 862                 else
 863                         octets_remaining -= count;
 864         }
 865 }
 866
 867 void ArduControl::S88Task::set_n_octets(unsigned n)
 868 {
 869         n_octets = n;
 870 }
 871
 872 void ArduControl::S88Task::grow_n_octets(unsigned n)
 873 {
 874         if(n>n_octets)
 875                 n_octets = n;
 876 }
 877
 878
 879 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
 880         serial(0)
 881 { }
 882
 883 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
 884 {
 885         Time::TimeStamp t = Time::now();
 886         if(t<next)
 887                 return false;
 888
 889         cmd.command[0] = MFX_ANNOUNCE;
 890         cmd.command[1] = serial>>8;
 891         cmd.command[2] = serial;
 892         cmd.length = 3;
 893         next = t+400*Time::msec;
 894
 895         return true;
 896 }
 897
 898 void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
 899 {
 900         serial = s;
 901 }
 902
 903
 904 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
 905         control(c),
 906         next_address(1),
 907         size(0),
 908         bits(0),
 909         misses(0)
 910 { }
 911
 912 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 913 {
 914         if(size>32)
 915         {
 916                 if(control.debug>=1)
 917                         IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
 918
 919                 MfxInfo info;
 920                 info.protocol = "MFX";
 921                 info.address = next_address;
 922                 info.name = format("%08X", bits);
 923                 info.id = bits;
 924                 queue.push(info);
 925
 926                 cmd.command[0] = MFX_ASSIGN_ADDRESS;
 927                 cmd.command[1] = next_address>>8;
 928                 cmd.command[2] = next_address;
 929                 for(unsigned i=0; i<4; ++i)
 930                         cmd.command[3+i] = bits>>(24-i*8);
 931                 cmd.length = 7;
 932
 933                 cmd.tag.type = Tag::GENERAL;
 934                 cmd.tag.command = NEW_LOCO;
 935                 cmd.tag.id = bits;
 936
 937                 size = 0;
 938                 bits = 0;
 939                 ++next_address;
 940
 941                 return true;
 942         }
 943
 944         Time::TimeStamp t = Time::now();
 945         if(t<next)
 946                 return false;
 947
 948         cmd.command[0] = MFX_SEARCH;
 949         for(unsigned i=0; i<4; ++i)
 950                 cmd.command[1+i] = bits>>(24-i*8);
 951         cmd.command[5] = size;
 952         cmd.length = 6;
 953
 954         next = t+200*Time::msec;
 955
 956         if(control.debug>=1)
 957                 IO::print("Search %08X/%d\n", bits, size);
 958
 959         return true;
 960 }
 961
 962 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
 963 {
 964         unsigned char type = reply[0];
 965         if(type==MFX_SEARCH_FEEDBACK && length==2)
 966         {
 967                 if(reply[1])
 968                 {
 969                         misses = 0;
 970                         ++size;
 971                 }
 972                 else if(size>0 && misses<6)
 973                 {
 974                         ++misses;
 975                         bits ^= 1<<(32-size);
 976                 }
 977                 else
 978                 {
 979                         next = Time::now()+2*Time::sec;
 980                         bits = 0;
 981                         size = 0;
 982                         misses = 0;
 983                 }
 984         }
 985 }
 986
 987 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
 988 {
 989         next_address = a;
 990 }
 991
 992 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
 993 {
 994         return queue.pop(info);
 995 }
 996
 997
 998 ArduControl::MonitorTask::MonitorTask():
 999         voltage(0),
1000         current(0),
1001         base_level(0),
1002         peak_level(0),
1003         next_type(0)
1004 { }
1005
1006 bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
1007 {
1008         Time::TimeStamp t = Time::now();
1009         if(t<next_poll)
1010                 return false;
1011
1012         if(next_type==0)
1013                 cmd.command[0] = READ_INPUT_VOLTAGE;
1014         else
1015                 cmd.command[0] = READ_TRACK_CURRENT;
1016         cmd.length = 1;
1017
1018         next_poll = t+200*Time::msec;
1019         next_type = (next_type+1)%5;
1020
1021         return true;
1022 }
1023
1024 void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
1025 {
1026         unsigned char type = reply[0];
1027         if(type==INPUT_VOLTAGE && length==3)
1028                 voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1029         else if(type==TRACK_CURRENT && length==5)
1030         {
1031                 current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1032                 float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
1033                 peak_level = max(peak_level, peak);
1034                 base_level = min(base_level, current);
1035         }
1036 }
1037
1038 void ArduControl::MonitorTask::reset_peak()
1039 {
1040         base_level = current;
1041         peak_level = current;
1042 }
1043
1044
1045 ArduControl::ControlThread::ControlThread(ArduControl &c):
1046         control(c),
1047         done(false)
1048 {
1049         tasks.push_back(&control.command_queue);
1050         tasks.push_back(&control.monitor);
1051         tasks.push_back(&control.mfx_announce);
1052         tasks.push_back(&control.mfx_search);
1053         tasks.push_back(&control.s88);
1054         tasks.push_back(&control.refresh);
1055
1056         launch();
1057 }
1058
1059 void ArduControl::ControlThread::exit()
1060 {
1061         done = true;
1062         join();
1063 }
1064
1065 void ArduControl::ControlThread::main()
1066 {
1067         init_baud_rate();
1068
1069         while(!done)
1070         {
1071                 PendingCommand cmd;
1072                 if(get_work(cmd))
1073                 {
1074                         bool success = true;
1075                         bool resync = false;
1076                         for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
1077                         {
1078                                 unsigned result = do_command(cmd, control.command_timeout);
1079                                 success = (result==COMMAND_OK);
1080                                 resync = (result==0);
1081                         }
1082
1083                         if(success && cmd.tag)
1084                                 control.completed_commands.push(cmd.tag);
1085
1086                         if(resync)
1087                         {
1088                                 if(control.debug>=1)
1089                                         IO::print("Synchronization with ArduControl lost, attempting to recover\n");
1090                                 for(unsigned i=0; (resync && i<16); ++i)
1091                                 {
1092                                         control.serial.put('\xFF');
1093                                         while(IO::poll(control.serial, IO::P_INPUT, control.command_timeout))
1094                                                 resync = (control.serial.get()!=0xFF);
1095                                 }
1096                                 if(resync)
1097                                 {
1098                                         if(control.debug>=1)
1099                                                 IO::print("Resynchronization failed, giving up\n");
1100                                         done = true;
1101                                 }
1102                                 else
1103                                 {
1104                                         if(control.debug>=1)
1105                                                 IO::print("Resynchronization successful\n");
1106                                         if(cmd.tag)
1107                                                 control.command_queue.push(cmd);
1108                                 }
1109                         }
1110                 }
1111                 else
1112                         Time::sleep(10*Time::msec);
1113         }
1114 }
1115
1116 void ArduControl::ControlThread::init_baud_rate()
1117 {
1118         static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
1119         unsigned rate = 0;
1120         control.serial.set_data_bits(8);
1121         control.serial.set_parity(IO::Serial::NONE);
1122         control.serial.set_stop_bits(1);
1123         for(unsigned i=0; rates[i]; ++i)
1124         {
1125                 control.serial.set_baud_rate(rates[i]);
1126                 control.serial.put('\xFF');
1127                 if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
1128                 {
1129                         int c = control.serial.get();
1130                         if(c==0xFF)
1131                         {
1132                                 rate = rates[i];
1133                                 break;
1134                         }
1135                 }
1136         }
1137
1138         if(!rate)
1139         {
1140                 if(control.debug>=1)
1141                         IO::print("ArduControl detection failed\n");
1142                 done = true;
1143                 return;
1144         }
1145
1146         if(control.debug>=1)
1147                 IO::print("ArduControl detected at %d bits/s\n", rate);
1148
1149         if(rate!=rates[0])
1150         {
1151                 PendingCommand cmd;
1152                 cmd.command[0] = SET_BAUD_RATE;
1153                 cmd.command[1] = rates[0]>>8;
1154                 cmd.command[2] = rates[0];
1155                 cmd.length = 3;
1156                 if(do_command(cmd, Time::sec)==COMMAND_OK)
1157                 {
1158                         control.serial.set_baud_rate(rates[0]);
1159                         Time::sleep(Time::sec);
1160                         if(do_command(cmd, Time::sec)==COMMAND_OK)
1161                         {
1162                                 if(control.debug>=1)
1163                                         IO::print("Rate changed to %d bits/s\n", rates[0]);
1164                         }
1165                 }
1166         }
1167 }
1168
1169 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
1170 {
1171         for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1172                 if((*i)->get_work(cmd))
1173                         return true;
1174
1175         // As fallback, send an idle packet for the MM protocol
1176         cmd.command[0] = MOTOROLA_SPEED;
1177         cmd.command[1] = 80;
1178         cmd.command[2] = 0;
1179         cmd.command[3] = 0;
1180         cmd.length = 4;
1181
1182         return true;
1183 }
1184
1185 unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
1186 {
1187         if(control.debug>=2)
1188         {
1189                 string cmd_hex;
1190                 for(unsigned i=0; i<cmd.length; ++i)
1191                         cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
1192                 IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
1193         }
1194
1195         control.serial.put(cmd.length^0xFF);
1196         control.serial.write(cmd.command, cmd.length);
1197
1198         unsigned result = 0;
1199         while(1)
1200         {
1201                 bool got_data;
1202                 if(result)
1203                         got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
1204                 else
1205                         got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
1206
1207                 if(!got_data)
1208                         break;
1209
1210                 unsigned rlength = control.serial.get()^0xFF;
1211                 if(rlength>15)
1212                 {
1213                         IO::print("Invalid length %02X\n", rlength);
1214                         continue;
1215                 }
1216
1217                 char reply[15];
1218                 unsigned pos = 0;
1219                 while(pos<rlength)
1220                 {
1221                         if(!IO::poll(control.serial, IO::P_INPUT, timeout))
1222                                 return 0;
1223                         pos += control.serial.read(reply+pos, rlength-pos);
1224                 }
1225
1226                 if(control.debug>=2)
1227                 {
1228                         string reply_hex;
1229                         for(unsigned i=0; i<rlength; ++i)
1230                                 reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
1231                         IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
1232                 }
1233
1234                 unsigned r = process_reply(reply, rlength);
1235                 if(r && !result)
1236                         result = r;
1237         }
1238
1239         return result;
1240 }
1241
1242 unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
1243 {
1244         unsigned char type = reply[0];
1245         if((type&0xE0)==0x80)
1246         {
1247                 if(type!=COMMAND_OK)
1248                         IO::print("Error %02X\n", type);
1249                 return type;
1250         }
1251         else if(type==POWER_STATE && rlength==2)
1252                 set_power(reply[1]);
1253         else if(type==OVERCURRENT)
1254         {
1255                 set_power(false);
1256                 IO::print("Overcurrent detected!\n");
1257         }
1258         else
1259         {
1260                 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1261                         (*i)->process_reply(reply, rlength);
1262         }
1263
1264         return 0;
1265 }
1266
1267 void ArduControl::ControlThread::set_power(bool p)
1268 {
1269         control.power.set(p);
1270
1271         Tag tag;
1272         tag.type = Tag::GENERAL;
1273         tag.command = POWER;
1274         tag.serial = control.power.serial;
1275         control.completed_commands.push(tag);
1276 }
1277
1278
1279 ArduControl::Loader::Loader(ArduControl &c):
1280         DataFile::ObjectLoader<ArduControl>(c)
1281 {
1282         add("mfx_announce_serial", &Loader::mfx_announce_serial);
1283         add("mfx_locomotive", &Loader::mfx_locomotive);
1284 }
1285
1286 void ArduControl::Loader::mfx_announce_serial(unsigned s)
1287 {
1288         obj.mfx_announce.set_serial(s);
1289 }
1290
1291 void ArduControl::Loader::mfx_locomotive(unsigned id)
1292 {
1293         MfxInfo info;
1294         info.id = id;
1295         info.protocol = "MFX";
1296         load_sub(info);
1297         obj.add_mfx_info(info);
1298 }
1299
1300
1301 ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
1302         DataFile::ObjectLoader<MfxInfo>(i)
1303 {
1304         add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
1305         add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));
1306 }
1307
1308 } // namespace R2C2