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                 Time::TimeStamp t = Time::now();
 463                 if(t>off_timeout)
 464                 {
 465                         Accessory &acc = *active_accessory;
 466
 467                         unsigned bit = 1<<active_index;
 468
 469                         // Assume success if we were uncertain of the physical setting
 470                         if(acc.uncertain&bit)
 471                                 acc.uncertain &= ~bit;
 472                         else if(acc.kind==Accessory::TURNOUT && monitor.get_peak()<0.5f)
 473                         {
 474                                 if(debug>=1)
 475                                         IO::print("Peak current only %.2f A\n", monitor.get_peak());
 476                                 signal_turnout_failed.emit(acc.address);
 477                                 acc.state.rollback();
 478                                 if(acc.valid_states&(1<<(acc.target^bit)))
 479                                         acc.target ^= bit;
 480                                 else
 481                                         acc.target = acc.state;
 482                         }
 483
 484                         off_timeout = Time::TimeStamp();
 485                         PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
 486                         command_queue.push(cmd);
 487                 }
 488         }
 489 }
 490
 491 void ArduControl::flush()
 492 {
 493         while(!command_queue.empty() || (power && !accessory_queue.empty()))
 494                 tick();
 495 }
 496
 497 void ArduControl::save_state() const
 498 {
 499         FS::RedirectedPath tmp_file(state_file);
 500         IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
 501         DataFile::Writer writer(out);
 502
 503         writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
 504         for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
 505         {
 506                 DataFile::Statement st("mfx_locomotive");
 507                 st.append(i->id);
 508                 st.sub.push_back((DataFile::Statement("address"), i->address));
 509                 st.sub.push_back((DataFile::Statement("name"), i->name));
 510                 writer.write(st);
 511         }
 512 }
 513
 514
 515 ArduControl::Tag::Tag():
 516         type(NONE),
 517         command(0),
 518         serial(0),
 519         id(0)
 520 { }
 521
 522
 523 ArduControl::Locomotive::Locomotive(Protocol p, unsigned a):
 524         id((p<<16)|a),
 525         proto(p),
 526         address(a),
 527         speed(0),
 528         reverse(false),
 529         funcs(0),
 530         last_change_age(0)
 531 { }
 532
 533 unsigned ArduControl::Locomotive::create_speed_dir_command(char *buffer) const
 534 {
 535         if(proto==MM)
 536         {
 537                 buffer[0] = MOTOROLA_SPEED_DIRECTION;
 538                 buffer[1] = address;
 539                 buffer[2] = funcs.pending&1;
 540                 buffer[3] = speed.pending+reverse.pending*0x80;
 541                 return 4;
 542         }
 543         else if(proto==MFX)
 544         {
 545                 buffer[0] = MFX_SPEED;
 546                 buffer[1] = address>>8;
 547                 buffer[2] = address;
 548                 buffer[3] = speed.pending+reverse.pending*0x80;
 549                 return 4;
 550         }
 551         else
 552                 return 0;
 553 }
 554
 555 unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *buffer) const
 556 {
 557         if(proto==MM)
 558         {
 559                 if(f<1 || f>4)
 560                         throw invalid_argument("Locomotive::create_speed_func_command");
 561
 562                 buffer[0] = MOTOROLA_SPEED_FUNCTION;
 563                 buffer[1] = address;
 564                 buffer[2] = (f<<4)|(((funcs.pending>>f)&1)<<1)|(funcs.pending&1);
 565                 buffer[3] = speed.pending;
 566                 return 4;
 567         }
 568         else if(proto==MFX)
 569         {
 570                 bool f16 = (funcs.pending>0xFF);
 571                 buffer[0] = (f16 ? MFX_SPEED_FUNCS16 : MFX_SPEED_FUNCS8);
 572                 buffer[1] = address>>8;
 573                 buffer[2] = address;
 574                 buffer[3] = speed.pending+reverse.pending*0x80;
 575                 if(f16)
 576                 {
 577                         buffer[4] = funcs.pending>>8;
 578                         buffer[5] = funcs.pending;
 579                         return 6;
 580                 }
 581                 else
 582                 {
 583                         buffer[4] = funcs.pending;
 584                         return 5;
 585                 }
 586         }
 587         else
 588                 return 0;
 589 }
 590
 591
 592 ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b, unsigned s):
 593         kind(k),
 594         address(a),
 595         bits(b),
 596         valid_states(s),
 597         state(0),
 598         uncertain((1<<bits)-1),
 599         target(0),
 600         active_time(500*Time::msec)
 601 { }
 602
 603 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
 604 {
 605         if(b>=bits)
 606                 throw invalid_argument("Accessory::create_state_command");
 607
 608         unsigned a = (address+b+3)*2;
 609         if(!((state.pending>>b)&1))
 610                 ++a;
 611         buffer[0] = MOTOROLA_SOLENOID;
 612         buffer[1] = a>>3;
 613         buffer[2] = ((a&7)<<4)|c;
 614         return 3;
 615 }
 616
 617
 618 ArduControl::Sensor::Sensor(unsigned a):
 619         address(a),
 620         state(false)
 621 { }
 622
 623
 624 ArduControl::PendingCommand::PendingCommand():
 625         length(0),
 626         repeat_count(1)
 627 { }
 628
 629 ArduControl::PendingCommand::PendingCommand(GeneralCommand cmd):
 630         length(0),
 631         repeat_count(1)
 632 {
 633         tag.type = Tag::GENERAL;
 634         tag.command = cmd;
 635 }
 636
 637 ArduControl::PendingCommand::PendingCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index):
 638         repeat_count(8)
 639 {
 640         tag.type = Tag::LOCOMOTIVE;
 641         tag.command = cmd;
 642         tag.id = loco.id;
 643         if(cmd==Locomotive::SPEED)
 644         {
 645                 tag.serial = loco.speed.serial;
 646                 length = loco.create_speed_dir_command(command);
 647         }
 648         else if(cmd==Locomotive::REVERSE)
 649         {
 650                 tag.serial = loco.reverse.serial;
 651                 length = loco.create_speed_dir_command(command);
 652         }
 653         else if(cmd==Locomotive::FUNCTIONS)
 654         {
 655                 tag.serial = loco.funcs.serial;
 656                 length = loco.create_speed_func_command(index, command);
 657         }
 658         else
 659                 throw invalid_argument("PendingCommand");
 660 }
 661
 662 ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command cmd, unsigned index):
 663         repeat_count(1)
 664 {
 665         tag.type = Tag::ACCESSORY;
 666         tag.command = cmd;
 667         tag.id = acc.address;
 668         if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
 669         {
 670                 tag.serial = acc.state.serial;
 671                 length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
 672         }
 673         else
 674                 throw invalid_argument("PendingCommand");
 675 }
 676
 677
 678 template<typename T>
 679 void ArduControl::Queue<T>::push(const T &item)
 680 {
 681         MutexLock lock(mutex);
 682         items.push_back(item);
 683 }
 684
 685 template<typename T>
 686 bool ArduControl::Queue<T>::pop(T &item)
 687 {
 688         MutexLock lock(mutex);
 689         if(items.empty())
 690                 return false;
 691
 692         item = items.front();
 693         items.pop_front();
 694         return true;
 695 }
 696
 697 template<typename T>
 698 bool ArduControl::Queue<T>::empty() const
 699 {
 700         return items.empty();
 701 }
 702
 703
 704 ArduControl::RefreshTask::RefreshTask():
 705         next(cycle.end()),
 706         round(0),
 707         loco(0),
 708         phase(0)
 709 { }
 710
 711 bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
 712 {
 713         if(loco && loco->proto==MM && phase==0)
 714         {
 715                 cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
 716                 cmd.repeat_count = 2;
 717                 ++phase;
 718                 return true;
 719         }
 720
 721         loco = get_next_loco();
 722         if(!loco)
 723                 return false;
 724
 725         phase = 0;
 726         if(loco->proto==MM)
 727         {
 728                 cmd.length = loco->create_speed_dir_command(cmd.command);
 729                 cmd.repeat_count = 2;
 730         }
 731         else if(loco->proto==MFX)
 732                 cmd.length = loco->create_speed_func_command(0, cmd.command);
 733         else
 734                 return false;
 735
 736         return true;
 737 }
 738
 739 void ArduControl::RefreshTask::add_loco(Locomotive &l)
 740 {
 741         MutexLock lock(mutex);
 742         cycle.push_back(&l);
 743         if(cycle.size()>15)
 744         {
 745                 LocomotivePtrList::iterator oldest = cycle.begin();
 746                 for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
 747                         if((*i)->last_change_age>(*oldest)->last_change_age)
 748                                 oldest = i;
 749                 if(oldest==next)
 750                         advance();
 751                 cycle.erase(oldest);
 752         }
 753         if(next==cycle.end())
 754                 next = cycle.begin();
 755 }
 756
 757 void ArduControl::RefreshTask::remove_loco(Locomotive &l)
 758 {
 759         MutexLock lock(mutex);
 760         for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
 761                 if(*i==&l)
 762                 {
 763                         if(i==next)
 764                         {
 765                                 if(cycle.size()>1)
 766                                         advance();
 767                                 else
 768                                         next = cycle.end();
 769                         }
 770                         cycle.erase(i);
 771                         return;
 772                 }
 773 }
 774
 775 ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
 776 {
 777         MutexLock lock(mutex);
 778         if(cycle.empty())
 779                 return 0;
 780
 781         Locomotive *l = *next;
 782         advance();
 783         return l;
 784 }
 785
 786 void ArduControl::RefreshTask::advance()
 787 {
 788         ++next;
 789         if(next==cycle.end())
 790         {
 791                 next= cycle.begin();
 792                 ++round;
 793         }
 794 }
 795
 796
 797 ArduControl::S88Task::S88Task(ArduControl &c):
 798         control(c),
 799         n_octets(0),
 800         octets_remaining(0),
 801         delay(0)
 802 { }
 803
 804 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 805 {
 806         if(delay)
 807         {
 808                 --delay;
 809                 return false;
 810         }
 811         if(octets_remaining || !n_octets)
 812                 return false;
 813
 814         octets_remaining = n_octets;
 815         cmd.command[0] = S88_READ;
 816         cmd.command[1] = octets_remaining;
 817         cmd.length = 2;
 818
 819         delay = 4;
 820
 821         return true;
 822 }
 823
 824 void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
 825 {
 826         unsigned char type = reply[0];
 827         if(type==S88_DATA && length>2)
 828         {
 829                 unsigned offset = static_cast<unsigned char>(reply[1]);
 830                 unsigned count = length-2;
 831
 832                 SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
 833                 SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
 834                 for(SensorMap::iterator i=begin; i!=end; ++i)
 835                 {
 836                         unsigned bit_index = i->first-1-offset*8;
 837                         bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
 838                         i->second.state.set(state);
 839
 840                         Tag tag;
 841                         tag.type = Tag::SENSOR;
 842                         tag.command = Sensor::STATE;
 843                         tag.serial = i->second.state.serial;
 844                         tag.id = i->first;
 845                         control.completed_commands.push(tag);
 846                 }
 847
 848                 if(count>octets_remaining)
 849                         octets_remaining = 0;
 850                 else
 851                         octets_remaining -= count;
 852         }
 853 }
 854
 855 void ArduControl::S88Task::set_n_octets(unsigned n)
 856 {
 857         n_octets = n;
 858 }
 859
 860 void ArduControl::S88Task::grow_n_octets(unsigned n)
 861 {
 862         if(n>n_octets)
 863                 n_octets = n;
 864 }
 865
 866
 867 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
 868         serial(0)
 869 { }
 870
 871 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
 872 {
 873         Time::TimeStamp t = Time::now();
 874         if(t<next)
 875                 return false;
 876
 877         cmd.command[0] = MFX_ANNOUNCE;
 878         cmd.command[1] = serial>>8;
 879         cmd.command[2] = serial;
 880         cmd.length = 3;
 881         next = t+400*Time::msec;
 882
 883         return true;
 884 }
 885
 886 void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
 887 {
 888         serial = s;
 889 }
 890
 891
 892 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
 893         control(c),
 894         next_address(1),
 895         size(0),
 896         bits(0),
 897         misses(0)
 898 { }
 899
 900 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 901 {
 902         if(size>32)
 903         {
 904                 if(control.debug>=1)
 905                         IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
 906
 907                 MfxInfo info;
 908                 info.protocol = "MFX";
 909                 info.address = next_address;
 910                 info.name = format("%08X", bits);
 911                 info.id = bits;
 912                 queue.push(info);
 913
 914                 cmd.command[0] = MFX_ASSIGN_ADDRESS;
 915                 cmd.command[1] = next_address>>8;
 916                 cmd.command[2] = next_address;
 917                 for(unsigned i=0; i<4; ++i)
 918                         cmd.command[3+i] = bits>>(24-i*8);
 919                 cmd.length = 7;
 920
 921                 cmd.tag.type = Tag::GENERAL;
 922                 cmd.tag.command = NEW_LOCO;
 923                 cmd.tag.id = bits;
 924
 925                 size = 0;
 926                 bits = 0;
 927                 ++next_address;
 928
 929                 return true;
 930         }
 931
 932         Time::TimeStamp t = Time::now();
 933         if(t<next)
 934                 return false;
 935
 936         cmd.command[0] = MFX_SEARCH;
 937         for(unsigned i=0; i<4; ++i)
 938                 cmd.command[1+i] = bits>>(24-i*8);
 939         cmd.command[5] = size;
 940         cmd.length = 6;
 941
 942         next = t+200*Time::msec;
 943
 944         if(control.debug>=1)
 945                 IO::print("Search %08X/%d\n", bits, size);
 946
 947         return true;
 948 }
 949
 950 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
 951 {
 952         unsigned char type = reply[0];
 953         if(type==MFX_SEARCH_FEEDBACK && length==2)
 954         {
 955                 if(reply[1])
 956                 {
 957                         misses = 0;
 958                         ++size;
 959                 }
 960                 else if(size>0 && misses<6)
 961                 {
 962                         ++misses;
 963                         bits ^= 1<<(32-size);
 964                 }
 965                 else
 966                 {
 967                         next = Time::now()+2*Time::sec;
 968                         bits = 0;
 969                         size = 0;
 970                         misses = 0;
 971                 }
 972         }
 973 }
 974
 975 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
 976 {
 977         next_address = a;
 978 }
 979
 980 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
 981 {
 982         return queue.pop(info);
 983 }
 984
 985
 986 ArduControl::MonitorTask::MonitorTask():
 987         voltage(0),
 988         current(0),
 989         base_level(0),
 990         peak_level(0),
 991         next_type(0)
 992 { }
 993
 994 bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
 995 {
 996         Time::TimeStamp t = Time::now();
 997         if(t<next_poll)
 998                 return false;
 999
1000         if(next_type==0)
1001                 cmd.command[0] = READ_INPUT_VOLTAGE;
1002         else
1003                 cmd.command[0] = READ_TRACK_CURRENT;
1004         cmd.length = 1;
1005
1006         next_poll = t+200*Time::msec;
1007         next_type = (next_type+1)%5;
1008
1009         return true;
1010 }
1011
1012 void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
1013 {
1014         unsigned char type = reply[0];
1015         if(type==INPUT_VOLTAGE && length==3)
1016                 voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1017         else if(type==TRACK_CURRENT && length==5)
1018         {
1019                 current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1020                 float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
1021                 peak_level = max(peak_level, peak);
1022                 base_level = min(base_level, current);
1023         }
1024 }
1025
1026 void ArduControl::MonitorTask::reset_peak()
1027 {
1028         base_level = current;
1029         peak_level = current;
1030 }
1031
1032
1033 ArduControl::ControlThread::ControlThread(ArduControl &c):
1034         control(c),
1035         done(false)
1036 {
1037         tasks.push_back(&control.monitor);
1038         tasks.push_back(&control.mfx_announce);
1039         tasks.push_back(&control.mfx_search);
1040         tasks.push_back(&control.s88);
1041         tasks.push_back(&control.refresh);
1042
1043         launch();
1044 }
1045
1046 void ArduControl::ControlThread::exit()
1047 {
1048         done = true;
1049         join();
1050 }
1051
1052 void ArduControl::ControlThread::main()
1053 {
1054         init_baud_rate();
1055
1056         while(!done)
1057         {
1058                 PendingCommand cmd;
1059                 if(get_work(cmd))
1060                 {
1061                         bool success = true;
1062                         bool resync = false;
1063                         for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
1064                         {
1065                                 unsigned result = do_command(cmd, control.command_timeout);
1066                                 success = (result==COMMAND_OK);
1067                                 resync = (result==0);
1068                         }
1069
1070                         if(success && cmd.tag)
1071                                 control.completed_commands.push(cmd.tag);
1072
1073                         if(resync)
1074                         {
1075                                 if(control.debug>=1)
1076                                         IO::print("Synchronization with ArduControl lost, attempting to recover\n");
1077                                 for(unsigned i=0; (resync && i<16); ++i)
1078                                 {
1079                                         control.serial.put('\xFF');
1080                                         while(IO::poll(control.serial, IO::P_INPUT, control.command_timeout))
1081                                                 resync = (control.serial.get()!=0xFF);
1082                                 }
1083                                 if(resync)
1084                                 {
1085                                         if(control.debug>=1)
1086                                                 IO::print("Resynchronization failed, giving up\n");
1087                                         done = true;
1088                                 }
1089                                 else
1090                                 {
1091                                         if(control.debug>=1)
1092                                                 IO::print("Resynchronization successful\n");
1093                                         if(cmd.tag)
1094                                                 control.command_queue.push(cmd);
1095                                 }
1096                         }
1097                 }
1098                 else
1099                         Time::sleep(10*Time::msec);
1100         }
1101 }
1102
1103 void ArduControl::ControlThread::init_baud_rate()
1104 {
1105         static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
1106         unsigned rate = 0;
1107         control.serial.set_data_bits(8);
1108         control.serial.set_parity(IO::Serial::NONE);
1109         control.serial.set_stop_bits(1);
1110         for(unsigned i=0; rates[i]; ++i)
1111         {
1112                 control.serial.set_baud_rate(rates[i]);
1113                 control.serial.put('\xFF');
1114                 if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
1115                 {
1116                         int c = control.serial.get();
1117                         if(c==0xFF)
1118                         {
1119                                 rate = rates[i];
1120                                 break;
1121                         }
1122                 }
1123         }
1124
1125         if(!rate)
1126         {
1127                 if(control.debug>=1)
1128                         IO::print("ArduControl detection failed\n");
1129                 done = true;
1130                 return;
1131         }
1132
1133         if(control.debug>=1)
1134                 IO::print("ArduControl detected at %d bits/s\n", rate);
1135
1136         if(rate!=rates[0])
1137         {
1138                 PendingCommand cmd;
1139                 cmd.command[0] = SET_BAUD_RATE;
1140                 cmd.command[1] = rates[0]>>8;
1141                 cmd.command[2] = rates[0];
1142                 cmd.length = 3;
1143                 if(do_command(cmd, Time::sec)==COMMAND_OK)
1144                 {
1145                         control.serial.set_baud_rate(rates[0]);
1146                         Time::sleep(Time::sec);
1147                         if(do_command(cmd, Time::sec)==COMMAND_OK)
1148                         {
1149                                 if(control.debug>=1)
1150                                         IO::print("Rate changed to %d bits/s\n", rates[0]);
1151                         }
1152                 }
1153         }
1154 }
1155
1156 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
1157 {
1158         if(control.command_queue.pop(cmd))
1159                 return true;
1160
1161         for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1162                 if((*i)->get_work(cmd))
1163                         return true;
1164
1165         // As fallback, send an idle packet for the MM protocol
1166         cmd.command[0] = MOTOROLA_SPEED;
1167         cmd.command[1] = 80;
1168         cmd.command[2] = 0;
1169         cmd.command[3] = 0;
1170         cmd.length = 4;
1171
1172         return true;
1173 }
1174
1175 unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
1176 {
1177         if(control.debug>=2)
1178         {
1179                 string cmd_hex;
1180                 for(unsigned i=0; i<cmd.length; ++i)
1181                         cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
1182                 IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
1183         }
1184
1185         control.serial.put(cmd.length^0xFF);
1186         control.serial.write(cmd.command, cmd.length);
1187
1188         unsigned result = 0;
1189         while(1)
1190         {
1191                 bool got_data;
1192                 if(result)
1193                         got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
1194                 else
1195                         got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
1196
1197                 if(!got_data)
1198                         break;
1199
1200                 unsigned rlength = control.serial.get()^0xFF;
1201                 if(rlength>15)
1202                 {
1203                         IO::print("Invalid length %02X\n", rlength);
1204                         continue;
1205                 }
1206
1207                 char reply[15];
1208                 unsigned pos = 0;
1209                 while(pos<rlength)
1210                 {
1211                         if(!IO::poll(control.serial, IO::P_INPUT, timeout))
1212                                 return 0;
1213                         pos += control.serial.read(reply+pos, rlength-pos);
1214                 }
1215
1216                 if(control.debug>=2)
1217                 {
1218                         string reply_hex;
1219                         for(unsigned i=0; i<rlength; ++i)
1220                                 reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
1221                         IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
1222                 }
1223
1224                 unsigned r = process_reply(reply, rlength);
1225                 if(r && !result)
1226                         result = r;
1227         }
1228
1229         return result;
1230 }
1231
1232 unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
1233 {
1234         unsigned char type = reply[0];
1235         if((type&0xE0)==0x80)
1236         {
1237                 if(type!=COMMAND_OK)
1238                         IO::print("Error %02X\n", type);
1239                 return type;
1240         }
1241         else if(type==POWER_STATE && rlength==2)
1242                 set_power(reply[1]);
1243         else if(type==OVERCURRENT)
1244         {
1245                 set_power(false);
1246                 IO::print("Overcurrent detected!\n");
1247         }
1248         else
1249         {
1250                 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1251                         (*i)->process_reply(reply, rlength);
1252         }
1253
1254         return 0;
1255 }
1256
1257 void ArduControl::ControlThread::set_power(bool p)
1258 {
1259         control.power.set(p);
1260
1261         Tag tag;
1262         tag.type = Tag::GENERAL;
1263         tag.command = POWER;
1264         tag.serial = control.power.serial;
1265         control.completed_commands.push(tag);
1266 }
1267
1268
1269 ArduControl::Loader::Loader(ArduControl &c):
1270         DataFile::ObjectLoader<ArduControl>(c)
1271 {
1272         add("mfx_announce_serial", &Loader::mfx_announce_serial);
1273         add("mfx_locomotive", &Loader::mfx_locomotive);
1274 }
1275
1276 void ArduControl::Loader::mfx_announce_serial(unsigned s)
1277 {
1278         obj.mfx_announce.set_serial(s);
1279 }
1280
1281 void ArduControl::Loader::mfx_locomotive(unsigned id)
1282 {
1283         MfxInfo info;
1284         info.id = id;
1285         info.protocol = "MFX";
1286         load_sub(info);
1287         obj.add_mfx_info(info);
1288 }
1289
1290
1291 ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
1292         DataFile::ObjectLoader<MfxInfo>(i)
1293 {
1294         add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
1295         add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));
1296 }
1297
1298 } // namespace R2C2