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