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                         acc.state.set(acc.state^lowest_bit);
 405                         PendingCommand cmd(acc, Accessory::ACTIVATE, i);
 406                         command_queue.push(cmd);
 407                 }
 408                 else
 409                         accessory_queue.pop_front();
 410         }
 411
 412         if(active_accessory && off_timeout)
 413         {
 414                 Time::TimeStamp t = Time::now();
 415                 if(t>off_timeout)
 416                 {
 417                         off_timeout = Time::TimeStamp();
 418                         PendingCommand cmd(*active_accessory, Accessory::DEACTIVATE);
 419                         command_queue.push(cmd);
 420                 }
 421         }
 422 }
 423
 424 void ArduControl::flush()
 425 {
 426 }
 427
 428 void ArduControl::save_state() const
 429 {
 430         FS::RedirectedPath tmp_file(state_file);
 431         IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
 432         DataFile::Writer writer(out);
 433
 434         writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
 435         for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
 436         {
 437                 DataFile::Statement st("mfx_locomotive");
 438                 st.append(i->id);
 439                 st.sub.push_back((DataFile::Statement("address"), i->address));
 440                 st.sub.push_back((DataFile::Statement("name"), i->name));
 441                 writer.write(st);
 442         }
 443 }
 444
 445
 446 ArduControl::Tag::Tag():
 447         type(NONE),
 448         command(0),
 449         serial(0),
 450         id(0)
 451 { }
 452
 453
 454 ArduControl::Locomotive::Locomotive(Protocol p, unsigned a):
 455         id((p<<16)|a),
 456         proto(p),
 457         address(a),
 458         speed(0),
 459         reverse(false),
 460         funcs(0),
 461         last_change_age(0)
 462 { }
 463
 464 unsigned ArduControl::Locomotive::create_speed_dir_command(char *buffer) const
 465 {
 466         if(proto==MM)
 467         {
 468                 buffer[0] = MOTOROLA_SPEED_DIRECTION;
 469                 buffer[1] = address;
 470                 buffer[2] = funcs.pending&1;
 471                 buffer[3] = speed.pending+reverse.pending*0x80;
 472                 return 4;
 473         }
 474         else if(proto==MFX)
 475         {
 476                 buffer[0] = MFX_SPEED;
 477                 buffer[1] = address>>8;
 478                 buffer[2] = address;
 479                 buffer[3] = speed.pending+reverse.pending*0x80;
 480                 return 4;
 481         }
 482         else
 483                 return 0;
 484 }
 485
 486 unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *buffer) const
 487 {
 488         if(proto==MM)
 489         {
 490                 if(f<1 || f>4)
 491                         throw invalid_argument("Locomotive::create_speed_func_command");
 492
 493                 buffer[0] = MOTOROLA_SPEED_FUNCTION;
 494                 buffer[1] = address;
 495                 buffer[2] = (f<<4)|(((funcs.pending>>f)&1)<<1)|(funcs.pending&1);
 496                 buffer[3] = speed.pending;
 497                 return 4;
 498         }
 499         else if(proto==MFX)
 500         {
 501                 bool f16 = (funcs.pending>0xFF);
 502                 buffer[0] = (f16 ? MFX_SPEED_FUNCS16 : MFX_SPEED_FUNCS8);
 503                 buffer[1] = address>>8;
 504                 buffer[2] = address;
 505                 buffer[3] = speed.pending+reverse.pending*0x80;
 506                 if(f16)
 507                 {
 508                         buffer[4] = funcs.pending>>8;
 509                         buffer[5] = funcs.pending;
 510                         return 6;
 511                 }
 512                 else
 513                 {
 514                         buffer[4] = funcs.pending;
 515                         return 5;
 516                 }
 517         }
 518         else
 519                 return 0;
 520 }
 521
 522
 523 ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b):
 524         kind(k),
 525         address(a),
 526         bits(b),
 527         state(0),
 528         active_time(500*Time::msec)
 529 { }
 530
 531 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
 532 {
 533         if(b>=bits)
 534                 throw invalid_argument("Accessory::create_state_command");
 535
 536         unsigned a = (address+b+3)*2;
 537         if(!((state.pending>>b)&1))
 538                 ++a;
 539         buffer[0] = MOTOROLA_SOLENOID;
 540         buffer[1] = a>>3;
 541         buffer[2] = ((a&7)<<4)|c;
 542         return 3;
 543 }
 544
 545
 546 ArduControl::Sensor::Sensor(unsigned a):
 547         address(a),
 548         state(false)
 549 { }
 550
 551
 552 ArduControl::PendingCommand::PendingCommand():
 553         length(0),
 554         repeat_count(1)
 555 { }
 556
 557 ArduControl::PendingCommand::PendingCommand(GeneralCommand cmd):
 558         length(0),
 559         repeat_count(1)
 560 {
 561         tag.type = Tag::GENERAL;
 562         tag.command = cmd;
 563 }
 564
 565 ArduControl::PendingCommand::PendingCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index):
 566         repeat_count(8)
 567 {
 568         tag.type = Tag::LOCOMOTIVE;
 569         tag.command = cmd;
 570         tag.id = loco.id;
 571         if(cmd==Locomotive::SPEED)
 572         {
 573                 tag.serial = loco.speed.serial;
 574                 length = loco.create_speed_dir_command(command);
 575         }
 576         else if(cmd==Locomotive::REVERSE)
 577         {
 578                 tag.serial = loco.reverse.serial;
 579                 length = loco.create_speed_dir_command(command);
 580         }
 581         else if(cmd==Locomotive::FUNCTIONS)
 582         {
 583                 tag.serial = loco.funcs.serial;
 584                 length = loco.create_speed_func_command(index, command);
 585         }
 586         else
 587                 throw invalid_argument("PendingCommand");
 588 }
 589
 590 ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command cmd, unsigned index):
 591         repeat_count(1)
 592 {
 593         tag.type = Tag::ACCESSORY;
 594         tag.command = cmd;
 595         tag.id = acc.address;
 596         if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
 597         {
 598                 tag.serial = acc.state.serial;
 599                 length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
 600         }
 601         else
 602                 throw invalid_argument("PendingCommand");
 603 }
 604
 605
 606 template<typename T>
 607 void ArduControl::Queue<T>::push(const T &item)
 608 {
 609         MutexLock lock(mutex);
 610         items.push_back(item);
 611 }
 612
 613 template<typename T>
 614 bool ArduControl::Queue<T>::pop(T &item)
 615 {
 616         MutexLock lock(mutex);
 617         if(items.empty())
 618                 return false;
 619
 620         item = items.front();
 621         items.pop_front();
 622         return true;
 623 }
 624
 625
 626 ArduControl::RefreshTask::RefreshTask():
 627         next(cycle.end()),
 628         round(0),
 629         loco(0),
 630         phase(0)
 631 { }
 632
 633 bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
 634 {
 635         if(loco && loco->proto==MM && phase==0)
 636         {
 637                 cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
 638                 cmd.repeat_count = 2;
 639                 ++phase;
 640                 return true;
 641         }
 642
 643         loco = get_next_loco();
 644         if(!loco)
 645                 return false;
 646
 647         phase = 0;
 648         if(loco->proto==MM)
 649         {
 650                 cmd.length = loco->create_speed_dir_command(cmd.command);
 651                 cmd.repeat_count = 2;
 652         }
 653         else if(loco->proto==MFX)
 654                 cmd.length = loco->create_speed_func_command(0, cmd.command);
 655         else
 656                 return false;
 657
 658         return true;
 659 }
 660
 661 void ArduControl::RefreshTask::add_loco(Locomotive &l)
 662 {
 663         MutexLock lock(mutex);
 664         cycle.push_back(&l);
 665         if(cycle.size()>15)
 666         {
 667                 LocomotivePtrList::iterator oldest = cycle.begin();
 668                 for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
 669                         if((*i)->last_change_age>(*oldest)->last_change_age)
 670                                 oldest = i;
 671                 if(oldest==next)
 672                         advance();
 673                 cycle.erase(oldest);
 674         }
 675         if(next==cycle.end())
 676                 next = cycle.begin();
 677 }
 678
 679 void ArduControl::RefreshTask::remove_loco(Locomotive &l)
 680 {
 681         MutexLock lock(mutex);
 682         for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
 683                 if(*i==&l)
 684                 {
 685                         if(i==next)
 686                         {
 687                                 if(cycle.size()>1)
 688                                         advance();
 689                                 else
 690                                         next = cycle.end();
 691                         }
 692                         cycle.erase(i);
 693                         return;
 694                 }
 695 }
 696
 697 ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
 698 {
 699         MutexLock lock(mutex);
 700         if(cycle.empty())
 701                 return 0;
 702
 703         Locomotive *l = *next;
 704         advance();
 705         return l;
 706 }
 707
 708 void ArduControl::RefreshTask::advance()
 709 {
 710         ++next;
 711         if(next==cycle.end())
 712         {
 713                 next= cycle.begin();
 714                 ++round;
 715         }
 716 }
 717
 718
 719 ArduControl::S88Task::S88Task(ArduControl &c):
 720         control(c),
 721         n_octets(0),
 722         octets_remaining(0),
 723         delay(0)
 724 { }
 725
 726 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 727 {
 728         if(delay)
 729         {
 730                 --delay;
 731                 return false;
 732         }
 733         if(octets_remaining || !n_octets)
 734                 return false;
 735
 736         octets_remaining = n_octets;
 737         cmd.command[0] = S88_READ;
 738         cmd.command[1] = octets_remaining;
 739         cmd.length = 2;
 740
 741         delay = 4;
 742
 743         return true;
 744 }
 745
 746 void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
 747 {
 748         unsigned char type = reply[0];
 749         if(type==S88_DATA && length>2)
 750         {
 751                 unsigned offset = static_cast<unsigned char>(reply[1]);
 752                 unsigned count = length-2;
 753
 754                 SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
 755                 SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
 756                 for(SensorMap::iterator i=begin; i!=end; ++i)
 757                 {
 758                         unsigned bit_index = i->first-1-offset*8;
 759                         bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
 760                         i->second.state.set(state);
 761
 762                         Tag tag;
 763                         tag.type = Tag::SENSOR;
 764                         tag.command = Sensor::STATE;
 765                         tag.serial = i->second.state.serial;
 766                         tag.id = i->first;
 767                         control.completed_commands.push(tag);
 768                 }
 769
 770                 if(count>octets_remaining)
 771                         octets_remaining = 0;
 772                 else
 773                         octets_remaining -= count;
 774         }
 775 }
 776
 777 void ArduControl::S88Task::set_n_octets(unsigned n)
 778 {
 779         n_octets = n;
 780 }
 781
 782 void ArduControl::S88Task::grow_n_octets(unsigned n)
 783 {
 784         if(n>n_octets)
 785                 n_octets = n;
 786 }
 787
 788
 789 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
 790         serial(0)
 791 { }
 792
 793 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
 794 {
 795         Time::TimeStamp t = Time::now();
 796         if(t<next)
 797                 return false;
 798
 799         cmd.command[0] = MFX_ANNOUNCE;
 800         cmd.command[1] = serial>>8;
 801         cmd.command[2] = serial;
 802         cmd.length = 3;
 803         next = t+400*Time::msec;
 804
 805         return true;
 806 }
 807
 808 void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
 809 {
 810         serial = s;
 811 }
 812
 813
 814 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
 815         control(c),
 816         next_address(1),
 817         size(0),
 818         bits(0),
 819         misses(0)
 820 { }
 821
 822 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 823 {
 824         if(size>32)
 825         {
 826                 if(control.debug>=1)
 827                         IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
 828
 829                 MfxInfo info;
 830                 info.protocol = "MFX";
 831                 info.address = next_address;
 832                 info.name = format("%08X", bits);
 833                 info.id = bits;
 834                 queue.push(info);
 835
 836                 cmd.command[0] = MFX_ASSIGN_ADDRESS;
 837                 cmd.command[1] = next_address>>8;
 838                 cmd.command[2] = next_address;
 839                 for(unsigned i=0; i<4; ++i)
 840                         cmd.command[3+i] = bits>>(24-i*8);
 841                 cmd.length = 7;
 842
 843                 cmd.tag.type = Tag::GENERAL;
 844                 cmd.tag.command = NEW_LOCO;
 845                 cmd.tag.id = bits;
 846
 847                 size = 0;
 848                 bits = 0;
 849                 ++next_address;
 850
 851                 return true;
 852         }
 853
 854         Time::TimeStamp t = Time::now();
 855         if(t<next)
 856                 return false;
 857
 858         cmd.command[0] = MFX_SEARCH;
 859         for(unsigned i=0; i<4; ++i)
 860                 cmd.command[1+i] = bits>>(24-i*8);
 861         cmd.command[5] = size;
 862         cmd.length = 6;
 863
 864         next = t+200*Time::msec;
 865
 866         if(control.debug>=1)
 867                 IO::print("Search %08X/%d\n", bits, size);
 868
 869         return true;
 870 }
 871
 872 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
 873 {
 874         unsigned char type = reply[0];
 875         if(type==MFX_SEARCH_FEEDBACK && length==2)
 876         {
 877                 if(reply[1])
 878                 {
 879                         misses = 0;
 880                         ++size;
 881                 }
 882                 else if(size>0 && misses<6)
 883                 {
 884                         ++misses;
 885                         bits ^= 1<<(32-size);
 886                 }
 887                 else
 888                 {
 889                         next = Time::now()+2*Time::sec;
 890                         bits = 0;
 891                         size = 0;
 892                         misses = 0;
 893                 }
 894         }
 895 }
 896
 897 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
 898 {
 899         next_address = a;
 900 }
 901
 902 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
 903 {
 904         return queue.pop(info);
 905 }
 906
 907
 908 ArduControl::ControlThread::ControlThread(ArduControl &c):
 909         control(c),
 910         done(false)
 911 {
 912         tasks.push_back(&control.mfx_announce);
 913         tasks.push_back(&control.mfx_search);
 914         tasks.push_back(&control.s88);
 915         tasks.push_back(&control.refresh);
 916
 917         launch();
 918 }
 919
 920 void ArduControl::ControlThread::exit()
 921 {
 922         done = true;
 923         join();
 924 }
 925
 926 void ArduControl::ControlThread::main()
 927 {
 928         init_baud_rate();
 929
 930         while(!done)
 931         {
 932                 PendingCommand cmd;
 933                 if(get_work(cmd))
 934                 {
 935                         bool success = true;
 936                         for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
 937                                 success = (do_command(cmd)==COMMAND_OK);
 938                         if(success && cmd.tag)
 939                                 control.completed_commands.push(cmd.tag);
 940                 }
 941                 else
 942                         Time::sleep(10*Time::msec);
 943         }
 944 }
 945
 946 void ArduControl::ControlThread::init_baud_rate()
 947 {
 948         static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
 949         unsigned rate = 0;
 950         control.serial.set_data_bits(8);
 951         control.serial.set_parity(IO::Serial::NONE);
 952         control.serial.set_stop_bits(1);
 953         for(unsigned i=0; rates[i]; ++i)
 954         {
 955                 control.serial.set_baud_rate(rates[i]);
 956                 control.serial.put('\xFF');
 957                 if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
 958                 {
 959                         int c = control.serial.get();
 960                         if(c==0xFF)
 961                         {
 962                                 rate = rates[i];
 963                                 break;
 964                         }
 965                 }
 966         }
 967
 968         if(!rate)
 969         {
 970                 if(control.debug>=1)
 971                         IO::print("ArduControl detection failed\n");
 972                 done = true;
 973                 return;
 974         }
 975
 976         if(control.debug>=1)
 977                 IO::print("ArduControl detected at %d bits/s\n", rate);
 978
 979         if(rate!=rates[0])
 980         {
 981                 PendingCommand cmd;
 982                 cmd.command[0] = SET_BAUD_RATE;
 983                 cmd.command[1] = rates[0]>>8;
 984                 cmd.command[2] = rates[0];
 985                 cmd.length = 3;
 986                 if(do_command(cmd)==COMMAND_OK)
 987                 {
 988                         control.serial.set_baud_rate(rates[0]);
 989                         Time::sleep(Time::sec);
 990                         if(do_command(cmd)==COMMAND_OK)
 991                         {
 992                                 if(control.debug>=1)
 993                                         IO::print("Rate changed to %d bits/s\n", rates[0]);
 994                         }
 995                 }
 996         }
 997 }
 998
 999 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
1000 {
1001         if(control.command_queue.pop(cmd))
1002                 return true;
1003
1004         for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1005                 if((*i)->get_work(cmd))
1006                         return true;
1007
1008         // As fallback, send an idle packet for the MM protocol
1009         cmd.command[0] = MOTOROLA_SPEED;
1010         cmd.command[1] = 80;
1011         cmd.command[2] = 0;
1012         cmd.command[3] = 0;
1013         cmd.length = 4;
1014
1015         return true;
1016 }
1017
1018 unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd)
1019 {
1020         if(control.debug>=2)
1021         {
1022                 string cmd_hex;
1023                 for(unsigned i=0; i<cmd.length; ++i)
1024                         cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
1025                 IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
1026         }
1027
1028         control.serial.put(cmd.length^0xFF);
1029         control.serial.write(cmd.command, cmd.length);
1030
1031         unsigned result = 0;
1032         while(1)
1033         {
1034                 bool got_data;
1035                 if(result)
1036                         got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
1037                 else
1038                         got_data = IO::poll(control.serial, IO::P_INPUT);
1039
1040                 if(!got_data)
1041                         break;
1042
1043                 unsigned rlength = control.serial.get()^0xFF;
1044                 if(rlength>15)
1045                 {
1046                         IO::print("Invalid length %02X\n", rlength);
1047                         continue;
1048                 }
1049
1050                 char reply[15];
1051                 unsigned pos = 0;
1052                 while(pos<rlength)
1053                         pos += control.serial.read(reply+pos, rlength-pos);
1054
1055                 if(control.debug>=2)
1056                 {
1057                         string reply_hex;
1058                         for(unsigned i=0; i<rlength; ++i)
1059                                 reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
1060                         IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
1061                 }
1062
1063                 unsigned r = process_reply(reply, rlength);
1064                 if(r && !result)
1065                         result = r;
1066         }
1067
1068         return result;
1069 }
1070
1071 unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
1072 {
1073         unsigned char type = reply[0];
1074         if((type&0xE0)==0x80)
1075         {
1076                 if(type!=COMMAND_OK)
1077                         IO::print("Error %02X\n", type);
1078                 return type;
1079         }
1080         else if(type==POWER_STATE && rlength==2)
1081         {
1082                 control.power.set(reply[1]);
1083
1084                 Tag tag;
1085                 tag.type = Tag::GENERAL;
1086                 tag.command = POWER;
1087                 tag.serial = control.power.serial;
1088                 control.completed_commands.push(tag);
1089         }
1090         else
1091         {
1092                 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1093                         (*i)->process_reply(reply, rlength);
1094         }
1095
1096         return 0;
1097 }
1098
1099
1100 ArduControl::Loader::Loader(ArduControl &c):
1101         DataFile::ObjectLoader<ArduControl>(c)
1102 {
1103         add("mfx_announce_serial", &Loader::mfx_announce_serial);
1104         add("mfx_locomotive", &Loader::mfx_locomotive);
1105 }
1106
1107 void ArduControl::Loader::mfx_announce_serial(unsigned s)
1108 {
1109         obj.mfx_announce.set_serial(s);
1110 }
1111
1112 void ArduControl::Loader::mfx_locomotive(unsigned id)
1113 {
1114         MfxInfo info;
1115         info.id = id;
1116         info.protocol = "MFX";
1117         load_sub(info);
1118         obj.add_mfx_info(info);
1119 }
1120
1121
1122 ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
1123         DataFile::ObjectLoader<MfxInfo>(i)
1124 {
1125         add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
1126         add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));
1127 }
1128
1129 } // namespace R2C2