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                         monitor.reset_peak();
 410                 }
 411                 else
 412                         accessory_queue.pop_front();
 413         }
 414
 415         if(active_accessory && off_timeout)
 416         {
 417                 Time::TimeStamp t = Time::now();
 418                 if(t>off_timeout)
 419                 {
 420                         Accessory &acc = *active_accessory;
 421
 422                         if(acc.kind==Accessory::TURNOUT && monitor.get_peak()<0.5f)
 423                         {
 424                                 unsigned bit = 1<<active_index;
 425                                 if(acc.uncertain&bit)
 426                                         acc.uncertain &= ~bit;
 427                                 else
 428                                 {
 429                                         signal_turnout_failed.emit(acc.address);
 430                                         acc.state.rollback();
 431                                         acc.target ^= bit;
 432                                 }
 433                         }
 434
 435                         off_timeout = Time::TimeStamp();
 436                         PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
 437                         command_queue.push(cmd);
 438                 }
 439         }
 440 }
 441
 442 void ArduControl::flush()
 443 {
 444 }
 445
 446 void ArduControl::save_state() const
 447 {
 448         FS::RedirectedPath tmp_file(state_file);
 449         IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
 450         DataFile::Writer writer(out);
 451
 452         writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
 453         for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
 454         {
 455                 DataFile::Statement st("mfx_locomotive");
 456                 st.append(i->id);
 457                 st.sub.push_back((DataFile::Statement("address"), i->address));
 458                 st.sub.push_back((DataFile::Statement("name"), i->name));
 459                 writer.write(st);
 460         }
 461 }
 462
 463
 464 ArduControl::Tag::Tag():
 465         type(NONE),
 466         command(0),
 467         serial(0),
 468         id(0)
 469 { }
 470
 471
 472 ArduControl::Locomotive::Locomotive(Protocol p, unsigned a):
 473         id((p<<16)|a),
 474         proto(p),
 475         address(a),
 476         speed(0),
 477         reverse(false),
 478         funcs(0),
 479         last_change_age(0)
 480 { }
 481
 482 unsigned ArduControl::Locomotive::create_speed_dir_command(char *buffer) const
 483 {
 484         if(proto==MM)
 485         {
 486                 buffer[0] = MOTOROLA_SPEED_DIRECTION;
 487                 buffer[1] = address;
 488                 buffer[2] = funcs.pending&1;
 489                 buffer[3] = speed.pending+reverse.pending*0x80;
 490                 return 4;
 491         }
 492         else if(proto==MFX)
 493         {
 494                 buffer[0] = MFX_SPEED;
 495                 buffer[1] = address>>8;
 496                 buffer[2] = address;
 497                 buffer[3] = speed.pending+reverse.pending*0x80;
 498                 return 4;
 499         }
 500         else
 501                 return 0;
 502 }
 503
 504 unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *buffer) const
 505 {
 506         if(proto==MM)
 507         {
 508                 if(f<1 || f>4)
 509                         throw invalid_argument("Locomotive::create_speed_func_command");
 510
 511                 buffer[0] = MOTOROLA_SPEED_FUNCTION;
 512                 buffer[1] = address;
 513                 buffer[2] = (f<<4)|(((funcs.pending>>f)&1)<<1)|(funcs.pending&1);
 514                 buffer[3] = speed.pending;
 515                 return 4;
 516         }
 517         else if(proto==MFX)
 518         {
 519                 bool f16 = (funcs.pending>0xFF);
 520                 buffer[0] = (f16 ? MFX_SPEED_FUNCS16 : MFX_SPEED_FUNCS8);
 521                 buffer[1] = address>>8;
 522                 buffer[2] = address;
 523                 buffer[3] = speed.pending+reverse.pending*0x80;
 524                 if(f16)
 525                 {
 526                         buffer[4] = funcs.pending>>8;
 527                         buffer[5] = funcs.pending;
 528                         return 6;
 529                 }
 530                 else
 531                 {
 532                         buffer[4] = funcs.pending;
 533                         return 5;
 534                 }
 535         }
 536         else
 537                 return 0;
 538 }
 539
 540
 541 ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b):
 542         kind(k),
 543         address(a),
 544         bits(b),
 545         state(0),
 546         uncertain((1<<bits)-1),
 547         target(0),
 548         active_time(500*Time::msec)
 549 { }
 550
 551 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
 552 {
 553         if(b>=bits)
 554                 throw invalid_argument("Accessory::create_state_command");
 555
 556         unsigned a = (address+b+3)*2;
 557         if(!((state.pending>>b)&1))
 558                 ++a;
 559         buffer[0] = MOTOROLA_SOLENOID;
 560         buffer[1] = a>>3;
 561         buffer[2] = ((a&7)<<4)|c;
 562         return 3;
 563 }
 564
 565
 566 ArduControl::Sensor::Sensor(unsigned a):
 567         address(a),
 568         state(false)
 569 { }
 570
 571
 572 ArduControl::PendingCommand::PendingCommand():
 573         length(0),
 574         repeat_count(1)
 575 { }
 576
 577 ArduControl::PendingCommand::PendingCommand(GeneralCommand cmd):
 578         length(0),
 579         repeat_count(1)
 580 {
 581         tag.type = Tag::GENERAL;
 582         tag.command = cmd;
 583 }
 584
 585 ArduControl::PendingCommand::PendingCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index):
 586         repeat_count(8)
 587 {
 588         tag.type = Tag::LOCOMOTIVE;
 589         tag.command = cmd;
 590         tag.id = loco.id;
 591         if(cmd==Locomotive::SPEED)
 592         {
 593                 tag.serial = loco.speed.serial;
 594                 length = loco.create_speed_dir_command(command);
 595         }
 596         else if(cmd==Locomotive::REVERSE)
 597         {
 598                 tag.serial = loco.reverse.serial;
 599                 length = loco.create_speed_dir_command(command);
 600         }
 601         else if(cmd==Locomotive::FUNCTIONS)
 602         {
 603                 tag.serial = loco.funcs.serial;
 604                 length = loco.create_speed_func_command(index, command);
 605         }
 606         else
 607                 throw invalid_argument("PendingCommand");
 608 }
 609
 610 ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command cmd, unsigned index):
 611         repeat_count(1)
 612 {
 613         tag.type = Tag::ACCESSORY;
 614         tag.command = cmd;
 615         tag.id = acc.address;
 616         if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
 617         {
 618                 tag.serial = acc.state.serial;
 619                 length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
 620         }
 621         else
 622                 throw invalid_argument("PendingCommand");
 623 }
 624
 625
 626 template<typename T>
 627 void ArduControl::Queue<T>::push(const T &item)
 628 {
 629         MutexLock lock(mutex);
 630         items.push_back(item);
 631 }
 632
 633 template<typename T>
 634 bool ArduControl::Queue<T>::pop(T &item)
 635 {
 636         MutexLock lock(mutex);
 637         if(items.empty())
 638                 return false;
 639
 640         item = items.front();
 641         items.pop_front();
 642         return true;
 643 }
 644
 645
 646 ArduControl::RefreshTask::RefreshTask():
 647         next(cycle.end()),
 648         round(0),
 649         loco(0),
 650         phase(0)
 651 { }
 652
 653 bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
 654 {
 655         if(loco && loco->proto==MM && phase==0)
 656         {
 657                 cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
 658                 cmd.repeat_count = 2;
 659                 ++phase;
 660                 return true;
 661         }
 662
 663         loco = get_next_loco();
 664         if(!loco)
 665                 return false;
 666
 667         phase = 0;
 668         if(loco->proto==MM)
 669         {
 670                 cmd.length = loco->create_speed_dir_command(cmd.command);
 671                 cmd.repeat_count = 2;
 672         }
 673         else if(loco->proto==MFX)
 674                 cmd.length = loco->create_speed_func_command(0, cmd.command);
 675         else
 676                 return false;
 677
 678         return true;
 679 }
 680
 681 void ArduControl::RefreshTask::add_loco(Locomotive &l)
 682 {
 683         MutexLock lock(mutex);
 684         cycle.push_back(&l);
 685         if(cycle.size()>15)
 686         {
 687                 LocomotivePtrList::iterator oldest = cycle.begin();
 688                 for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
 689                         if((*i)->last_change_age>(*oldest)->last_change_age)
 690                                 oldest = i;
 691                 if(oldest==next)
 692                         advance();
 693                 cycle.erase(oldest);
 694         }
 695         if(next==cycle.end())
 696                 next = cycle.begin();
 697 }
 698
 699 void ArduControl::RefreshTask::remove_loco(Locomotive &l)
 700 {
 701         MutexLock lock(mutex);
 702         for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
 703                 if(*i==&l)
 704                 {
 705                         if(i==next)
 706                         {
 707                                 if(cycle.size()>1)
 708                                         advance();
 709                                 else
 710                                         next = cycle.end();
 711                         }
 712                         cycle.erase(i);
 713                         return;
 714                 }
 715 }
 716
 717 ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
 718 {
 719         MutexLock lock(mutex);
 720         if(cycle.empty())
 721                 return 0;
 722
 723         Locomotive *l = *next;
 724         advance();
 725         return l;
 726 }
 727
 728 void ArduControl::RefreshTask::advance()
 729 {
 730         ++next;
 731         if(next==cycle.end())
 732         {
 733                 next= cycle.begin();
 734                 ++round;
 735         }
 736 }
 737
 738
 739 ArduControl::S88Task::S88Task(ArduControl &c):
 740         control(c),
 741         n_octets(0),
 742         octets_remaining(0),
 743         delay(0)
 744 { }
 745
 746 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 747 {
 748         if(delay)
 749         {
 750                 --delay;
 751                 return false;
 752         }
 753         if(octets_remaining || !n_octets)
 754                 return false;
 755
 756         octets_remaining = n_octets;
 757         cmd.command[0] = S88_READ;
 758         cmd.command[1] = octets_remaining;
 759         cmd.length = 2;
 760
 761         delay = 4;
 762
 763         return true;
 764 }
 765
 766 void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
 767 {
 768         unsigned char type = reply[0];
 769         if(type==S88_DATA && length>2)
 770         {
 771                 unsigned offset = static_cast<unsigned char>(reply[1]);
 772                 unsigned count = length-2;
 773
 774                 SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
 775                 SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
 776                 for(SensorMap::iterator i=begin; i!=end; ++i)
 777                 {
 778                         unsigned bit_index = i->first-1-offset*8;
 779                         bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
 780                         i->second.state.set(state);
 781
 782                         Tag tag;
 783                         tag.type = Tag::SENSOR;
 784                         tag.command = Sensor::STATE;
 785                         tag.serial = i->second.state.serial;
 786                         tag.id = i->first;
 787                         control.completed_commands.push(tag);
 788                 }
 789
 790                 if(count>octets_remaining)
 791                         octets_remaining = 0;
 792                 else
 793                         octets_remaining -= count;
 794         }
 795 }
 796
 797 void ArduControl::S88Task::set_n_octets(unsigned n)
 798 {
 799         n_octets = n;
 800 }
 801
 802 void ArduControl::S88Task::grow_n_octets(unsigned n)
 803 {
 804         if(n>n_octets)
 805                 n_octets = n;
 806 }
 807
 808
 809 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
 810         serial(0)
 811 { }
 812
 813 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
 814 {
 815         Time::TimeStamp t = Time::now();
 816         if(t<next)
 817                 return false;
 818
 819         cmd.command[0] = MFX_ANNOUNCE;
 820         cmd.command[1] = serial>>8;
 821         cmd.command[2] = serial;
 822         cmd.length = 3;
 823         next = t+400*Time::msec;
 824
 825         return true;
 826 }
 827
 828 void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
 829 {
 830         serial = s;
 831 }
 832
 833
 834 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
 835         control(c),
 836         next_address(1),
 837         size(0),
 838         bits(0),
 839         misses(0)
 840 { }
 841
 842 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 843 {
 844         if(size>32)
 845         {
 846                 if(control.debug>=1)
 847                         IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
 848
 849                 MfxInfo info;
 850                 info.protocol = "MFX";
 851                 info.address = next_address;
 852                 info.name = format("%08X", bits);
 853                 info.id = bits;
 854                 queue.push(info);
 855
 856                 cmd.command[0] = MFX_ASSIGN_ADDRESS;
 857                 cmd.command[1] = next_address>>8;
 858                 cmd.command[2] = next_address;
 859                 for(unsigned i=0; i<4; ++i)
 860                         cmd.command[3+i] = bits>>(24-i*8);
 861                 cmd.length = 7;
 862
 863                 cmd.tag.type = Tag::GENERAL;
 864                 cmd.tag.command = NEW_LOCO;
 865                 cmd.tag.id = bits;
 866
 867                 size = 0;
 868                 bits = 0;
 869                 ++next_address;
 870
 871                 return true;
 872         }
 873
 874         Time::TimeStamp t = Time::now();
 875         if(t<next)
 876                 return false;
 877
 878         cmd.command[0] = MFX_SEARCH;
 879         for(unsigned i=0; i<4; ++i)
 880                 cmd.command[1+i] = bits>>(24-i*8);
 881         cmd.command[5] = size;
 882         cmd.length = 6;
 883
 884         next = t+200*Time::msec;
 885
 886         if(control.debug>=1)
 887                 IO::print("Search %08X/%d\n", bits, size);
 888
 889         return true;
 890 }
 891
 892 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
 893 {
 894         unsigned char type = reply[0];
 895         if(type==MFX_SEARCH_FEEDBACK && length==2)
 896         {
 897                 if(reply[1])
 898                 {
 899                         misses = 0;
 900                         ++size;
 901                 }
 902                 else if(size>0 && misses<6)
 903                 {
 904                         ++misses;
 905                         bits ^= 1<<(32-size);
 906                 }
 907                 else
 908                 {
 909                         next = Time::now()+2*Time::sec;
 910                         bits = 0;
 911                         size = 0;
 912                         misses = 0;
 913                 }
 914         }
 915 }
 916
 917 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
 918 {
 919         next_address = a;
 920 }
 921
 922 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
 923 {
 924         return queue.pop(info);
 925 }
 926
 927
 928 ArduControl::MonitorTask::MonitorTask():
 929         voltage(0),
 930         current(0),
 931         base_level(0),
 932         peak_level(0),
 933         next_type(0)
 934 { }
 935
 936 bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
 937 {
 938         Time::TimeStamp t = Time::now();
 939         if(t<next_poll)
 940                 return false;
 941
 942         if(next_type==0)
 943                 cmd.command[0] = READ_INPUT_VOLTAGE;
 944         else
 945                 cmd.command[0] = READ_TRACK_CURRENT;
 946         cmd.length = 1;
 947
 948         next_poll = t+200*Time::msec;
 949         next_type = (next_type+1)%5;
 950
 951         return true;
 952 }
 953
 954 void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
 955 {
 956         unsigned char type = reply[0];
 957         if(type==INPUT_VOLTAGE && length==3)
 958                 voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
 959         else if(type==TRACK_CURRENT && length==5)
 960         {
 961                 current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
 962                 float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
 963                 peak_level = max(peak_level, peak);
 964                 base_level = min(base_level, current);
 965         }
 966 }
 967
 968 void ArduControl::MonitorTask::reset_peak()
 969 {
 970         base_level = current;
 971         peak_level = current;
 972 }
 973
 974
 975 ArduControl::ControlThread::ControlThread(ArduControl &c):
 976         control(c),
 977         done(false)
 978 {
 979         tasks.push_back(&control.monitor);
 980         tasks.push_back(&control.mfx_announce);
 981         tasks.push_back(&control.mfx_search);
 982         tasks.push_back(&control.s88);
 983         tasks.push_back(&control.refresh);
 984
 985         launch();
 986 }
 987
 988 void ArduControl::ControlThread::exit()
 989 {
 990         done = true;
 991         join();
 992 }
 993
 994 void ArduControl::ControlThread::main()
 995 {
 996         init_baud_rate();
 997
 998         while(!done)
 999         {
1000                 PendingCommand cmd;
1001                 if(get_work(cmd))
1002                 {
1003                         bool success = true;
1004                         for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
1005                                 success = (do_command(cmd)==COMMAND_OK);
1006                         if(success && cmd.tag)
1007                                 control.completed_commands.push(cmd.tag);
1008                 }
1009                 else
1010                         Time::sleep(10*Time::msec);
1011         }
1012 }
1013
1014 void ArduControl::ControlThread::init_baud_rate()
1015 {
1016         static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
1017         unsigned rate = 0;
1018         control.serial.set_data_bits(8);
1019         control.serial.set_parity(IO::Serial::NONE);
1020         control.serial.set_stop_bits(1);
1021         for(unsigned i=0; rates[i]; ++i)
1022         {
1023                 control.serial.set_baud_rate(rates[i]);
1024                 control.serial.put('\xFF');
1025                 if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
1026                 {
1027                         int c = control.serial.get();
1028                         if(c==0xFF)
1029                         {
1030                                 rate = rates[i];
1031                                 break;
1032                         }
1033                 }
1034         }
1035
1036         if(!rate)
1037         {
1038                 if(control.debug>=1)
1039                         IO::print("ArduControl detection failed\n");
1040                 done = true;
1041                 return;
1042         }
1043
1044         if(control.debug>=1)
1045                 IO::print("ArduControl detected at %d bits/s\n", rate);
1046
1047         if(rate!=rates[0])
1048         {
1049                 PendingCommand cmd;
1050                 cmd.command[0] = SET_BAUD_RATE;
1051                 cmd.command[1] = rates[0]>>8;
1052                 cmd.command[2] = rates[0];
1053                 cmd.length = 3;
1054                 if(do_command(cmd)==COMMAND_OK)
1055                 {
1056                         control.serial.set_baud_rate(rates[0]);
1057                         Time::sleep(Time::sec);
1058                         if(do_command(cmd)==COMMAND_OK)
1059                         {
1060                                 if(control.debug>=1)
1061                                         IO::print("Rate changed to %d bits/s\n", rates[0]);
1062                         }
1063                 }
1064         }
1065 }
1066
1067 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
1068 {
1069         if(control.command_queue.pop(cmd))
1070                 return true;
1071
1072         for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1073                 if((*i)->get_work(cmd))
1074                         return true;
1075
1076         // As fallback, send an idle packet for the MM protocol
1077         cmd.command[0] = MOTOROLA_SPEED;
1078         cmd.command[1] = 80;
1079         cmd.command[2] = 0;
1080         cmd.command[3] = 0;
1081         cmd.length = 4;
1082
1083         return true;
1084 }
1085
1086 unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd)
1087 {
1088         if(control.debug>=2)
1089         {
1090                 string cmd_hex;
1091                 for(unsigned i=0; i<cmd.length; ++i)
1092                         cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
1093                 IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
1094         }
1095
1096         control.serial.put(cmd.length^0xFF);
1097         control.serial.write(cmd.command, cmd.length);
1098
1099         unsigned result = 0;
1100         while(1)
1101         {
1102                 bool got_data;
1103                 if(result)
1104                         got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
1105                 else
1106                         got_data = IO::poll(control.serial, IO::P_INPUT);
1107
1108                 if(!got_data)
1109                         break;
1110
1111                 unsigned rlength = control.serial.get()^0xFF;
1112                 if(rlength>15)
1113                 {
1114                         IO::print("Invalid length %02X\n", rlength);
1115                         continue;
1116                 }
1117
1118                 char reply[15];
1119                 unsigned pos = 0;
1120                 while(pos<rlength)
1121                         pos += control.serial.read(reply+pos, rlength-pos);
1122
1123                 if(control.debug>=2)
1124                 {
1125                         string reply_hex;
1126                         for(unsigned i=0; i<rlength; ++i)
1127                                 reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
1128                         IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
1129                 }
1130
1131                 unsigned r = process_reply(reply, rlength);
1132                 if(r && !result)
1133                         result = r;
1134         }
1135
1136         return result;
1137 }
1138
1139 unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
1140 {
1141         unsigned char type = reply[0];
1142         if((type&0xE0)==0x80)
1143         {
1144                 if(type!=COMMAND_OK)
1145                         IO::print("Error %02X\n", type);
1146                 return type;
1147         }
1148         else if(type==POWER_STATE && rlength==2)
1149         {
1150                 control.power.set(reply[1]);
1151
1152                 Tag tag;
1153                 tag.type = Tag::GENERAL;
1154                 tag.command = POWER;
1155                 tag.serial = control.power.serial;
1156                 control.completed_commands.push(tag);
1157         }
1158         else
1159         {
1160                 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1161                         (*i)->process_reply(reply, rlength);
1162         }
1163
1164         return 0;
1165 }
1166
1167
1168 ArduControl::Loader::Loader(ArduControl &c):
1169         DataFile::ObjectLoader<ArduControl>(c)
1170 {
1171         add("mfx_announce_serial", &Loader::mfx_announce_serial);
1172         add("mfx_locomotive", &Loader::mfx_locomotive);
1173 }
1174
1175 void ArduControl::Loader::mfx_announce_serial(unsigned s)
1176 {
1177         obj.mfx_announce.set_serial(s);
1178 }
1179
1180 void ArduControl::Loader::mfx_locomotive(unsigned id)
1181 {
1182         MfxInfo info;
1183         info.id = id;
1184         info.protocol = "MFX";
1185         load_sub(info);
1186         obj.add_mfx_info(info);
1187 }
1188
1189
1190 ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
1191         DataFile::ObjectLoader<MfxInfo>(i)
1192 {
1193         add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
1194         add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));
1195 }
1196
1197 } // namespace R2C2