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"
15 ArduControl::ProtocolInfo ArduControl::protocol_info[2] =
18 { 0x3FFF, 126, 15 } // MFX
21 ArduControl::ArduControl(const Options &opts):
22 serial(opts.get<string>(string(), "ttyUSB0")),
23 debug(opts.get<unsigned>("debug")),
24 state_file("arducontrol.state"),
28 command_timeout(200*Time::msec),
33 if(FS::exists(state_file))
34 DataFile::load(*this, state_file.str());
36 unsigned max_address = 0;
37 for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
38 max_address = max(max_address, i->address);
39 mfx_search.set_next_address(max_address+1);
42 cmd.command[0] = READ_POWER_STATE;
44 command_queue.push(cmd);
46 cmd.command[0] = MFX_SET_STATION_ID;
52 command_queue.push(cmd);
55 ArduControl::~ArduControl()
60 void ArduControl::set_power(bool p)
64 PendingCommand cmd(POWER);
65 cmd.tag.serial = power.serial;
66 cmd.command[0] = (p ? POWER_ON : POWER_OFF);
68 command_queue.push(cmd);
72 void ArduControl::halt(bool h)
80 for(LocomotiveMap::const_iterator i=locomotives.begin(); i!=locomotives.end(); ++i)
81 set_loco_speed(i->first, 0);
84 signal_halt.emit(halted);
87 const char *ArduControl::enumerate_protocols(unsigned i) const
97 ArduControl::Protocol ArduControl::map_protocol(const string &proto_name)
101 else if(proto_name=="MFX")
104 throw invalid_argument("ArduControl::map_protocol");
107 unsigned ArduControl::get_protocol_speed_steps(const string &proto_name) const
109 return protocol_info[map_protocol(proto_name)].max_speed;
112 const Driver::DetectedLocomotive *ArduControl::enumerate_detected_locos(unsigned i) const
114 if(i>=mfx_info.size())
120 unsigned ArduControl::add_loco(unsigned addr, const string &proto_name, const VehicleType &)
123 throw invalid_argument("ArduControl::add_loco");
125 Protocol proto = map_protocol(proto_name);
126 if(addr>protocol_info[proto].max_address)
127 throw invalid_argument("ArduControl::add_loco");
129 Locomotive loco(proto, addr);
130 insert_unique(locomotives, loco.id, loco);
135 ArduControl::MfxInfoArray::iterator ArduControl::add_mfx_info(const MfxInfo &info)
137 MfxInfoArray::iterator i;
138 for(i=mfx_info.begin(); (i!=mfx_info.end() && i->id!=info.id); ++i) ;
139 if(i==mfx_info.end())
141 mfx_info.push_back(info);
142 i = --mfx_info.end();
149 void ArduControl::remove_loco(unsigned id)
151 Locomotive &loco = get_item(locomotives, id);
152 refresh.remove_loco(loco);
153 locomotives.erase(id);
156 void ArduControl::set_loco_speed(unsigned id, unsigned speed)
158 Locomotive &loco = get_item(locomotives, id);
159 if(speed>protocol_info[loco.proto].max_speed)
160 throw invalid_argument("ArduControl::set_loco_speed");
165 if(loco.speed.set(speed))
167 PendingCommand cmd(loco, Locomotive::SPEED);
168 command_queue.push(cmd);
170 refresh.add_loco(loco);
174 void ArduControl::set_loco_reverse(unsigned id, bool rev)
176 Locomotive &loco = get_item(locomotives, id);
177 if(loco.reverse.set(rev))
179 PendingCommand cmd(loco, Locomotive::REVERSE);
180 command_queue.push(cmd);
182 refresh.add_loco(loco);
186 void ArduControl::set_loco_function(unsigned id, unsigned func, bool state)
188 Locomotive &loco = get_item(locomotives, id);
189 if(func>protocol_info[loco.proto].max_func)
190 throw invalid_argument("ArduControl::set_loco_function");
192 unsigned mask = 1<<func;
193 if(loco.funcs.set((loco.funcs&~mask)|(mask*state)))
195 if(func>0 || loco.proto!=MM)
197 PendingCommand cmd(loco, Locomotive::FUNCTIONS, func);
198 command_queue.push(cmd);
201 refresh.add_loco(loco);
205 unsigned ArduControl::add_turnout(unsigned addr, const TrackType &type)
207 if(!addr || !type.is_turnout())
208 throw invalid_argument("ArduControl::add_turnout");
210 return add_accessory(Accessory::TURNOUT, addr, type.get_state_bits(), type.get_paths());
213 void ArduControl::remove_turnout(unsigned addr)
215 remove_accessory(Accessory::TURNOUT, addr);
218 void ArduControl::set_turnout(unsigned addr, unsigned state)
220 set_accessory(Accessory::TURNOUT, addr, state);
223 unsigned ArduControl::get_turnout(unsigned addr) const
225 return get_accessory(Accessory::TURNOUT, addr);
228 unsigned ArduControl::add_signal(unsigned addr, const SignalType &)
230 return add_accessory(Accessory::SIGNAL, addr, 1, 3);
233 void ArduControl::remove_signal(unsigned addr)
235 remove_accessory(Accessory::SIGNAL, addr);
238 void ArduControl::set_signal(unsigned addr, unsigned state)
240 set_accessory(Accessory::SIGNAL, addr, state);
243 unsigned ArduControl::get_signal(unsigned addr) const
245 return get_accessory(Accessory::SIGNAL, addr);
248 unsigned ArduControl::add_accessory(Accessory::Kind kind, unsigned addr, unsigned bits, unsigned states)
250 AccessoryMap::iterator i = accessories.lower_bound(addr);
251 AccessoryMap::iterator j = accessories.upper_bound(addr+bits-1);
253 throw key_error(addr);
254 if(i!=accessories.begin())
257 if(i->first+i->second.bits>addr)
258 throw key_error(addr);
261 insert_unique(accessories, addr, Accessory(kind, addr, bits, states));
265 void ArduControl::remove_accessory(Accessory::Kind kind, unsigned addr)
267 Accessory &acc = get_item(accessories, addr);
269 throw key_error(addr);
270 accessories.erase(addr);
273 void ArduControl::set_accessory(Accessory::Kind kind, unsigned addr, unsigned state)
275 Accessory &acc = get_item(accessories, addr);
277 throw key_error(addr);
279 if(state!=acc.target || acc.uncertain)
282 accessory_queue.push_back(&acc);
286 unsigned ArduControl::get_accessory(Accessory::Kind kind, unsigned addr) const
288 const Accessory &acc = get_item(accessories, addr);
290 throw key_error(addr);
294 void ArduControl::activate_accessory_by_mask(Accessory &acc, unsigned mask)
296 unsigned bit = mask&~(mask-1);
297 for(active_index=0; (bit>>active_index)>1; ++active_index) ;
298 acc.state.set((acc.state&~bit)|(acc.target&bit));
300 IO::print("Setting accessory %d bit %d, state=%d\n", acc.address, active_index, acc.state.pending);
301 PendingCommand cmd(acc, Accessory::ACTIVATE, active_index);
302 command_queue.push(cmd);
303 active_accessory = &acc;
305 monitor.reset_peak();
308 unsigned ArduControl::add_sensor(unsigned addr)
311 throw invalid_argument("ArduControl::add_sensor");
313 insert_unique(sensors, addr, Sensor(addr));
314 s88.grow_n_octets((addr+7)/8);
319 void ArduControl::remove_sensor(unsigned addr)
321 remove_existing(sensors, addr);
322 // TODO update s88.n_octets
325 bool ArduControl::get_sensor(unsigned addr) const
327 return get_item(sensors, addr).state;
330 void ArduControl::tick()
333 while(completed_commands.pop(tag))
335 if(tag.type==Tag::GENERAL)
337 if(tag.command==POWER)
339 if(power.commit(tag.serial))
340 signal_power.emit(power.current);
342 else if(tag.command==NEW_LOCO)
345 if(mfx_search.pop_info(info))
347 MfxInfoArray::iterator i = add_mfx_info(info);
349 signal_locomotive_detected.emit(*i);
353 else if(tag.type==Tag::LOCOMOTIVE)
355 LocomotiveMap::iterator i = locomotives.find(tag.id);
356 if(i==locomotives.end())
359 Locomotive &loco = i->second;
360 if(tag.command==Locomotive::SPEED)
362 if(loco.speed.commit(tag.serial))
363 signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
365 else if(tag.command==Locomotive::REVERSE)
367 if(loco.reverse.commit(tag.serial))
368 signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
370 else if(tag.command==Locomotive::FUNCTIONS)
372 unsigned old = loco.funcs;
373 if(loco.funcs.commit(tag.serial))
375 unsigned changed = old^loco.funcs;
376 for(unsigned j=0; changed>>j; ++j)
378 signal_loco_function.emit(loco.id, j, (loco.funcs>>j)&1);
382 else if(tag.type==Tag::ACCESSORY)
384 AccessoryMap::iterator i = accessories.find(tag.id);
385 if(i==accessories.end())
388 Accessory &acc = i->second;
389 if(tag.command==Accessory::ACTIVATE)
390 off_timeout = Time::now()+acc.active_time;
391 else if(tag.command==Accessory::DEACTIVATE)
393 if(acc.state.commit(tag.serial))
395 if(&acc==active_accessory)
396 active_accessory = 0;
400 else if(tag.type==Tag::SENSOR)
402 SensorMap::iterator i = sensors.find(tag.id);
406 Sensor &sensor = i->second;
407 if(tag.command==Sensor::STATE)
409 if(sensor.state.commit(tag.serial))
410 signal_sensor.emit(sensor.address, sensor.state);
415 while(power && !active_accessory && !accessory_queue.empty())
417 Accessory &acc = *accessory_queue.front();
421 unsigned zeroes = acc.uncertain&~acc.target;
423 activate_accessory_by_mask(acc, zeroes);
425 activate_accessory_by_mask(acc, acc.uncertain);
427 else if(acc.state!=acc.target)
429 unsigned changes = acc.state^acc.target;
430 if(!(changes&((1<<acc.bits)-1)))
432 // All remaining changes are in non-physical bits
433 acc.state.set(acc.state^changes);
434 acc.state.commit(acc.state.serial);
438 unsigned toggle_bit = 0;
439 for(unsigned bit=1; (!toggle_bit && bit<=changes); bit<<=1)
440 if((changes&bit) && (acc.valid_states&(1<<(acc.state^bit))))
443 activate_accessory_by_mask(acc, toggle_bit);
448 accessory_queue.pop_front();
450 if(acc.state==acc.target)
452 if(acc.kind==Accessory::TURNOUT)
453 signal_turnout.emit(acc.address, acc.state);
454 else if(acc.kind==Accessory::SIGNAL)
455 signal_signal.emit(acc.address, acc.state);
460 if(active_accessory && off_timeout)
462 Time::TimeStamp t = Time::now();
465 Accessory &acc = *active_accessory;
467 unsigned bit = 1<<active_index;
469 // Assume success if we were uncertain of the physical setting
470 if(acc.uncertain&bit)
471 acc.uncertain &= ~bit;
472 else if(acc.kind==Accessory::TURNOUT && monitor.get_peak()<0.5f)
475 IO::print("Peak current only %.2f A\n", monitor.get_peak());
476 signal_turnout_failed.emit(acc.address);
477 acc.state.rollback();
478 if(acc.valid_states&(1<<(acc.target^bit)))
481 acc.target = acc.state;
484 off_timeout = Time::TimeStamp();
485 PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
486 command_queue.push(cmd);
491 void ArduControl::flush()
493 while(!command_queue.empty() || (power && !accessory_queue.empty()))
497 void ArduControl::save_state() const
499 FS::RedirectedPath tmp_file(state_file);
500 IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
501 DataFile::Writer writer(out);
503 writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
504 for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
506 DataFile::Statement st("mfx_locomotive");
508 st.sub.push_back((DataFile::Statement("address"), i->address));
509 st.sub.push_back((DataFile::Statement("name"), i->name));
515 ArduControl::Tag::Tag():
523 ArduControl::Locomotive::Locomotive(Protocol p, unsigned a):
533 unsigned ArduControl::Locomotive::create_speed_dir_command(char *buffer) const
537 buffer[0] = MOTOROLA_SPEED_DIRECTION;
539 buffer[2] = funcs.pending&1;
540 buffer[3] = speed.pending+reverse.pending*0x80;
545 buffer[0] = MFX_SPEED;
546 buffer[1] = address>>8;
548 buffer[3] = speed.pending+reverse.pending*0x80;
555 unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *buffer) const
560 throw invalid_argument("Locomotive::create_speed_func_command");
562 buffer[0] = MOTOROLA_SPEED_FUNCTION;
564 buffer[2] = (f<<4)|(((funcs.pending>>f)&1)<<1)|(funcs.pending&1);
565 buffer[3] = speed.pending;
570 bool f16 = (funcs.pending>0xFF);
571 buffer[0] = (f16 ? MFX_SPEED_FUNCS16 : MFX_SPEED_FUNCS8);
572 buffer[1] = address>>8;
574 buffer[3] = speed.pending+reverse.pending*0x80;
577 buffer[4] = funcs.pending>>8;
578 buffer[5] = funcs.pending;
583 buffer[4] = funcs.pending;
592 ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b, unsigned s):
598 uncertain((1<<bits)-1),
600 active_time(500*Time::msec)
603 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
606 throw invalid_argument("Accessory::create_state_command");
608 unsigned a = (address+b+3)*2;
609 if(!((state.pending>>b)&1))
611 buffer[0] = MOTOROLA_SOLENOID;
613 buffer[2] = ((a&7)<<4)|c;
618 ArduControl::Sensor::Sensor(unsigned a):
624 ArduControl::PendingCommand::PendingCommand():
629 ArduControl::PendingCommand::PendingCommand(GeneralCommand cmd):
633 tag.type = Tag::GENERAL;
637 ArduControl::PendingCommand::PendingCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index):
640 tag.type = Tag::LOCOMOTIVE;
643 if(cmd==Locomotive::SPEED)
645 tag.serial = loco.speed.serial;
646 length = loco.create_speed_dir_command(command);
648 else if(cmd==Locomotive::REVERSE)
650 tag.serial = loco.reverse.serial;
651 length = loco.create_speed_dir_command(command);
653 else if(cmd==Locomotive::FUNCTIONS)
655 tag.serial = loco.funcs.serial;
656 length = loco.create_speed_func_command(index, command);
659 throw invalid_argument("PendingCommand");
662 ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command cmd, unsigned index):
665 tag.type = Tag::ACCESSORY;
667 tag.id = acc.address;
668 if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
670 tag.serial = acc.state.serial;
671 length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
674 throw invalid_argument("PendingCommand");
679 void ArduControl::Queue<T>::push(const T &item)
681 MutexLock lock(mutex);
682 items.push_back(item);
686 bool ArduControl::Queue<T>::pop(T &item)
688 MutexLock lock(mutex);
692 item = items.front();
698 bool ArduControl::Queue<T>::empty() const
700 return items.empty();
704 ArduControl::RefreshTask::RefreshTask():
711 bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
713 if(loco && loco->proto==MM && phase==0)
715 cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
716 cmd.repeat_count = 2;
721 loco = get_next_loco();
728 cmd.length = loco->create_speed_dir_command(cmd.command);
729 cmd.repeat_count = 2;
731 else if(loco->proto==MFX)
732 cmd.length = loco->create_speed_func_command(0, cmd.command);
739 void ArduControl::RefreshTask::add_loco(Locomotive &l)
741 MutexLock lock(mutex);
745 LocomotivePtrList::iterator oldest = cycle.begin();
746 for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
747 if((*i)->last_change_age>(*oldest)->last_change_age)
753 if(next==cycle.end())
754 next = cycle.begin();
757 void ArduControl::RefreshTask::remove_loco(Locomotive &l)
759 MutexLock lock(mutex);
760 for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
775 ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
777 MutexLock lock(mutex);
781 Locomotive *l = *next;
786 void ArduControl::RefreshTask::advance()
789 if(next==cycle.end())
797 ArduControl::S88Task::S88Task(ArduControl &c):
804 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
811 if(octets_remaining || !n_octets)
814 octets_remaining = n_octets;
815 cmd.command[0] = S88_READ;
816 cmd.command[1] = octets_remaining;
824 void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
826 unsigned char type = reply[0];
827 if(type==S88_DATA && length>2)
829 unsigned offset = static_cast<unsigned char>(reply[1]);
830 unsigned count = length-2;
832 SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
833 SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
834 for(SensorMap::iterator i=begin; i!=end; ++i)
836 unsigned bit_index = i->first-1-offset*8;
837 bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
838 i->second.state.set(state);
841 tag.type = Tag::SENSOR;
842 tag.command = Sensor::STATE;
843 tag.serial = i->second.state.serial;
845 control.completed_commands.push(tag);
848 if(count>octets_remaining)
849 octets_remaining = 0;
851 octets_remaining -= count;
855 void ArduControl::S88Task::set_n_octets(unsigned n)
860 void ArduControl::S88Task::grow_n_octets(unsigned n)
867 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
871 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
873 Time::TimeStamp t = Time::now();
877 cmd.command[0] = MFX_ANNOUNCE;
878 cmd.command[1] = serial>>8;
879 cmd.command[2] = serial;
881 next = t+400*Time::msec;
886 void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
892 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
900 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
905 IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
908 info.protocol = "MFX";
909 info.address = next_address;
910 info.name = format("%08X", bits);
914 cmd.command[0] = MFX_ASSIGN_ADDRESS;
915 cmd.command[1] = next_address>>8;
916 cmd.command[2] = next_address;
917 for(unsigned i=0; i<4; ++i)
918 cmd.command[3+i] = bits>>(24-i*8);
921 cmd.tag.type = Tag::GENERAL;
922 cmd.tag.command = NEW_LOCO;
932 Time::TimeStamp t = Time::now();
936 cmd.command[0] = MFX_SEARCH;
937 for(unsigned i=0; i<4; ++i)
938 cmd.command[1+i] = bits>>(24-i*8);
939 cmd.command[5] = size;
942 next = t+200*Time::msec;
945 IO::print("Search %08X/%d\n", bits, size);
950 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
952 unsigned char type = reply[0];
953 if(type==MFX_SEARCH_FEEDBACK && length==2)
960 else if(size>0 && misses<6)
963 bits ^= 1<<(32-size);
967 next = Time::now()+2*Time::sec;
975 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
980 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
982 return queue.pop(info);
986 ArduControl::MonitorTask::MonitorTask():
994 bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
996 Time::TimeStamp t = Time::now();
1001 cmd.command[0] = READ_INPUT_VOLTAGE;
1003 cmd.command[0] = READ_TRACK_CURRENT;
1006 next_poll = t+200*Time::msec;
1007 next_type = (next_type+1)%5;
1012 void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
1014 unsigned char type = reply[0];
1015 if(type==INPUT_VOLTAGE && length==3)
1016 voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1017 else if(type==TRACK_CURRENT && length==5)
1019 current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
1020 float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
1021 peak_level = max(peak_level, peak);
1022 base_level = min(base_level, current);
1026 void ArduControl::MonitorTask::reset_peak()
1028 base_level = current;
1029 peak_level = current;
1033 ArduControl::ControlThread::ControlThread(ArduControl &c):
1037 tasks.push_back(&control.monitor);
1038 tasks.push_back(&control.mfx_announce);
1039 tasks.push_back(&control.mfx_search);
1040 tasks.push_back(&control.s88);
1041 tasks.push_back(&control.refresh);
1046 void ArduControl::ControlThread::exit()
1052 void ArduControl::ControlThread::main()
1061 bool success = true;
1062 bool resync = false;
1063 for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
1065 unsigned result = do_command(cmd, control.command_timeout);
1066 success = (result==COMMAND_OK);
1067 resync = (result==0);
1070 if(success && cmd.tag)
1071 control.completed_commands.push(cmd.tag);
1075 if(control.debug>=1)
1076 IO::print("Synchronization with ArduControl lost, attempting to recover\n");
1077 for(unsigned i=0; (resync && i<16); ++i)
1079 control.serial.put('\xFF');
1080 while(IO::poll(control.serial, IO::P_INPUT, control.command_timeout))
1081 resync = (control.serial.get()!=0xFF);
1085 if(control.debug>=1)
1086 IO::print("Resynchronization failed, giving up\n");
1091 if(control.debug>=1)
1092 IO::print("Resynchronization successful\n");
1094 control.command_queue.push(cmd);
1099 Time::sleep(10*Time::msec);
1103 void ArduControl::ControlThread::init_baud_rate()
1105 static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
1107 control.serial.set_data_bits(8);
1108 control.serial.set_parity(IO::Serial::NONE);
1109 control.serial.set_stop_bits(1);
1110 for(unsigned i=0; rates[i]; ++i)
1112 control.serial.set_baud_rate(rates[i]);
1113 control.serial.put('\xFF');
1114 if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
1116 int c = control.serial.get();
1127 if(control.debug>=1)
1128 IO::print("ArduControl detection failed\n");
1133 if(control.debug>=1)
1134 IO::print("ArduControl detected at %d bits/s\n", rate);
1139 cmd.command[0] = SET_BAUD_RATE;
1140 cmd.command[1] = rates[0]>>8;
1141 cmd.command[2] = rates[0];
1143 if(do_command(cmd, Time::sec)==COMMAND_OK)
1145 control.serial.set_baud_rate(rates[0]);
1146 Time::sleep(Time::sec);
1147 if(do_command(cmd, Time::sec)==COMMAND_OK)
1149 if(control.debug>=1)
1150 IO::print("Rate changed to %d bits/s\n", rates[0]);
1156 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
1158 if(control.command_queue.pop(cmd))
1161 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1162 if((*i)->get_work(cmd))
1165 // As fallback, send an idle packet for the MM protocol
1166 cmd.command[0] = MOTOROLA_SPEED;
1167 cmd.command[1] = 80;
1175 unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
1177 if(control.debug>=2)
1180 for(unsigned i=0; i<cmd.length; ++i)
1181 cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
1182 IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
1185 control.serial.put(cmd.length^0xFF);
1186 control.serial.write(cmd.command, cmd.length);
1188 unsigned result = 0;
1193 got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
1195 got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
1200 unsigned rlength = control.serial.get()^0xFF;
1203 IO::print("Invalid length %02X\n", rlength);
1211 if(!IO::poll(control.serial, IO::P_INPUT, timeout))
1213 pos += control.serial.read(reply+pos, rlength-pos);
1216 if(control.debug>=2)
1219 for(unsigned i=0; i<rlength; ++i)
1220 reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
1221 IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
1224 unsigned r = process_reply(reply, rlength);
1232 unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
1234 unsigned char type = reply[0];
1235 if((type&0xE0)==0x80)
1237 if(type!=COMMAND_OK)
1238 IO::print("Error %02X\n", type);
1241 else if(type==POWER_STATE && rlength==2)
1242 set_power(reply[1]);
1243 else if(type==OVERCURRENT)
1246 IO::print("Overcurrent detected!\n");
1250 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1251 (*i)->process_reply(reply, rlength);
1257 void ArduControl::ControlThread::set_power(bool p)
1259 control.power.set(p);
1262 tag.type = Tag::GENERAL;
1263 tag.command = POWER;
1264 tag.serial = control.power.serial;
1265 control.completed_commands.push(tag);
1269 ArduControl::Loader::Loader(ArduControl &c):
1270 DataFile::ObjectLoader<ArduControl>(c)
1272 add("mfx_announce_serial", &Loader::mfx_announce_serial);
1273 add("mfx_locomotive", &Loader::mfx_locomotive);
1276 void ArduControl::Loader::mfx_announce_serial(unsigned s)
1278 obj.mfx_announce.set_serial(s);
1281 void ArduControl::Loader::mfx_locomotive(unsigned id)
1285 info.protocol = "MFX";
1287 obj.add_mfx_info(info);
1291 ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
1292 DataFile::ObjectLoader<MfxInfo>(i)
1294 add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
1295 add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));