source/libr2c2/arducontrol.cpp

   1 #include <msp/core/maputils.h>
   2 #include <msp/datafile/writer.h>
   3 #include <msp/fs/redirectedpath.h>
   4 #include <msp/fs/stat.h>
   5 #include <msp/io/print.h>
   6 #include <msp/time/utils.h>
   7 #include "arducontrol.h"
   8 #include "tracktype.h"
   9
  10 using namespace std;
  11 using namespace Msp;
  12
  13 namespace R2C2 {
  14
  15 ArduControl::ProtocolInfo ArduControl::protocol_info[2] =
  16 {
  17         { 79, 14, 4 },       // MM
  18         { 0x3FFF, 126, 15 }  // MFX
  19 };
  20
  21 ArduControl::ArduControl(const Options &opts):
  22         serial(opts.get<string>(string(), "ttyUSB0")),
  23         debug(opts.get<unsigned>("debug")),
  24         state_file("arducontrol.state"),
  25         power(false),
  26         halted(false),
  27         active_accessory(0),
  28         command_timeout(200*Time::msec),
  29         s88(*this),
  30         mfx_search(*this),
  31         thread(*this)
  32 {
  33         if(FS::exists(state_file))
  34                 DataFile::load(*this, state_file.str());
  35
  36         unsigned max_address = 0;
  37         for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
  38                 max_address = max(max_address, i->address);
  39         mfx_search.set_next_address(max_address+1);
  40
  41         PendingCommand cmd;
  42         cmd.command[0] = READ_POWER_STATE;
  43         cmd.length = 1;
  44         command_queue.push(cmd);
  45
  46         cmd.command[0] = MFX_SET_STATION_ID;
  47         cmd.command[1] = 'R';
  48         cmd.command[2] = '2';
  49         cmd.command[3] = 'C';
  50         cmd.command[4] = '2';
  51         cmd.length = 5;
  52         command_queue.push(cmd);
  53 }
  54
  55 ArduControl::~ArduControl()
  56 {
  57         thread.exit();
  58 }
  59
  60 void ArduControl::set_power(bool p)
  61 {
  62         if(power.set(p))
  63         {
  64                 PendingCommand cmd(POWER);
  65                 cmd.tag.serial = power.serial;
  66                 cmd.command[0] = (p ? POWER_ON : POWER_OFF);
  67                 cmd.length = 1;
  68                 command_queue.push(cmd);
  69         }
  70 }
  71
  72 void ArduControl::halt(bool h)
  73 {
  74         if(h==halted)
  75                 return;
  76
  77         halted = h;
  78         if(halted)
  79         {
  80                 for(LocomotiveMap::const_iterator i=locomotives.begin(); i!=locomotives.end(); ++i)
  81                         set_loco_speed(i->first, 0);
  82         }
  83
  84         signal_halt.emit(halted);
  85 }
  86
  87 const char *ArduControl::enumerate_protocols(unsigned i) const
  88 {
  89         if(i==0)
  90                 return "MM";
  91         else if(i==1)
  92                 return "MFX";
  93         else
  94                 return 0;
  95 }
  96
  97 ArduControl::Protocol ArduControl::map_protocol(const string &proto_name)
  98 {
  99         if(proto_name=="MM")
 100                 return MM;
 101         else if(proto_name=="MFX")
 102                 return MFX;
 103         else
 104                 throw invalid_argument("ArduControl::map_protocol");
 105 }
 106
 107 unsigned ArduControl::get_protocol_speed_steps(const string &proto_name) const
 108 {
 109         return protocol_info[map_protocol(proto_name)].max_speed;
 110 }
 111
 112 const Driver::DetectedLocomotive *ArduControl::enumerate_detected_locos(unsigned i) const
 113 {
 114         if(i>=mfx_info.size())
 115                 return 0;
 116
 117         return &mfx_info[i];
 118 }
 119
 120 unsigned ArduControl::add_loco(unsigned addr, const string &proto_name, const VehicleType &)
 121 {
 122         if(!addr)
 123                 throw invalid_argument("ArduControl::add_loco");
 124
 125         Protocol proto = map_protocol(proto_name);
 126         if(addr>protocol_info[proto].max_address)
 127                 throw invalid_argument("ArduControl::add_loco");
 128
 129         Locomotive loco(proto, addr);
 130         insert_unique(locomotives, loco.id, loco);
 131
 132         return loco.id;
 133 }
 134
 135 ArduControl::MfxInfoArray::iterator ArduControl::add_mfx_info(const MfxInfo &info)
 136 {
 137         MfxInfoArray::iterator i;
 138         for(i=mfx_info.begin(); (i!=mfx_info.end() && i->id!=info.id); ++i) ;
 139         if(i==mfx_info.end())
 140         {
 141                 mfx_info.push_back(info);
 142                 i = --mfx_info.end();
 143         }
 144         else
 145                 *i = info;
 146         return i;
 147 }
 148
 149 void ArduControl::remove_loco(unsigned id)
 150 {
 151         Locomotive &loco = get_item(locomotives, id);
 152         refresh.remove_loco(loco);
 153         locomotives.erase(id);
 154 }
 155
 156 void ArduControl::set_loco_speed(unsigned id, unsigned speed)
 157 {
 158         Locomotive &loco = get_item(locomotives, id);
 159         if(speed>protocol_info[loco.proto].max_speed)
 160                 throw invalid_argument("ArduControl::set_loco_speed");
 161
 162         if(speed && halted)
 163                 return;
 164
 165         if(loco.speed.set(speed))
 166         {
 167                 PendingCommand cmd(loco, Locomotive::SPEED);
 168                 command_queue.push(cmd);
 169
 170                 refresh.add_loco(loco);
 171         }
 172 }
 173
 174 void ArduControl::set_loco_reverse(unsigned id, bool rev)
 175 {
 176         Locomotive &loco = get_item(locomotives, id);
 177         if(loco.reverse.set(rev))
 178         {
 179                 PendingCommand cmd(loco, Locomotive::REVERSE);
 180                 command_queue.push(cmd);
 181
 182                 refresh.add_loco(loco);
 183         }
 184 }
 185
 186 void ArduControl::set_loco_function(unsigned id, unsigned func, bool state)
 187 {
 188         Locomotive &loco = get_item(locomotives, id);
 189         if(func>protocol_info[loco.proto].max_func)
 190                 throw invalid_argument("ArduControl::set_loco_function");
 191
 192         unsigned mask = 1<<func;
 193         if(loco.funcs.set((loco.funcs&~mask)|(mask*state)))
 194         {
 195                 if(func>0 || loco.proto!=MM)
 196                 {
 197                         PendingCommand cmd(loco, Locomotive::FUNCTIONS, func);
 198                         command_queue.push(cmd);
 199                 }
 200
 201                 refresh.add_loco(loco);
 202         }
 203 }
 204
 205 unsigned ArduControl::add_turnout(unsigned addr, const TrackType &type)
 206 {
 207         if(!addr || !type.is_turnout())
 208                 throw invalid_argument("ArduControl::add_turnout");
 209
 210         return add_accessory(Accessory::TURNOUT, addr, type.get_state_bits());
 211 }
 212
 213 void ArduControl::remove_turnout(unsigned addr)
 214 {
 215         remove_accessory(Accessory::TURNOUT, addr);
 216 }
 217
 218 void ArduControl::set_turnout(unsigned addr, unsigned state)
 219 {
 220         set_accessory(Accessory::TURNOUT, addr, state);
 221 }
 222
 223 unsigned ArduControl::get_turnout(unsigned addr) const
 224 {
 225         return get_accessory(Accessory::TURNOUT, addr);
 226 }
 227
 228 unsigned ArduControl::add_signal(unsigned addr, const SignalType &)
 229 {
 230         return add_accessory(Accessory::SIGNAL, addr, 1);
 231 }
 232
 233 void ArduControl::remove_signal(unsigned addr)
 234 {
 235         remove_accessory(Accessory::SIGNAL, addr);
 236 }
 237
 238 void ArduControl::set_signal(unsigned addr, unsigned state)
 239 {
 240         set_accessory(Accessory::SIGNAL, addr, state);
 241 }
 242
 243 unsigned ArduControl::get_signal(unsigned addr) const
 244 {
 245         return get_accessory(Accessory::SIGNAL, addr);
 246 }
 247
 248 unsigned ArduControl::add_accessory(Accessory::Kind kind, unsigned addr, unsigned bits)
 249 {
 250         AccessoryMap::iterator i = accessories.lower_bound(addr);
 251         AccessoryMap::iterator j = accessories.upper_bound(addr+bits-1);
 252         if(i!=j)
 253                 throw key_error(addr);
 254         if(i!=accessories.begin())
 255         {
 256                 --i;
 257                 if(i->first+i->second.bits>addr)
 258                         throw key_error(addr);
 259         }
 260
 261         insert_unique(accessories, addr, Accessory(kind, addr, bits));
 262         return addr;
 263 }
 264
 265 void ArduControl::remove_accessory(Accessory::Kind kind, unsigned addr)
 266 {
 267         Accessory &acc = get_item(accessories, addr);
 268         if(acc.kind!=kind)
 269                 throw key_error(addr);
 270         accessories.erase(addr);
 271 }
 272
 273 void ArduControl::set_accessory(Accessory::Kind kind, unsigned addr, unsigned state)
 274 {
 275         Accessory &acc = get_item(accessories, addr);
 276         if(acc.kind!=kind)
 277                 throw key_error(addr);
 278
 279         if(state!=acc.target)
 280         {
 281                 acc.target = state;
 282                 accessory_queue.push_back(&acc);
 283         }
 284 }
 285
 286 unsigned ArduControl::get_accessory(Accessory::Kind kind, unsigned addr) const
 287 {
 288         const Accessory &acc = get_item(accessories, addr);
 289         if(acc.kind!=kind)
 290                 throw key_error(addr);
 291         return acc.state;
 292 }
 293
 294 unsigned ArduControl::add_sensor(unsigned addr)
 295 {
 296         if(!addr)
 297                 throw invalid_argument("ArduControl::add_sensor");
 298
 299         insert_unique(sensors, addr, Sensor(addr));
 300         s88.grow_n_octets((addr+7)/8);
 301
 302         return addr;
 303 }
 304
 305 void ArduControl::remove_sensor(unsigned addr)
 306 {
 307         remove_existing(sensors, addr);
 308         // TODO update s88.n_octets
 309 }
 310
 311 bool ArduControl::get_sensor(unsigned addr) const
 312 {
 313         return get_item(sensors, addr).state;
 314 }
 315
 316 void ArduControl::tick()
 317 {
 318         Tag tag;
 319         while(completed_commands.pop(tag))
 320         {
 321                 if(tag.type==Tag::GENERAL)
 322                 {
 323                         if(tag.command==POWER)
 324                         {
 325                                 if(power.commit(tag.serial))
 326                                         signal_power.emit(power.current);
 327                         }
 328                         else if(tag.command==NEW_LOCO)
 329                         {
 330                                 MfxInfo info;
 331                                 if(mfx_search.pop_info(info))
 332                                 {
 333                                         MfxInfoArray::iterator i = add_mfx_info(info);
 334                                         save_state();
 335                                         signal_locomotive_detected.emit(*i);
 336                                 }
 337                         }
 338                 }
 339                 else if(tag.type==Tag::LOCOMOTIVE)
 340                 {
 341                         LocomotiveMap::iterator i = locomotives.find(tag.id);
 342                         if(i==locomotives.end())
 343                                 continue;
 344
 345                         Locomotive &loco = i->second;
 346                         if(tag.command==Locomotive::SPEED)
 347                         {
 348                                 if(loco.speed.commit(tag.serial))
 349                                         signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
 350                         }
 351                         else if(tag.command==Locomotive::REVERSE)
 352                         {
 353                                 if(loco.reverse.commit(tag.serial))
 354                                         signal_loco_speed.emit(loco.id, loco.speed, loco.reverse);
 355                         }
 356                         else if(tag.command==Locomotive::FUNCTIONS)
 357                         {
 358                                 unsigned old = loco.funcs;
 359                                 if(loco.funcs.commit(tag.serial))
 360                                 {
 361                                         unsigned changed = old^loco.funcs;
 362                                         for(unsigned j=0; changed>>j; ++j)
 363                                                 if((changed>>j)&1)
 364                                                         signal_loco_function.emit(loco.id, j, (loco.funcs>>j)&1);
 365                                 }
 366                         }
 367                 }
 368                 else if(tag.type==Tag::ACCESSORY)
 369                 {
 370                         AccessoryMap::iterator i = accessories.find(tag.id);
 371                         if(i==accessories.end())
 372                                 continue;
 373
 374                         Accessory &acc = i->second;
 375                         if(tag.command==Accessory::ACTIVATE)
 376                                 off_timeout = Time::now()+acc.active_time;
 377                         else if(tag.command==Accessory::DEACTIVATE)
 378                         {
 379                                 if(acc.state.commit(tag.serial))
 380                                 {
 381                                         if(acc.state==acc.target)
 382                                         {
 383                                                 if(acc.kind==Accessory::TURNOUT)
 384                                                         signal_turnout.emit(acc.address, acc.state);
 385                                                 else if(acc.kind==Accessory::SIGNAL)
 386                                                         signal_signal.emit(acc.address, acc.state);
 387                                         }
 388                                         if(&acc==active_accessory)
 389                                                 active_accessory = 0;
 390                                 }
 391                         }
 392                 }
 393                 else if(tag.type==Tag::SENSOR)
 394                 {
 395                         SensorMap::iterator i = sensors.find(tag.id);
 396                         if(i==sensors.end())
 397                                 continue;
 398
 399                         Sensor &sensor = i->second;
 400                         if(tag.command==Sensor::STATE)
 401                         {
 402                                 if(sensor.state.commit(tag.serial))
 403                                         signal_sensor.emit(sensor.address, sensor.state);
 404                         }
 405                 }
 406         }
 407
 408         while(power && !active_accessory && !accessory_queue.empty())
 409         {
 410                 Accessory &acc = *accessory_queue.front();
 411
 412                 if(acc.state!=acc.target)
 413                 {
 414                         active_accessory = &acc;
 415
 416                         unsigned changes = acc.state^acc.target;
 417                         unsigned lowest_bit = changes&~(changes-1);
 418                         unsigned i;
 419                         for(i=0; (lowest_bit>>i)>1; ++i) ;
 420                         active_index = i;
 421                         acc.state.set(acc.state^lowest_bit);
 422                         PendingCommand cmd(acc, Accessory::ACTIVATE, i);
 423                         command_queue.push(cmd);
 424
 425                         monitor.reset_peak();
 426                 }
 427                 else
 428                         accessory_queue.pop_front();
 429         }
 430
 431         if(active_accessory && off_timeout)
 432         {
 433                 Time::TimeStamp t = Time::now();
 434                 if(t>off_timeout)
 435                 {
 436                         Accessory &acc = *active_accessory;
 437
 438                         if(acc.kind==Accessory::TURNOUT && monitor.get_peak()<0.5f)
 439                         {
 440                                 unsigned bit = 1<<active_index;
 441                                 if(acc.uncertain&bit)
 442                                         acc.uncertain &= ~bit;
 443                                 else
 444                                 {
 445                                         signal_turnout_failed.emit(acc.address);
 446                                         acc.state.rollback();
 447                                         acc.target ^= bit;
 448                                 }
 449                         }
 450
 451                         off_timeout = Time::TimeStamp();
 452                         PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
 453                         command_queue.push(cmd);
 454                 }
 455         }
 456 }
 457
 458 void ArduControl::flush()
 459 {
 460         while(!command_queue.empty() || !accessory_queue.empty())
 461                 tick();
 462 }
 463
 464 void ArduControl::save_state() const
 465 {
 466         FS::RedirectedPath tmp_file(state_file);
 467         IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
 468         DataFile::Writer writer(out);
 469
 470         writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
 471         for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
 472         {
 473                 DataFile::Statement st("mfx_locomotive");
 474                 st.append(i->id);
 475                 st.sub.push_back((DataFile::Statement("address"), i->address));
 476                 st.sub.push_back((DataFile::Statement("name"), i->name));
 477                 writer.write(st);
 478         }
 479 }
 480
 481
 482 ArduControl::Tag::Tag():
 483         type(NONE),
 484         command(0),
 485         serial(0),
 486         id(0)
 487 { }
 488
 489
 490 ArduControl::Locomotive::Locomotive(Protocol p, unsigned a):
 491         id((p<<16)|a),
 492         proto(p),
 493         address(a),
 494         speed(0),
 495         reverse(false),
 496         funcs(0),
 497         last_change_age(0)
 498 { }
 499
 500 unsigned ArduControl::Locomotive::create_speed_dir_command(char *buffer) const
 501 {
 502         if(proto==MM)
 503         {
 504                 buffer[0] = MOTOROLA_SPEED_DIRECTION;
 505                 buffer[1] = address;
 506                 buffer[2] = funcs.pending&1;
 507                 buffer[3] = speed.pending+reverse.pending*0x80;
 508                 return 4;
 509         }
 510         else if(proto==MFX)
 511         {
 512                 buffer[0] = MFX_SPEED;
 513                 buffer[1] = address>>8;
 514                 buffer[2] = address;
 515                 buffer[3] = speed.pending+reverse.pending*0x80;
 516                 return 4;
 517         }
 518         else
 519                 return 0;
 520 }
 521
 522 unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *buffer) const
 523 {
 524         if(proto==MM)
 525         {
 526                 if(f<1 || f>4)
 527                         throw invalid_argument("Locomotive::create_speed_func_command");
 528
 529                 buffer[0] = MOTOROLA_SPEED_FUNCTION;
 530                 buffer[1] = address;
 531                 buffer[2] = (f<<4)|(((funcs.pending>>f)&1)<<1)|(funcs.pending&1);
 532                 buffer[3] = speed.pending;
 533                 return 4;
 534         }
 535         else if(proto==MFX)
 536         {
 537                 bool f16 = (funcs.pending>0xFF);
 538                 buffer[0] = (f16 ? MFX_SPEED_FUNCS16 : MFX_SPEED_FUNCS8);
 539                 buffer[1] = address>>8;
 540                 buffer[2] = address;
 541                 buffer[3] = speed.pending+reverse.pending*0x80;
 542                 if(f16)
 543                 {
 544                         buffer[4] = funcs.pending>>8;
 545                         buffer[5] = funcs.pending;
 546                         return 6;
 547                 }
 548                 else
 549                 {
 550                         buffer[4] = funcs.pending;
 551                         return 5;
 552                 }
 553         }
 554         else
 555                 return 0;
 556 }
 557
 558
 559 ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b):
 560         kind(k),
 561         address(a),
 562         bits(b),
 563         state(0),
 564         uncertain((1<<bits)-1),
 565         target(0),
 566         active_time(500*Time::msec)
 567 { }
 568
 569 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
 570 {
 571         if(b>=bits)
 572                 throw invalid_argument("Accessory::create_state_command");
 573
 574         unsigned a = (address+b+3)*2;
 575         if(!((state.pending>>b)&1))
 576                 ++a;
 577         buffer[0] = MOTOROLA_SOLENOID;
 578         buffer[1] = a>>3;
 579         buffer[2] = ((a&7)<<4)|c;
 580         return 3;
 581 }
 582
 583
 584 ArduControl::Sensor::Sensor(unsigned a):
 585         address(a),
 586         state(false)
 587 { }
 588
 589
 590 ArduControl::PendingCommand::PendingCommand():
 591         length(0),
 592         repeat_count(1)
 593 { }
 594
 595 ArduControl::PendingCommand::PendingCommand(GeneralCommand cmd):
 596         length(0),
 597         repeat_count(1)
 598 {
 599         tag.type = Tag::GENERAL;
 600         tag.command = cmd;
 601 }
 602
 603 ArduControl::PendingCommand::PendingCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index):
 604         repeat_count(8)
 605 {
 606         tag.type = Tag::LOCOMOTIVE;
 607         tag.command = cmd;
 608         tag.id = loco.id;
 609         if(cmd==Locomotive::SPEED)
 610         {
 611                 tag.serial = loco.speed.serial;
 612                 length = loco.create_speed_dir_command(command);
 613         }
 614         else if(cmd==Locomotive::REVERSE)
 615         {
 616                 tag.serial = loco.reverse.serial;
 617                 length = loco.create_speed_dir_command(command);
 618         }
 619         else if(cmd==Locomotive::FUNCTIONS)
 620         {
 621                 tag.serial = loco.funcs.serial;
 622                 length = loco.create_speed_func_command(index, command);
 623         }
 624         else
 625                 throw invalid_argument("PendingCommand");
 626 }
 627
 628 ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command cmd, unsigned index):
 629         repeat_count(1)
 630 {
 631         tag.type = Tag::ACCESSORY;
 632         tag.command = cmd;
 633         tag.id = acc.address;
 634         if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
 635         {
 636                 tag.serial = acc.state.serial;
 637                 length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
 638         }
 639         else
 640                 throw invalid_argument("PendingCommand");
 641 }
 642
 643
 644 template<typename T>
 645 void ArduControl::Queue<T>::push(const T &item)
 646 {
 647         MutexLock lock(mutex);
 648         items.push_back(item);
 649 }
 650
 651 template<typename T>
 652 bool ArduControl::Queue<T>::pop(T &item)
 653 {
 654         MutexLock lock(mutex);
 655         if(items.empty())
 656                 return false;
 657
 658         item = items.front();
 659         items.pop_front();
 660         return true;
 661 }
 662
 663 template<typename T>
 664 bool ArduControl::Queue<T>::empty() const
 665 {
 666         return items.empty();
 667 }
 668
 669
 670 ArduControl::RefreshTask::RefreshTask():
 671         next(cycle.end()),
 672         round(0),
 673         loco(0),
 674         phase(0)
 675 { }
 676
 677 bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
 678 {
 679         if(loco && loco->proto==MM && phase==0)
 680         {
 681                 cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
 682                 cmd.repeat_count = 2;
 683                 ++phase;
 684                 return true;
 685         }
 686
 687         loco = get_next_loco();
 688         if(!loco)
 689                 return false;
 690
 691         phase = 0;
 692         if(loco->proto==MM)
 693         {
 694                 cmd.length = loco->create_speed_dir_command(cmd.command);
 695                 cmd.repeat_count = 2;
 696         }
 697         else if(loco->proto==MFX)
 698                 cmd.length = loco->create_speed_func_command(0, cmd.command);
 699         else
 700                 return false;
 701
 702         return true;
 703 }
 704
 705 void ArduControl::RefreshTask::add_loco(Locomotive &l)
 706 {
 707         MutexLock lock(mutex);
 708         cycle.push_back(&l);
 709         if(cycle.size()>15)
 710         {
 711                 LocomotivePtrList::iterator oldest = cycle.begin();
 712                 for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
 713                         if((*i)->last_change_age>(*oldest)->last_change_age)
 714                                 oldest = i;
 715                 if(oldest==next)
 716                         advance();
 717                 cycle.erase(oldest);
 718         }
 719         if(next==cycle.end())
 720                 next = cycle.begin();
 721 }
 722
 723 void ArduControl::RefreshTask::remove_loco(Locomotive &l)
 724 {
 725         MutexLock lock(mutex);
 726         for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
 727                 if(*i==&l)
 728                 {
 729                         if(i==next)
 730                         {
 731                                 if(cycle.size()>1)
 732                                         advance();
 733                                 else
 734                                         next = cycle.end();
 735                         }
 736                         cycle.erase(i);
 737                         return;
 738                 }
 739 }
 740
 741 ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
 742 {
 743         MutexLock lock(mutex);
 744         if(cycle.empty())
 745                 return 0;
 746
 747         Locomotive *l = *next;
 748         advance();
 749         return l;
 750 }
 751
 752 void ArduControl::RefreshTask::advance()
 753 {
 754         ++next;
 755         if(next==cycle.end())
 756         {
 757                 next= cycle.begin();
 758                 ++round;
 759         }
 760 }
 761
 762
 763 ArduControl::S88Task::S88Task(ArduControl &c):
 764         control(c),
 765         n_octets(0),
 766         octets_remaining(0),
 767         delay(0)
 768 { }
 769
 770 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 771 {
 772         if(delay)
 773         {
 774                 --delay;
 775                 return false;
 776         }
 777         if(octets_remaining || !n_octets)
 778                 return false;
 779
 780         octets_remaining = n_octets;
 781         cmd.command[0] = S88_READ;
 782         cmd.command[1] = octets_remaining;
 783         cmd.length = 2;
 784
 785         delay = 4;
 786
 787         return true;
 788 }
 789
 790 void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
 791 {
 792         unsigned char type = reply[0];
 793         if(type==S88_DATA && length>2)
 794         {
 795                 unsigned offset = static_cast<unsigned char>(reply[1]);
 796                 unsigned count = length-2;
 797
 798                 SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
 799                 SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
 800                 for(SensorMap::iterator i=begin; i!=end; ++i)
 801                 {
 802                         unsigned bit_index = i->first-1-offset*8;
 803                         bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
 804                         i->second.state.set(state);
 805
 806                         Tag tag;
 807                         tag.type = Tag::SENSOR;
 808                         tag.command = Sensor::STATE;
 809                         tag.serial = i->second.state.serial;
 810                         tag.id = i->first;
 811                         control.completed_commands.push(tag);
 812                 }
 813
 814                 if(count>octets_remaining)
 815                         octets_remaining = 0;
 816                 else
 817                         octets_remaining -= count;
 818         }
 819 }
 820
 821 void ArduControl::S88Task::set_n_octets(unsigned n)
 822 {
 823         n_octets = n;
 824 }
 825
 826 void ArduControl::S88Task::grow_n_octets(unsigned n)
 827 {
 828         if(n>n_octets)
 829                 n_octets = n;
 830 }
 831
 832
 833 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
 834         serial(0)
 835 { }
 836
 837 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
 838 {
 839         Time::TimeStamp t = Time::now();
 840         if(t<next)
 841                 return false;
 842
 843         cmd.command[0] = MFX_ANNOUNCE;
 844         cmd.command[1] = serial>>8;
 845         cmd.command[2] = serial;
 846         cmd.length = 3;
 847         next = t+400*Time::msec;
 848
 849         return true;
 850 }
 851
 852 void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
 853 {
 854         serial = s;
 855 }
 856
 857
 858 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
 859         control(c),
 860         next_address(1),
 861         size(0),
 862         bits(0),
 863         misses(0)
 864 { }
 865
 866 bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 867 {
 868         if(size>32)
 869         {
 870                 if(control.debug>=1)
 871                         IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
 872
 873                 MfxInfo info;
 874                 info.protocol = "MFX";
 875                 info.address = next_address;
 876                 info.name = format("%08X", bits);
 877                 info.id = bits;
 878                 queue.push(info);
 879
 880                 cmd.command[0] = MFX_ASSIGN_ADDRESS;
 881                 cmd.command[1] = next_address>>8;
 882                 cmd.command[2] = next_address;
 883                 for(unsigned i=0; i<4; ++i)
 884                         cmd.command[3+i] = bits>>(24-i*8);
 885                 cmd.length = 7;
 886
 887                 cmd.tag.type = Tag::GENERAL;
 888                 cmd.tag.command = NEW_LOCO;
 889                 cmd.tag.id = bits;
 890
 891                 size = 0;
 892                 bits = 0;
 893                 ++next_address;
 894
 895                 return true;
 896         }
 897
 898         Time::TimeStamp t = Time::now();
 899         if(t<next)
 900                 return false;
 901
 902         cmd.command[0] = MFX_SEARCH;
 903         for(unsigned i=0; i<4; ++i)
 904                 cmd.command[1+i] = bits>>(24-i*8);
 905         cmd.command[5] = size;
 906         cmd.length = 6;
 907
 908         next = t+200*Time::msec;
 909
 910         if(control.debug>=1)
 911                 IO::print("Search %08X/%d\n", bits, size);
 912
 913         return true;
 914 }
 915
 916 void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
 917 {
 918         unsigned char type = reply[0];
 919         if(type==MFX_SEARCH_FEEDBACK && length==2)
 920         {
 921                 if(reply[1])
 922                 {
 923                         misses = 0;
 924                         ++size;
 925                 }
 926                 else if(size>0 && misses<6)
 927                 {
 928                         ++misses;
 929                         bits ^= 1<<(32-size);
 930                 }
 931                 else
 932                 {
 933                         next = Time::now()+2*Time::sec;
 934                         bits = 0;
 935                         size = 0;
 936                         misses = 0;
 937                 }
 938         }
 939 }
 940
 941 void ArduControl::MfxSearchTask::set_next_address(unsigned a)
 942 {
 943         next_address = a;
 944 }
 945
 946 bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
 947 {
 948         return queue.pop(info);
 949 }
 950
 951
 952 ArduControl::MonitorTask::MonitorTask():
 953         voltage(0),
 954         current(0),
 955         base_level(0),
 956         peak_level(0),
 957         next_type(0)
 958 { }
 959
 960 bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
 961 {
 962         Time::TimeStamp t = Time::now();
 963         if(t<next_poll)
 964                 return false;
 965
 966         if(next_type==0)
 967                 cmd.command[0] = READ_INPUT_VOLTAGE;
 968         else
 969                 cmd.command[0] = READ_TRACK_CURRENT;
 970         cmd.length = 1;
 971
 972         next_poll = t+200*Time::msec;
 973         next_type = (next_type+1)%5;
 974
 975         return true;
 976 }
 977
 978 void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
 979 {
 980         unsigned char type = reply[0];
 981         if(type==INPUT_VOLTAGE && length==3)
 982                 voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
 983         else if(type==TRACK_CURRENT && length==5)
 984         {
 985                 current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
 986                 float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
 987                 peak_level = max(peak_level, peak);
 988                 base_level = min(base_level, current);
 989         }
 990 }
 991
 992 void ArduControl::MonitorTask::reset_peak()
 993 {
 994         base_level = current;
 995         peak_level = current;
 996 }
 997
 998
 999 ArduControl::ControlThread::ControlThread(ArduControl &c):
1000         control(c),
1001         done(false)
1002 {
1003         tasks.push_back(&control.monitor);
1004         tasks.push_back(&control.mfx_announce);
1005         tasks.push_back(&control.mfx_search);
1006         tasks.push_back(&control.s88);
1007         tasks.push_back(&control.refresh);
1008
1009         launch();
1010 }
1011
1012 void ArduControl::ControlThread::exit()
1013 {
1014         done = true;
1015         join();
1016 }
1017
1018 void ArduControl::ControlThread::main()
1019 {
1020         init_baud_rate();
1021
1022         while(!done)
1023         {
1024                 PendingCommand cmd;
1025                 if(get_work(cmd))
1026                 {
1027                         bool success = true;
1028                         for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
1029                                 success = (do_command(cmd)==COMMAND_OK);
1030                         if(success && cmd.tag)
1031                                 control.completed_commands.push(cmd.tag);
1032                 }
1033                 else
1034                         Time::sleep(10*Time::msec);
1035         }
1036 }
1037
1038 void ArduControl::ControlThread::init_baud_rate()
1039 {
1040         static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
1041         unsigned rate = 0;
1042         control.serial.set_data_bits(8);
1043         control.serial.set_parity(IO::Serial::NONE);
1044         control.serial.set_stop_bits(1);
1045         for(unsigned i=0; rates[i]; ++i)
1046         {
1047                 control.serial.set_baud_rate(rates[i]);
1048                 control.serial.put('\xFF');
1049                 if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
1050                 {
1051                         int c = control.serial.get();
1052                         if(c==0xFF)
1053                         {
1054                                 rate = rates[i];
1055                                 break;
1056                         }
1057                 }
1058         }
1059
1060         if(!rate)
1061         {
1062                 if(control.debug>=1)
1063                         IO::print("ArduControl detection failed\n");
1064                 done = true;
1065                 return;
1066         }
1067
1068         if(control.debug>=1)
1069                 IO::print("ArduControl detected at %d bits/s\n", rate);
1070
1071         if(rate!=rates[0])
1072         {
1073                 PendingCommand cmd;
1074                 cmd.command[0] = SET_BAUD_RATE;
1075                 cmd.command[1] = rates[0]>>8;
1076                 cmd.command[2] = rates[0];
1077                 cmd.length = 3;
1078                 if(do_command(cmd, Time::sec)==COMMAND_OK)
1079                 {
1080                         control.serial.set_baud_rate(rates[0]);
1081                         Time::sleep(Time::sec);
1082                         if(do_command(cmd, Time::sec)==COMMAND_OK)
1083                         {
1084                                 if(control.debug>=1)
1085                                         IO::print("Rate changed to %d bits/s\n", rates[0]);
1086                         }
1087                 }
1088         }
1089 }
1090
1091 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
1092 {
1093         if(control.command_queue.pop(cmd))
1094                 return true;
1095
1096         for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1097                 if((*i)->get_work(cmd))
1098                         return true;
1099
1100         // As fallback, send an idle packet for the MM protocol
1101         cmd.command[0] = MOTOROLA_SPEED;
1102         cmd.command[1] = 80;
1103         cmd.command[2] = 0;
1104         cmd.command[3] = 0;
1105         cmd.length = 4;
1106
1107         return true;
1108 }
1109
1110 unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
1111 {
1112         if(control.debug>=2)
1113         {
1114                 string cmd_hex;
1115                 for(unsigned i=0; i<cmd.length; ++i)
1116                         cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
1117                 IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
1118         }
1119
1120         control.serial.put(cmd.length^0xFF);
1121         control.serial.write(cmd.command, cmd.length);
1122
1123         unsigned result = 0;
1124         while(1)
1125         {
1126                 bool got_data;
1127                 if(result)
1128                         got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
1129                 else
1130                         got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
1131
1132                 if(!got_data)
1133                         break;
1134
1135                 unsigned rlength = control.serial.get()^0xFF;
1136                 if(rlength>15)
1137                 {
1138                         IO::print("Invalid length %02X\n", rlength);
1139                         continue;
1140                 }
1141
1142                 char reply[15];
1143                 unsigned pos = 0;
1144                 while(pos<rlength)
1145                 {
1146                         if(!IO::poll(control.serial, IO::P_INPUT, timeout))
1147                                 return 0;
1148                         pos += control.serial.read(reply+pos, rlength-pos);
1149                 }
1150
1151                 if(control.debug>=2)
1152                 {
1153                         string reply_hex;
1154                         for(unsigned i=0; i<rlength; ++i)
1155                                 reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
1156                         IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
1157                 }
1158
1159                 unsigned r = process_reply(reply, rlength);
1160                 if(r && !result)
1161                         result = r;
1162         }
1163
1164         return result;
1165 }
1166
1167 unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
1168 {
1169         unsigned char type = reply[0];
1170         if((type&0xE0)==0x80)
1171         {
1172                 if(type!=COMMAND_OK)
1173                         IO::print("Error %02X\n", type);
1174                 return type;
1175         }
1176         else if(type==POWER_STATE && rlength==2)
1177         {
1178                 control.power.set(reply[1]);
1179
1180                 Tag tag;
1181                 tag.type = Tag::GENERAL;
1182                 tag.command = POWER;
1183                 tag.serial = control.power.serial;
1184                 control.completed_commands.push(tag);
1185         }
1186         else
1187         {
1188                 for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
1189                         (*i)->process_reply(reply, rlength);
1190         }
1191
1192         return 0;
1193 }
1194
1195
1196 ArduControl::Loader::Loader(ArduControl &c):
1197         DataFile::ObjectLoader<ArduControl>(c)
1198 {
1199         add("mfx_announce_serial", &Loader::mfx_announce_serial);
1200         add("mfx_locomotive", &Loader::mfx_locomotive);
1201 }
1202
1203 void ArduControl::Loader::mfx_announce_serial(unsigned s)
1204 {
1205         obj.mfx_announce.set_serial(s);
1206 }
1207
1208 void ArduControl::Loader::mfx_locomotive(unsigned id)
1209 {
1210         MfxInfo info;
1211         info.id = id;
1212         info.protocol = "MFX";
1213         load_sub(info);
1214         obj.add_mfx_info(info);
1215 }
1216
1217
1218 ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
1219         DataFile::ObjectLoader<MfxInfo>(i)
1220 {
1221         add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
1222         add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));
1223 }
1224
1225 } // namespace R2C2