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