source/libr2c2/arducontrol.h

   1 #ifndef LIBR2C2_ARDUCONTROL_H_
   2 #define LIBR2C2_ARDUCONTROL_H_
   3
   4 #include <msp/core/mutex.h>
   5 #include <msp/core/thread.h>
   6 #include <msp/datafile/objectloader.h>
   7 #include <msp/fs/path.h>
   8 #include <msp/io/serial.h>
   9 #include <msp/time/timedelta.h>
  10 #include <msp/time/timestamp.h>
  11 #include "driver.h"
  12
  13 namespace R2C2 {
  14
  15 class ArduControl: public Driver
  16 {
  17 public:
  18         class Loader: public Msp::DataFile::ObjectLoader<ArduControl>
  19         {
  20         public:
  21                 Loader(ArduControl &);
  22
  23         private:
  24                 void mfx_announce_serial(unsigned);
  25                 void mfx_locomotive(unsigned);
  26         };
  27
  28 private:
  29         enum Command
  30         {
  31                 POWER_ON = 0x01,
  32                 POWER_OFF = 0x02,
  33                 READ_POWER_STATE = 0x03,
  34                 READ_TRACK_CURRENT = 0x08,
  35                 SET_OVERCURRENT_LIMIT = 0x09,
  36                 READ_INPUT_VOLTAGE = 0x0A,
  37                 MOTOROLA_SPEED = 0x11,
  38                 MOTOROLA_REVERSE = 0x12,
  39                 MOTOROLA_SPEED_DIRECTION = 0x13,
  40                 MOTOROLA_SPEED_FUNCTION = 0x14,
  41                 MOTOROLA_SOLENOID = 0x15,
  42                 MFX_SET_STATION_ID = 0x21,
  43                 MFX_ANNOUNCE = 0x22,
  44                 MFX_SEARCH = 0x23,
  45                 MFX_ASSIGN_ADDRESS = 0x24,
  46                 MFX_PING = 0x25,
  47                 MFX_SPEED = 0x28,
  48                 MFX_SPEED_FUNCS8 = 0x29,
  49                 MFX_SPEED_FUNCS16 = 0x2A,
  50                 S88_READ = 0x30,
  51                 SET_BAUD_RATE = 0x70,
  52                 COMMAND_OK = 0x80,
  53                 RECEIVE_OVERRUN = 0x81,
  54                 FRAMING_ERROR = 0x82,
  55                 INVALID_COMMAND = 0x83,
  56                 LENGTH_ERROR = 0x84,
  57                 INVALID_VALUE = 0x85,
  58                 OVERCURRENT = 0xA0,
  59                 BAUD_CHANGE_FAILED = 0xA1,
  60                 TRACK_CURRENT = 0xC0,
  61                 INPUT_VOLTAGE = 0xC1,
  62                 POWER_STATE = 0xC2,
  63                 S88_DATA = 0xD0,
  64                 MFX_SEARCH_FEEDBACK = 0xD1,
  65                 MFX_PING_FEEDBACK = 0xD2
  66         };
  67
  68         struct Tag
  69         {
  70                 enum Type
  71                 {
  72                         NONE,
  73                         GENERAL,
  74                         LOCOMOTIVE,
  75                         ACCESSORY,
  76                         SENSOR
  77                 };
  78
  79                 Type type;
  80                 unsigned char command;
  81                 unsigned short serial;
  82                 unsigned id;
  83
  84                 Tag();
  85
  86                 operator bool() const { return type!=NONE; }
  87         };
  88
  89         enum GeneralCommand
  90         {
  91                 POWER,
  92                 NEW_LOCO
  93         };
  94
  95         enum Protocol
  96         {
  97                 MM,
  98                 MFX
  99         };
 100
 101         struct ProtocolInfo
 102         {
 103                 unsigned max_address;
 104                 unsigned max_speed;
 105                 unsigned max_func;
 106         };
 107
 108         template<typename T>
 109         struct ControlledVariable
 110         {
 111                 T current;
 112                 T pending;
 113                 unsigned short serial;
 114
 115                 ControlledVariable(): current(), pending(), serial(0) { }
 116                 ControlledVariable(T v): current(v), pending(v), serial(0) { }
 117
 118                 bool set(T v) { if(v==pending) return false; pending = v; ++serial; return true; }
 119                 bool commit(unsigned short s) { if(s!=serial) return false; current = pending; return true; }
 120
 121                 operator T() const { return current; }
 122         };
 123
 124         struct Locomotive
 125         {
 126                 enum Command
 127                 {
 128                         SPEED,
 129                         REVERSE,
 130                         FUNCTIONS
 131                 };
 132
 133                 unsigned id;
 134                 Protocol proto;
 135                 unsigned address;
 136                 ControlledVariable<unsigned> speed;
 137                 ControlledVariable<bool> reverse;
 138                 ControlledVariable<unsigned> funcs;
 139                 unsigned last_change_age;
 140
 141                 Locomotive(Protocol, unsigned);
 142
 143                 unsigned create_speed_dir_command(char *) const;
 144                 unsigned create_speed_func_command(unsigned, char *) const;
 145         };
 146
 147         struct MfxInfo: public DetectedLocomotive
 148         {
 149                 class Loader: public Msp::DataFile::ObjectLoader<MfxInfo>
 150                 {
 151                 public:
 152                         Loader(MfxInfo &);
 153                 };
 154
 155                 unsigned id;
 156         };
 157
 158         struct Accessory
 159         {
 160                 enum Kind
 161                 {
 162                         TURNOUT,
 163                         SIGNAL
 164                 };
 165
 166                 enum Command
 167                 {
 168                         ACTIVATE,
 169                         DEACTIVATE
 170                 };
 171
 172                 Kind kind;
 173                 unsigned address;
 174                 unsigned bits;
 175                 ControlledVariable<unsigned> state;
 176                 unsigned target;
 177                 Msp::Time::TimeDelta active_time;
 178
 179                 Accessory(Kind, unsigned, unsigned);
 180
 181                 unsigned create_state_command(unsigned, bool, char *) const;
 182         };
 183
 184         struct Sensor
 185         {
 186                 enum Command
 187                 {
 188                         STATE
 189                 };
 190
 191                 unsigned address;
 192                 ControlledVariable<bool> state;
 193
 194                 Sensor(unsigned);
 195         };
 196
 197         struct PendingCommand
 198         {
 199                 Tag tag;
 200                 char command[15];
 201                 unsigned char length;
 202                 unsigned repeat_count;
 203
 204                 PendingCommand();
 205                 PendingCommand(GeneralCommand);
 206                 PendingCommand(Locomotive &, Locomotive::Command, unsigned = 0);
 207                 PendingCommand(Accessory &, Accessory::Command, unsigned = 0);
 208         };
 209
 210         template<typename T>
 211         class Queue
 212         {
 213         private:
 214                 std::list<T> items;
 215                 Msp::Mutex mutex;
 216
 217         public:
 218                 void push(const T &);
 219                 bool pop(T &);
 220         };
 221
 222         class Task
 223         {
 224         protected:
 225                 Task() { }
 226         public:
 227                 virtual ~Task() { }
 228
 229                 virtual bool get_work(PendingCommand &) = 0;
 230                 virtual void process_reply(const char *, unsigned) { }
 231         };
 232
 233         class CommandQueueTask: public Task
 234         {
 235         private:
 236                 Queue<PendingCommand> queue;
 237
 238         public:
 239                 virtual bool get_work(PendingCommand &);
 240         };
 241
 242         class RefreshTask: public Task
 243         {
 244         private:
 245                 typedef std::list<Locomotive *> LocomotivePtrList;
 246
 247                 LocomotivePtrList cycle;
 248                 LocomotivePtrList::iterator next;
 249                 unsigned round;
 250                 Locomotive *loco;
 251                 unsigned phase;
 252                 Msp::Mutex mutex;
 253
 254         public:
 255                 RefreshTask();
 256
 257                 virtual bool get_work(PendingCommand &);
 258
 259                 void add_loco(Locomotive &);
 260                 void remove_loco(Locomotive &);
 261         private:
 262                 Locomotive *get_next_loco();
 263                 void advance();
 264         };
 265
 266         class S88Task: public Task
 267         {
 268         private:
 269                 ArduControl &control;
 270                 unsigned n_octets;
 271                 unsigned octets_remaining;
 272
 273         public:
 274                 S88Task(ArduControl &);
 275
 276                 virtual bool get_work(PendingCommand &);
 277                 virtual void process_reply(const char *, unsigned);
 278
 279                 void set_n_octets(unsigned);
 280                 void grow_n_octets(unsigned);
 281         };
 282
 283         class MfxAnnounceTask: public Task
 284         {
 285         private:
 286                 unsigned serial;
 287                 Msp::Time::TimeStamp next;
 288
 289         public:
 290                 MfxAnnounceTask();
 291
 292                 virtual bool get_work(PendingCommand &);
 293
 294                 void set_serial(unsigned);
 295                 unsigned get_serial() const { return serial; }
 296         };
 297
 298         class MfxSearchTask: public Task
 299         {
 300         private:
 301                 ArduControl &control;
 302                 unsigned next_address;
 303                 Msp::Time::TimeStamp next;
 304                 unsigned size;
 305                 unsigned bits;
 306                 unsigned misses;
 307                 Queue<MfxInfo> queue;
 308
 309         public:
 310                 MfxSearchTask(ArduControl &);
 311
 312                 virtual bool get_work(PendingCommand &);
 313                 virtual void process_reply(const char *, unsigned);
 314
 315                 void set_next_address(unsigned);
 316                 bool pop_info(MfxInfo &);
 317         };
 318
 319         class ControlThread: public Msp::Thread
 320         {
 321         private:
 322                 ArduControl &control;
 323                 bool done;
 324                 std::vector<Task *> tasks;
 325
 326         public:
 327                 ControlThread(ArduControl &);
 328
 329                 void exit();
 330         private:
 331                 virtual void main();
 332                 void init_baud_rate();
 333                 bool get_work(PendingCommand &);
 334                 unsigned do_command(const PendingCommand &);
 335                 unsigned process_reply(const char *, unsigned);
 336         };
 337
 338         typedef std::map<unsigned, Locomotive> LocomotiveMap;
 339         typedef std::vector<MfxInfo> MfxInfoArray;
 340         typedef std::map<unsigned, Accessory> AccessoryMap;
 341         typedef std::list<Accessory *> AccessoryPtrList;
 342         typedef std::map<unsigned, Sensor> SensorMap;
 343
 344         Msp::IO::Serial serial;
 345         unsigned debug;
 346         Msp::FS::Path state_file;
 347
 348         ControlledVariable<bool> power;
 349
 350         LocomotiveMap locomotives;
 351         MfxInfoArray mfx_info;
 352         AccessoryMap accessories;
 353         AccessoryPtrList accessory_queue;
 354         Accessory *active_accessory;
 355         Msp::Time::TimeStamp off_timeout;
 356
 357         SensorMap sensors;
 358
 359         Msp::Mutex mutex;
 360         Queue<PendingCommand> command_queue;
 361         Queue<Tag> completed_commands;
 362         RefreshTask refresh;
 363         S88Task s88;
 364         MfxAnnounceTask mfx_announce;
 365         MfxSearchTask mfx_search;
 366         ControlThread thread;
 367
 368         static ProtocolInfo protocol_info[2];
 369
 370 public:
 371         ArduControl(const std::string &);
 372         ~ArduControl();
 373
 374         virtual void set_power(bool);
 375         virtual bool get_power() const { return power; }
 376         virtual void halt(bool);
 377         virtual bool is_halted() const { return false; }
 378
 379         virtual const char *enumerate_protocols(unsigned) const;
 380 private:
 381         static Protocol map_protocol(const std::string &);
 382 public:
 383         virtual unsigned get_protocol_speed_steps(const std::string &) const;
 384
 385         virtual const DetectedLocomotive *enumerate_detected_locos(unsigned) const;
 386         virtual unsigned add_loco(unsigned, const std::string &, const VehicleType &);
 387 private:
 388         MfxInfoArray::iterator add_mfx_info(const MfxInfo &);
 389 public:
 390         virtual void remove_loco(unsigned);
 391         virtual void set_loco_speed(unsigned, unsigned);
 392         virtual void set_loco_reverse(unsigned, bool);
 393         virtual void set_loco_function(unsigned, unsigned, bool);
 394
 395         virtual unsigned add_turnout(unsigned, const TrackType &);
 396         virtual void remove_turnout(unsigned);
 397         virtual void set_turnout(unsigned, unsigned);
 398         virtual unsigned get_turnout(unsigned) const;
 399
 400         virtual unsigned add_signal(unsigned, const SignalType &);
 401         virtual void remove_signal(unsigned);
 402         virtual void set_signal(unsigned, unsigned);
 403         virtual unsigned get_signal(unsigned) const;
 404
 405 private:
 406         unsigned add_accessory(Accessory::Kind, unsigned, unsigned);
 407         void remove_accessory(Accessory::Kind, unsigned);
 408         void set_accessory(Accessory::Kind, unsigned, unsigned);
 409         unsigned get_accessory(Accessory::Kind, unsigned) const;
 410
 411 public:
 412         virtual unsigned add_sensor(unsigned);
 413         virtual void remove_sensor(unsigned);
 414         virtual void set_sensor(unsigned, bool) { }
 415         virtual bool get_sensor(unsigned) const;
 416
 417         virtual void tick();
 418         virtual void flush();
 419 private:
 420         void save_state() const;
 421 };
 422
 423 } // namespace R2C2
 424
 425 #endif