source/libr2c2/arducontrol.h

   1 #ifndef LIBR2C2_ARDUCONTROL_H_
   2 #define LIBR2C2_ARDUCONTROL_H_
   3
   4 #include <deque>
   5 #include <msp/core/mutex.h>
   6 #include <msp/core/thread.h>
   7 #include <msp/datafile/objectloader.h>
   8 #include <msp/fs/path.h>
   9 #include <msp/io/serial.h>
  10 #include <msp/time/timedelta.h>
  11 #include <msp/time/timestamp.h>
  12 #include "driver.h"
  13
  14 namespace R2C2 {
  15
  16 class ArduControl: public Driver
  17 {
  18 public:
  19         class Loader: public Msp::DataFile::ObjectLoader<ArduControl>
  20         {
  21         public:
  22                 Loader(ArduControl &);
  23
  24         private:
  25                 void mfx_announce_serial(unsigned);
  26                 void mfx_locomotive(unsigned);
  27         };
  28
  29 private:
  30         enum Command
  31         {
  32                 POWER_ON = 0x01,
  33                 POWER_OFF = 0x02,
  34                 READ_POWER_STATE = 0x03,
  35                 READ_TRACK_CURRENT = 0x08,
  36                 SET_OVERCURRENT_LIMIT = 0x09,
  37                 READ_INPUT_VOLTAGE = 0x0A,
  38                 MOTOROLA_SPEED = 0x11,
  39                 MOTOROLA_REVERSE = 0x12,
  40                 MOTOROLA_SPEED_DIRECTION = 0x13,
  41                 MOTOROLA_SPEED_FUNCTION = 0x14,
  42                 MOTOROLA_SOLENOID = 0x15,
  43                 MFX_SET_STATION_ID = 0x21,
  44                 MFX_ANNOUNCE = 0x22,
  45                 MFX_SEARCH = 0x23,
  46                 MFX_ASSIGN_ADDRESS = 0x24,
  47                 MFX_PING = 0x25,
  48                 MFX_READ = 0x26,
  49                 MFX_SPEED = 0x28,
  50                 MFX_SPEED_FUNCS8 = 0x29,
  51                 MFX_SPEED_FUNCS16 = 0x2A,
  52                 S88_READ = 0x30,
  53                 SET_BAUD_RATE = 0x70,
  54                 COMMAND_OK = 0x80,
  55                 RECEIVE_OVERRUN = 0x81,
  56                 FRAMING_ERROR = 0x82,
  57                 INVALID_COMMAND = 0x83,
  58                 LENGTH_ERROR = 0x84,
  59                 INVALID_VALUE = 0x85,
  60                 OVERCURRENT = 0xA0,
  61                 BAUD_CHANGE_FAILED = 0xA1,
  62                 TRACK_CURRENT = 0xC0,
  63                 INPUT_VOLTAGE = 0xC1,
  64                 POWER_STATE = 0xC2,
  65                 S88_DATA = 0xD0,
  66                 MFX_SEARCH_FEEDBACK = 0xD1,
  67                 MFX_PING_FEEDBACK = 0xD2,
  68                 MFX_READ_FEEDBACK = 0xD3
  69         };
  70
  71         struct Tag
  72         {
  73                 enum Type
  74                 {
  75                         NONE,
  76                         GENERAL,
  77                         LOCOMOTIVE,
  78                         ACCESSORY,
  79                         SENSOR
  80                 };
  81
  82                 Type type;
  83                 unsigned char command;
  84                 unsigned short serial;
  85                 unsigned id;
  86
  87                 Tag();
  88
  89                 operator bool() const { return type!=NONE; }
  90         };
  91
  92         enum GeneralCommand
  93         {
  94                 POWER,
  95                 NEW_LOCO
  96         };
  97
  98         enum Protocol
  99         {
 100                 MM,
 101                 MFX
 102         };
 103
 104         struct ProtocolInfo
 105         {
 106                 unsigned max_address;
 107                 unsigned max_speed;
 108                 unsigned max_func;
 109         };
 110
 111         template<typename T>
 112         struct ControlledVariable
 113         {
 114                 T current;
 115                 T pending;
 116                 unsigned short serial;
 117
 118                 ControlledVariable(): current(), pending(), serial(0) { }
 119                 ControlledVariable(T v): current(v), pending(v), serial(0) { }
 120
 121                 bool set(T v) { if(v==pending) return false; pending = v; ++serial; return true; }
 122                 bool commit(unsigned short s) { if(s!=serial) return false; current = pending; return true; }
 123                 void rollback() { pending = current; ++serial; }
 124
 125                 operator T() const { return current; }
 126         };
 127
 128         struct Locomotive
 129         {
 130                 enum Command
 131                 {
 132                         SPEED,
 133                         REVERSE,
 134                         FUNCTIONS
 135                 };
 136
 137                 unsigned id;
 138                 Protocol proto;
 139                 unsigned address;
 140                 ControlledVariable<unsigned> speed;
 141                 ControlledVariable<bool> reverse;
 142                 ControlledVariable<unsigned> funcs;
 143                 unsigned last_change_age;
 144
 145                 Locomotive(Protocol, unsigned);
 146
 147                 unsigned create_speed_dir_command(char *) const;
 148                 unsigned create_speed_func_command(unsigned, char *) const;
 149         };
 150
 151         struct MfxInfo: public DetectedLocomotive
 152         {
 153                 class Loader: public Msp::DataFile::ObjectLoader<MfxInfo>
 154                 {
 155                 public:
 156                         Loader(MfxInfo &);
 157                 };
 158
 159                 unsigned id;
 160         };
 161
 162         struct Accessory
 163         {
 164                 enum Kind
 165                 {
 166                         TURNOUT,
 167                         SIGNAL
 168                 };
 169
 170                 enum Command
 171                 {
 172                         ACTIVATE,
 173                         DEACTIVATE
 174                 };
 175
 176                 Kind kind;
 177                 unsigned address;
 178                 unsigned bits;
 179                 unsigned valid_states;
 180                 ControlledVariable<unsigned> state;
 181                 unsigned uncertain;
 182                 unsigned target;
 183                 Msp::Time::TimeDelta active_time;
 184
 185                 Accessory(Kind, unsigned, unsigned, unsigned);
 186
 187                 unsigned create_state_command(unsigned, bool, char *) const;
 188         };
 189
 190         struct Sensor
 191         {
 192                 enum Command
 193                 {
 194                         STATE
 195                 };
 196
 197                 unsigned address;
 198                 ControlledVariable<bool> state;
 199
 200                 Sensor(unsigned);
 201         };
 202
 203         struct PendingCommand
 204         {
 205                 Tag tag;
 206                 char command[15];
 207                 unsigned char length;
 208                 unsigned repeat_count;
 209
 210                 PendingCommand();
 211                 PendingCommand(GeneralCommand);
 212                 PendingCommand(Locomotive &, Locomotive::Command, unsigned = 0);
 213                 PendingCommand(Accessory &, Accessory::Command, unsigned = 0);
 214         };
 215
 216         template<typename T>
 217         class Queue
 218         {
 219         private:
 220                 std::deque<T> items;
 221                 Msp::Mutex mutex;
 222
 223         public:
 224                 void push(const T &);
 225                 bool pop(T &);
 226                 unsigned size() const;
 227                 bool empty() const;
 228         };
 229
 230         class Task
 231         {
 232         protected:
 233                 std::string name;
 234                 unsigned priority;
 235                 Msp::Time::TimeStamp sleep_timeout;
 236
 237                 Task(const std::string &, unsigned = 0);
 238         public:
 239                 virtual ~Task() { }
 240
 241                 const std::string &get_name() const { return name; }
 242
 243                 virtual bool get_work(PendingCommand &) = 0;
 244                 virtual void process_reply(const char *, unsigned) { }
 245
 246                 unsigned get_priority() const { return priority; }
 247                 const Msp::Time::TimeStamp &get_sleep_timeout() const { return sleep_timeout; }
 248         protected:
 249                 void sleep(const Msp::Time::TimeDelta &);
 250         };
 251
 252         class CommandQueueTask: public Task
 253         {
 254         private:
 255                 Queue<PendingCommand> queue;
 256
 257         public:
 258                 CommandQueueTask();
 259
 260                 virtual bool get_work(PendingCommand &);
 261
 262                 void push(const PendingCommand &);
 263                 unsigned size() const { return queue.size(); }
 264                 bool empty() const { return queue.empty(); }
 265         };
 266
 267         class RefreshTask: public Task
 268         {
 269         private:
 270                 typedef std::list<Locomotive *> LocomotivePtrList;
 271
 272                 LocomotivePtrList cycle;
 273                 LocomotivePtrList::iterator next;
 274                 unsigned round;
 275                 Locomotive *loco;
 276                 unsigned phase;
 277                 Msp::Mutex mutex;
 278
 279         public:
 280                 RefreshTask();
 281
 282                 virtual bool get_work(PendingCommand &);
 283
 284                 void add_loco(Locomotive &);
 285                 void remove_loco(Locomotive &);
 286         private:
 287                 Locomotive *get_next_loco();
 288                 void advance();
 289         };
 290
 291         class S88Task: public Task
 292         {
 293         private:
 294                 ArduControl &control;
 295                 unsigned n_octets;
 296                 unsigned octets_remaining;
 297                 Msp::Time::TimeStamp last_poll;
 298                 Msp::Time::TimeDelta latency;
 299
 300         public:
 301                 S88Task(ArduControl &);
 302
 303                 virtual bool get_work(PendingCommand &);
 304                 virtual void process_reply(const char *, unsigned);
 305
 306                 void set_n_octets(unsigned);
 307                 void grow_n_octets(unsigned);
 308
 309                 const Msp::Time::TimeDelta &get_latency() const { return latency; }
 310         };
 311
 312         class MfxAnnounceTask: public Task
 313         {
 314         private:
 315                 unsigned serial;
 316
 317         public:
 318                 MfxAnnounceTask();
 319
 320                 virtual bool get_work(PendingCommand &);
 321
 322                 void set_serial(unsigned);
 323                 unsigned get_serial() const { return serial; }
 324         };
 325
 326         class MfxSearchTask: public Task
 327         {
 328         private:
 329                 ArduControl &control;
 330                 unsigned next_address;
 331                 unsigned size;
 332                 unsigned bits;
 333                 unsigned misses;
 334                 Queue<MfxInfo> queue;
 335
 336                 MfxInfo *pending_info;
 337                 unsigned read_array;
 338                 unsigned read_offset;
 339                 unsigned read_length;
 340                 char read_data[0x40];
 341                 unsigned block_size;
 342
 343         public:
 344                 MfxSearchTask(ArduControl &);
 345
 346                 virtual bool get_work(PendingCommand &);
 347                 virtual void process_reply(const char *, unsigned);
 348
 349                 void set_next_address(unsigned);
 350                 bool pop_info(MfxInfo &);
 351         };
 352
 353         class MonitorTask: public Task
 354         {
 355         private:
 356                 float voltage;
 357                 float current;
 358                 float base_level;
 359                 float peak_level;
 360                 unsigned next_type;
 361
 362         public:
 363                 MonitorTask();
 364
 365                 virtual bool get_work(PendingCommand &);
 366                 virtual void process_reply(const char *, unsigned);
 367
 368                 float get_voltage() const { return voltage; }
 369                 float get_current() const { return current; }
 370                 void reset_peak();
 371                 float get_peak() const { return peak_level-base_level; }
 372         };
 373
 374         class ControlThread: public Msp::Thread
 375         {
 376         private:
 377                 ArduControl &control;
 378                 bool done;
 379                 std::vector<Task *> tasks;
 380
 381         public:
 382                 ControlThread(ArduControl &);
 383
 384                 void exit();
 385         private:
 386                 virtual void main();
 387                 void init_baud_rate();
 388                 bool get_work(PendingCommand &);
 389                 unsigned do_command(const PendingCommand &, const Msp::Time::TimeDelta &);
 390                 unsigned process_reply(const char *, unsigned);
 391                 void set_power(bool);
 392         };
 393
 394         typedef std::map<unsigned, Locomotive> LocomotiveMap;
 395         typedef std::vector<MfxInfo> MfxInfoArray;
 396         typedef std::map<unsigned, Accessory> AccessoryMap;
 397         typedef std::list<Accessory *> AccessoryPtrList;
 398         typedef std::map<unsigned, Sensor> SensorMap;
 399
 400         Msp::IO::Serial serial;
 401         unsigned debug;
 402         Msp::FS::Path state_file;
 403
 404         ControlledVariable<bool> power;
 405         bool halted;
 406
 407         LocomotiveMap locomotives;
 408         MfxInfoArray mfx_info;
 409         AccessoryMap accessories;
 410         AccessoryPtrList accessory_queue;
 411         Accessory *active_accessory;
 412         unsigned char active_index;
 413         Msp::Time::TimeStamp off_timeout;
 414
 415         SensorMap sensors;
 416
 417         Msp::Time::TimeDelta command_timeout;
 418         CommandQueueTask command_queue;
 419         Queue<Tag> completed_commands;
 420         RefreshTask refresh;
 421         S88Task s88;
 422         MfxAnnounceTask mfx_announce;
 423         MfxSearchTask mfx_search;
 424         MonitorTask monitor;
 425         ControlThread thread;
 426
 427         static ProtocolInfo protocol_info[2];
 428         static TelemetryInfo telemetry_info[4];
 429
 430 public:
 431         ArduControl(const Options &);
 432         ~ArduControl();
 433
 434         virtual void set_power(bool);
 435         virtual bool get_power() const { return power; }
 436         virtual void halt(bool);
 437         virtual bool is_halted() const { return halted; }
 438
 439         virtual const char *enumerate_protocols(unsigned) const;
 440 private:
 441         static Protocol map_protocol(const std::string &);
 442 public:
 443         virtual unsigned get_protocol_speed_steps(const std::string &) const;
 444
 445         virtual const DetectedLocomotive *enumerate_detected_locos(unsigned) const;
 446         virtual unsigned add_loco(unsigned, const std::string &, const VehicleType &);
 447 private:
 448         MfxInfoArray::iterator add_mfx_info(const MfxInfo &);
 449         MfxInfo *find_mfx_info(unsigned);
 450 public:
 451         virtual void remove_loco(unsigned);
 452         virtual void set_loco_speed(unsigned, unsigned);
 453         virtual void set_loco_reverse(unsigned, bool);
 454         virtual void set_loco_function(unsigned, unsigned, bool);
 455
 456         virtual unsigned add_turnout(unsigned, const TrackType &);
 457         virtual void remove_turnout(unsigned);
 458         virtual void set_turnout(unsigned, unsigned);
 459         virtual unsigned get_turnout(unsigned) const;
 460
 461         virtual unsigned add_signal(unsigned, const SignalType &);
 462         virtual void remove_signal(unsigned);
 463         virtual void set_signal(unsigned, unsigned);
 464         virtual unsigned get_signal(unsigned) const;
 465
 466 private:
 467         unsigned add_accessory(Accessory::Kind, unsigned, unsigned, unsigned);
 468         void remove_accessory(Accessory::Kind, unsigned);
 469         void set_accessory(Accessory::Kind, unsigned, unsigned);
 470         unsigned get_accessory(Accessory::Kind, unsigned) const;
 471         void activate_accessory_by_mask(Accessory &, unsigned);
 472
 473 public:
 474         virtual unsigned add_sensor(unsigned);
 475         virtual void remove_sensor(unsigned);
 476         virtual void set_sensor(unsigned, bool) { }
 477         virtual bool get_sensor(unsigned) const;
 478
 479         virtual const TelemetryInfo *enumerate_telemetry(unsigned) const;
 480         virtual float get_telemetry_value(const std::string &) const;
 481
 482         virtual void tick();
 483         virtual void flush();
 484 private:
 485         void save_state() const;
 486 };
 487
 488 } // namespace R2C2
 489
 490 #endif