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                 void rollback() { pending = current; ++serial; }
 121
 122                 operator T() const { return current; }
 123         };
 124
 125         struct Locomotive
 126         {
 127                 enum Command
 128                 {
 129                         SPEED,
 130                         REVERSE,
 131                         FUNCTIONS
 132                 };
 133
 134                 unsigned id;
 135                 Protocol proto;
 136                 unsigned address;
 137                 ControlledVariable<unsigned> speed;
 138                 ControlledVariable<bool> reverse;
 139                 ControlledVariable<unsigned> funcs;
 140                 unsigned last_change_age;
 141
 142                 Locomotive(Protocol, unsigned);
 143
 144                 unsigned create_speed_dir_command(char *) const;
 145                 unsigned create_speed_func_command(unsigned, char *) const;
 146         };
 147
 148         struct MfxInfo: public DetectedLocomotive
 149         {
 150                 class Loader: public Msp::DataFile::ObjectLoader<MfxInfo>
 151                 {
 152                 public:
 153                         Loader(MfxInfo &);
 154                 };
 155
 156                 unsigned id;
 157         };
 158
 159         struct Accessory
 160         {
 161                 enum Kind
 162                 {
 163                         TURNOUT,
 164                         SIGNAL
 165                 };
 166
 167                 enum Command
 168                 {
 169                         ACTIVATE,
 170                         DEACTIVATE
 171                 };
 172
 173                 Kind kind;
 174                 unsigned address;
 175                 unsigned bits;
 176                 ControlledVariable<unsigned> state;
 177                 unsigned uncertain;
 178                 unsigned target;
 179                 Msp::Time::TimeDelta active_time;
 180
 181                 Accessory(Kind, unsigned, unsigned);
 182
 183                 unsigned create_state_command(unsigned, bool, char *) const;
 184         };
 185
 186         struct Sensor
 187         {
 188                 enum Command
 189                 {
 190                         STATE
 191                 };
 192
 193                 unsigned address;
 194                 ControlledVariable<bool> state;
 195
 196                 Sensor(unsigned);
 197         };
 198
 199         struct PendingCommand
 200         {
 201                 Tag tag;
 202                 char command[15];
 203                 unsigned char length;
 204                 unsigned repeat_count;
 205
 206                 PendingCommand();
 207                 PendingCommand(GeneralCommand);
 208                 PendingCommand(Locomotive &, Locomotive::Command, unsigned = 0);
 209                 PendingCommand(Accessory &, Accessory::Command, unsigned = 0);
 210         };
 211
 212         template<typename T>
 213         class Queue
 214         {
 215         private:
 216                 std::list<T> items;
 217                 Msp::Mutex mutex;
 218
 219         public:
 220                 void push(const T &);
 221                 bool pop(T &);
 222                 bool empty() const;
 223         };
 224
 225         class Task
 226         {
 227         protected:
 228                 Task() { }
 229         public:
 230                 virtual ~Task() { }
 231
 232                 virtual bool get_work(PendingCommand &) = 0;
 233                 virtual void process_reply(const char *, unsigned) { }
 234         };
 235
 236         class CommandQueueTask: public Task
 237         {
 238         private:
 239                 Queue<PendingCommand> queue;
 240
 241         public:
 242                 virtual bool get_work(PendingCommand &);
 243         };
 244
 245         class RefreshTask: public Task
 246         {
 247         private:
 248                 typedef std::list<Locomotive *> LocomotivePtrList;
 249
 250                 LocomotivePtrList cycle;
 251                 LocomotivePtrList::iterator next;
 252                 unsigned round;
 253                 Locomotive *loco;
 254                 unsigned phase;
 255                 Msp::Mutex mutex;
 256
 257         public:
 258                 RefreshTask();
 259
 260                 virtual bool get_work(PendingCommand &);
 261
 262                 void add_loco(Locomotive &);
 263                 void remove_loco(Locomotive &);
 264         private:
 265                 Locomotive *get_next_loco();
 266                 void advance();
 267         };
 268
 269         class S88Task: public Task
 270         {
 271         private:
 272                 ArduControl &control;
 273                 unsigned n_octets;
 274                 unsigned octets_remaining;
 275                 unsigned delay;
 276
 277         public:
 278                 S88Task(ArduControl &);
 279
 280                 virtual bool get_work(PendingCommand &);
 281                 virtual void process_reply(const char *, unsigned);
 282
 283                 void set_n_octets(unsigned);
 284                 void grow_n_octets(unsigned);
 285         };
 286
 287         class MfxAnnounceTask: public Task
 288         {
 289         private:
 290                 unsigned serial;
 291                 Msp::Time::TimeStamp next;
 292
 293         public:
 294                 MfxAnnounceTask();
 295
 296                 virtual bool get_work(PendingCommand &);
 297
 298                 void set_serial(unsigned);
 299                 unsigned get_serial() const { return serial; }
 300         };
 301
 302         class MfxSearchTask: public Task
 303         {
 304         private:
 305                 ArduControl &control;
 306                 unsigned next_address;
 307                 Msp::Time::TimeStamp next;
 308                 unsigned size;
 309                 unsigned bits;
 310                 unsigned misses;
 311                 Queue<MfxInfo> queue;
 312
 313         public:
 314                 MfxSearchTask(ArduControl &);
 315
 316                 virtual bool get_work(PendingCommand &);
 317                 virtual void process_reply(const char *, unsigned);
 318
 319                 void set_next_address(unsigned);
 320                 bool pop_info(MfxInfo &);
 321         };
 322
 323         class MonitorTask: public Task
 324         {
 325         private:
 326                 float voltage;
 327                 float current;
 328                 float base_level;
 329                 float peak_level;
 330                 Msp::Time::TimeStamp next_poll;
 331                 unsigned next_type;
 332
 333         public:
 334                 MonitorTask();
 335
 336                 virtual bool get_work(PendingCommand &);
 337                 virtual void process_reply(const char *, unsigned);
 338
 339                 float get_voltage() const { return voltage; }
 340                 float get_current() const { return current; }
 341                 void reset_peak();
 342                 float get_peak() const { return peak_level-base_level; }
 343         };
 344
 345         class ControlThread: public Msp::Thread
 346         {
 347         private:
 348                 ArduControl &control;
 349                 bool done;
 350                 std::vector<Task *> tasks;
 351
 352         public:
 353                 ControlThread(ArduControl &);
 354
 355                 void exit();
 356         private:
 357                 virtual void main();
 358                 void init_baud_rate();
 359                 bool get_work(PendingCommand &);
 360                 unsigned do_command(const PendingCommand &, const Msp::Time::TimeDelta &);
 361                 unsigned process_reply(const char *, unsigned);
 362                 void set_power(bool);
 363         };
 364
 365         typedef std::map<unsigned, Locomotive> LocomotiveMap;
 366         typedef std::vector<MfxInfo> MfxInfoArray;
 367         typedef std::map<unsigned, Accessory> AccessoryMap;
 368         typedef std::list<Accessory *> AccessoryPtrList;
 369         typedef std::map<unsigned, Sensor> SensorMap;
 370
 371         Msp::IO::Serial serial;
 372         unsigned debug;
 373         Msp::FS::Path state_file;
 374
 375         ControlledVariable<bool> power;
 376         bool halted;
 377
 378         LocomotiveMap locomotives;
 379         MfxInfoArray mfx_info;
 380         AccessoryMap accessories;
 381         AccessoryPtrList accessory_queue;
 382         Accessory *active_accessory;
 383         unsigned char active_index;
 384         Msp::Time::TimeStamp off_timeout;
 385
 386         SensorMap sensors;
 387
 388         Msp::Time::TimeDelta command_timeout;
 389         Queue<PendingCommand> command_queue;
 390         Queue<Tag> completed_commands;
 391         RefreshTask refresh;
 392         S88Task s88;
 393         MfxAnnounceTask mfx_announce;
 394         MfxSearchTask mfx_search;
 395         MonitorTask monitor;
 396         ControlThread thread;
 397
 398         static ProtocolInfo protocol_info[2];
 399
 400 public:
 401         ArduControl(const Options &);
 402         ~ArduControl();
 403
 404         virtual void set_power(bool);
 405         virtual bool get_power() const { return power; }
 406         virtual void halt(bool);
 407         virtual bool is_halted() const { return halted; }
 408
 409         virtual const char *enumerate_protocols(unsigned) const;
 410 private:
 411         static Protocol map_protocol(const std::string &);
 412 public:
 413         virtual unsigned get_protocol_speed_steps(const std::string &) const;
 414
 415         virtual const DetectedLocomotive *enumerate_detected_locos(unsigned) const;
 416         virtual unsigned add_loco(unsigned, const std::string &, const VehicleType &);
 417 private:
 418         MfxInfoArray::iterator add_mfx_info(const MfxInfo &);
 419 public:
 420         virtual void remove_loco(unsigned);
 421         virtual void set_loco_speed(unsigned, unsigned);
 422         virtual void set_loco_reverse(unsigned, bool);
 423         virtual void set_loco_function(unsigned, unsigned, bool);
 424
 425         virtual unsigned add_turnout(unsigned, const TrackType &);
 426         virtual void remove_turnout(unsigned);
 427         virtual void set_turnout(unsigned, unsigned);
 428         virtual unsigned get_turnout(unsigned) const;
 429
 430         virtual unsigned add_signal(unsigned, const SignalType &);
 431         virtual void remove_signal(unsigned);
 432         virtual void set_signal(unsigned, unsigned);
 433         virtual unsigned get_signal(unsigned) const;
 434
 435 private:
 436         unsigned add_accessory(Accessory::Kind, unsigned, unsigned);
 437         void remove_accessory(Accessory::Kind, unsigned);
 438         void set_accessory(Accessory::Kind, unsigned, unsigned);
 439         unsigned get_accessory(Accessory::Kind, unsigned) const;
 440
 441 public:
 442         virtual unsigned add_sensor(unsigned);
 443         virtual void remove_sensor(unsigned);
 444         virtual void set_sensor(unsigned, bool) { }
 445         virtual bool get_sensor(unsigned) const;
 446
 447         virtual void tick();
 448         virtual void flush();
 449 private:
 450         void save_state() const;
 451 };
 452
 453 } // namespace R2C2
 454
 455 #endif