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                 unsigned valid_states;
 177                 ControlledVariable<unsigned> state;
 178                 unsigned uncertain;
 179                 unsigned target;
 180                 Msp::Time::TimeDelta active_time;
 181
 182                 Accessory(Kind, unsigned, unsigned, unsigned);
 183
 184                 unsigned create_state_command(unsigned, bool, char *) const;
 185         };
 186
 187         struct Sensor
 188         {
 189                 enum Command
 190                 {
 191                         STATE
 192                 };
 193
 194                 unsigned address;
 195                 ControlledVariable<bool> state;
 196
 197                 Sensor(unsigned);
 198         };
 199
 200         struct PendingCommand
 201         {
 202                 Tag tag;
 203                 char command[15];
 204                 unsigned char length;
 205                 unsigned repeat_count;
 206
 207                 PendingCommand();
 208                 PendingCommand(GeneralCommand);
 209                 PendingCommand(Locomotive &, Locomotive::Command, unsigned = 0);
 210                 PendingCommand(Accessory &, Accessory::Command, unsigned = 0);
 211         };
 212
 213         template<typename T>
 214         class Queue
 215         {
 216         private:
 217                 std::list<T> items;
 218                 Msp::Mutex mutex;
 219
 220         public:
 221                 void push(const T &);
 222                 bool pop(T &);
 223                 unsigned size() const;
 224                 bool empty() const;
 225         };
 226
 227         class Task
 228         {
 229         protected:
 230                 std::string name;
 231                 unsigned priority;
 232                 Msp::Time::TimeStamp sleep_timeout;
 233
 234                 Task(const std::string &, unsigned = 0);
 235         public:
 236                 virtual ~Task() { }
 237
 238                 const std::string &get_name() const { return name; }
 239
 240                 virtual bool get_work(PendingCommand &) = 0;
 241                 virtual void process_reply(const char *, unsigned) { }
 242
 243                 unsigned get_priority() const { return priority; }
 244                 const Msp::Time::TimeStamp &get_sleep_timeout() const { return sleep_timeout; }
 245         protected:
 246                 void sleep(const Msp::Time::TimeDelta &);
 247         };
 248
 249         class CommandQueueTask: public Task
 250         {
 251         private:
 252                 Queue<PendingCommand> queue;
 253
 254         public:
 255                 CommandQueueTask();
 256
 257                 virtual bool get_work(PendingCommand &);
 258
 259                 void push(const PendingCommand &);
 260                 unsigned size() const { return queue.size(); }
 261                 bool empty() const { return queue.empty(); }
 262         };
 263
 264         class RefreshTask: public Task
 265         {
 266         private:
 267                 typedef std::list<Locomotive *> LocomotivePtrList;
 268
 269                 LocomotivePtrList cycle;
 270                 LocomotivePtrList::iterator next;
 271                 unsigned round;
 272                 Locomotive *loco;
 273                 unsigned phase;
 274                 Msp::Mutex mutex;
 275
 276         public:
 277                 RefreshTask();
 278
 279                 virtual bool get_work(PendingCommand &);
 280
 281                 void add_loco(Locomotive &);
 282                 void remove_loco(Locomotive &);
 283         private:
 284                 Locomotive *get_next_loco();
 285                 void advance();
 286         };
 287
 288         class S88Task: public Task
 289         {
 290         private:
 291                 ArduControl &control;
 292                 unsigned n_octets;
 293                 unsigned octets_remaining;
 294                 Msp::Time::TimeStamp last_poll;
 295                 Msp::Time::TimeDelta latency;
 296
 297         public:
 298                 S88Task(ArduControl &);
 299
 300                 virtual bool get_work(PendingCommand &);
 301                 virtual void process_reply(const char *, unsigned);
 302
 303                 void set_n_octets(unsigned);
 304                 void grow_n_octets(unsigned);
 305
 306                 const Msp::Time::TimeDelta &get_latency() const { return latency; }
 307         };
 308
 309         class MfxAnnounceTask: public Task
 310         {
 311         private:
 312                 unsigned serial;
 313
 314         public:
 315                 MfxAnnounceTask();
 316
 317                 virtual bool get_work(PendingCommand &);
 318
 319                 void set_serial(unsigned);
 320                 unsigned get_serial() const { return serial; }
 321         };
 322
 323         class MfxSearchTask: public Task
 324         {
 325         private:
 326                 ArduControl &control;
 327                 unsigned next_address;
 328                 unsigned size;
 329                 unsigned bits;
 330                 unsigned misses;
 331                 Queue<MfxInfo> queue;
 332
 333         public:
 334                 MfxSearchTask(ArduControl &);
 335
 336                 virtual bool get_work(PendingCommand &);
 337                 virtual void process_reply(const char *, unsigned);
 338
 339                 void set_next_address(unsigned);
 340                 bool pop_info(MfxInfo &);
 341         };
 342
 343         class MonitorTask: public Task
 344         {
 345         private:
 346                 float voltage;
 347                 float current;
 348                 float base_level;
 349                 float peak_level;
 350                 unsigned next_type;
 351
 352         public:
 353                 MonitorTask();
 354
 355                 virtual bool get_work(PendingCommand &);
 356                 virtual void process_reply(const char *, unsigned);
 357
 358                 float get_voltage() const { return voltage; }
 359                 float get_current() const { return current; }
 360                 void reset_peak();
 361                 float get_peak() const { return peak_level-base_level; }
 362         };
 363
 364         class ControlThread: public Msp::Thread
 365         {
 366         private:
 367                 ArduControl &control;
 368                 bool done;
 369                 std::vector<Task *> tasks;
 370
 371         public:
 372                 ControlThread(ArduControl &);
 373
 374                 void exit();
 375         private:
 376                 virtual void main();
 377                 void init_baud_rate();
 378                 bool get_work(PendingCommand &);
 379                 unsigned do_command(const PendingCommand &, const Msp::Time::TimeDelta &);
 380                 unsigned process_reply(const char *, unsigned);
 381                 void set_power(bool);
 382         };
 383
 384         typedef std::map<unsigned, Locomotive> LocomotiveMap;
 385         typedef std::vector<MfxInfo> MfxInfoArray;
 386         typedef std::map<unsigned, Accessory> AccessoryMap;
 387         typedef std::list<Accessory *> AccessoryPtrList;
 388         typedef std::map<unsigned, Sensor> SensorMap;
 389
 390         Msp::IO::Serial serial;
 391         unsigned debug;
 392         Msp::FS::Path state_file;
 393
 394         ControlledVariable<bool> power;
 395         bool halted;
 396
 397         LocomotiveMap locomotives;
 398         MfxInfoArray mfx_info;
 399         AccessoryMap accessories;
 400         AccessoryPtrList accessory_queue;
 401         Accessory *active_accessory;
 402         unsigned char active_index;
 403         Msp::Time::TimeStamp off_timeout;
 404
 405         SensorMap sensors;
 406
 407         Msp::Time::TimeDelta command_timeout;
 408         CommandQueueTask command_queue;
 409         Queue<Tag> completed_commands;
 410         RefreshTask refresh;
 411         S88Task s88;
 412         MfxAnnounceTask mfx_announce;
 413         MfxSearchTask mfx_search;
 414         MonitorTask monitor;
 415         ControlThread thread;
 416
 417         static ProtocolInfo protocol_info[2];
 418         static TelemetryInfo telemetry_info[4];
 419
 420 public:
 421         ArduControl(const Options &);
 422         ~ArduControl();
 423
 424         virtual void set_power(bool);
 425         virtual bool get_power() const { return power; }
 426         virtual void halt(bool);
 427         virtual bool is_halted() const { return halted; }
 428
 429         virtual const char *enumerate_protocols(unsigned) const;
 430 private:
 431         static Protocol map_protocol(const std::string &);
 432 public:
 433         virtual unsigned get_protocol_speed_steps(const std::string &) const;
 434
 435         virtual const DetectedLocomotive *enumerate_detected_locos(unsigned) const;
 436         virtual unsigned add_loco(unsigned, const std::string &, const VehicleType &);
 437 private:
 438         MfxInfoArray::iterator add_mfx_info(const MfxInfo &);
 439 public:
 440         virtual void remove_loco(unsigned);
 441         virtual void set_loco_speed(unsigned, unsigned);
 442         virtual void set_loco_reverse(unsigned, bool);
 443         virtual void set_loco_function(unsigned, unsigned, bool);
 444
 445         virtual unsigned add_turnout(unsigned, const TrackType &);
 446         virtual void remove_turnout(unsigned);
 447         virtual void set_turnout(unsigned, unsigned);
 448         virtual unsigned get_turnout(unsigned) const;
 449
 450         virtual unsigned add_signal(unsigned, const SignalType &);
 451         virtual void remove_signal(unsigned);
 452         virtual void set_signal(unsigned, unsigned);
 453         virtual unsigned get_signal(unsigned) const;
 454
 455 private:
 456         unsigned add_accessory(Accessory::Kind, unsigned, unsigned, unsigned);
 457         void remove_accessory(Accessory::Kind, unsigned);
 458         void set_accessory(Accessory::Kind, unsigned, unsigned);
 459         unsigned get_accessory(Accessory::Kind, unsigned) const;
 460         void activate_accessory_by_mask(Accessory &, unsigned);
 461
 462 public:
 463         virtual unsigned add_sensor(unsigned);
 464         virtual void remove_sensor(unsigned);
 465         virtual void set_sensor(unsigned, bool) { }
 466         virtual bool get_sensor(unsigned) const;
 467
 468         virtual const TelemetryInfo *enumerate_telemetry(unsigned) const;
 469         virtual float get_telemetry_value(const std::string &) const;
 470
 471         virtual void tick();
 472         virtual void flush();
 473 private:
 474         void save_state() const;
 475 };
 476
 477 } // namespace R2C2
 478
 479 #endif