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