1 #ifndef LIBR2C2_ARDUCONTROL_H_
2 #define LIBR2C2_ARDUCONTROL_H_
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>
15 class ArduControl: public Driver
18 class Loader: public Msp::DataFile::ObjectLoader<ArduControl>
21 Loader(ArduControl &);
24 void mfx_announce_serial(unsigned);
25 void mfx_locomotive(unsigned);
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,
45 MFX_ASSIGN_ADDRESS = 0x24,
48 MFX_SPEED_FUNCS8 = 0x29,
49 MFX_SPEED_FUNCS16 = 0x2A,
53 RECEIVE_OVERRUN = 0x81,
55 INVALID_COMMAND = 0x83,
59 BAUD_CHANGE_FAILED = 0xA1,
64 MFX_SEARCH_FEEDBACK = 0xD1,
65 MFX_PING_FEEDBACK = 0xD2
80 unsigned char command;
81 unsigned short serial;
86 operator bool() const { return type!=NONE; }
103 unsigned max_address;
109 struct ControlledVariable
113 unsigned short serial;
115 ControlledVariable(): current(), pending(), serial(0) { }
116 ControlledVariable(T v): current(v), pending(v), serial(0) { }
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; }
122 operator T() const { return current; }
137 ControlledVariable<unsigned> speed;
138 ControlledVariable<bool> reverse;
139 ControlledVariable<unsigned> funcs;
140 unsigned last_change_age;
142 Locomotive(Protocol, unsigned);
144 unsigned create_speed_dir_command(char *) const;
145 unsigned create_speed_func_command(unsigned, char *) const;
148 struct MfxInfo: public DetectedLocomotive
150 class Loader: public Msp::DataFile::ObjectLoader<MfxInfo>
176 unsigned valid_states;
177 ControlledVariable<unsigned> state;
180 Msp::Time::TimeDelta active_time;
182 Accessory(Kind, unsigned, unsigned, unsigned);
184 unsigned create_state_command(unsigned, bool, char *) const;
195 ControlledVariable<bool> state;
200 struct PendingCommand
204 unsigned char length;
205 unsigned repeat_count;
208 PendingCommand(GeneralCommand);
209 PendingCommand(Locomotive &, Locomotive::Command, unsigned = 0);
210 PendingCommand(Accessory &, Accessory::Command, unsigned = 0);
221 void push(const T &);
223 unsigned size() const;
232 Msp::Time::TimeStamp sleep_timeout;
234 Task(const std::string &, unsigned = 0);
238 const std::string &get_name() const { return name; }
240 virtual bool get_work(PendingCommand &) = 0;
241 virtual void process_reply(const char *, unsigned) { }
243 unsigned get_priority() const { return priority; }
244 const Msp::Time::TimeStamp &get_sleep_timeout() const { return sleep_timeout; }
246 void sleep(const Msp::Time::TimeDelta &);
249 class CommandQueueTask: public Task
252 Queue<PendingCommand> queue;
257 virtual bool get_work(PendingCommand &);
259 void push(const PendingCommand &);
260 unsigned size() const { return queue.size(); }
261 bool empty() const { return queue.empty(); }
264 class RefreshTask: public Task
267 typedef std::list<Locomotive *> LocomotivePtrList;
269 LocomotivePtrList cycle;
270 LocomotivePtrList::iterator next;
279 virtual bool get_work(PendingCommand &);
281 void add_loco(Locomotive &);
282 void remove_loco(Locomotive &);
284 Locomotive *get_next_loco();
288 class S88Task: public Task
291 ArduControl &control;
293 unsigned octets_remaining;
294 Msp::Time::TimeStamp last_poll;
295 Msp::Time::TimeDelta latency;
298 S88Task(ArduControl &);
300 virtual bool get_work(PendingCommand &);
301 virtual void process_reply(const char *, unsigned);
303 void set_n_octets(unsigned);
304 void grow_n_octets(unsigned);
306 const Msp::Time::TimeDelta &get_latency() const { return latency; }
309 class MfxAnnounceTask: public Task
317 virtual bool get_work(PendingCommand &);
319 void set_serial(unsigned);
320 unsigned get_serial() const { return serial; }
323 class MfxSearchTask: public Task
326 ArduControl &control;
327 unsigned next_address;
331 Queue<MfxInfo> queue;
334 MfxSearchTask(ArduControl &);
336 virtual bool get_work(PendingCommand &);
337 virtual void process_reply(const char *, unsigned);
339 void set_next_address(unsigned);
340 bool pop_info(MfxInfo &);
343 class MonitorTask: public Task
355 virtual bool get_work(PendingCommand &);
356 virtual void process_reply(const char *, unsigned);
358 float get_voltage() const { return voltage; }
359 float get_current() const { return current; }
361 float get_peak() const { return peak_level-base_level; }
364 class ControlThread: public Msp::Thread
367 ArduControl &control;
369 std::vector<Task *> tasks;
372 ControlThread(ArduControl &);
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);
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;
390 Msp::IO::Serial serial;
392 Msp::FS::Path state_file;
394 ControlledVariable<bool> power;
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;
407 Msp::Time::TimeDelta command_timeout;
408 CommandQueueTask command_queue;
409 Queue<Tag> completed_commands;
412 MfxAnnounceTask mfx_announce;
413 MfxSearchTask mfx_search;
415 ControlThread thread;
417 static ProtocolInfo protocol_info[2];
418 static TelemetryInfo telemetry_info[4];
421 ArduControl(const Options &);
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; }
429 virtual const char *enumerate_protocols(unsigned) const;
431 static Protocol map_protocol(const std::string &);
433 virtual unsigned get_protocol_speed_steps(const std::string &) const;
435 virtual const DetectedLocomotive *enumerate_detected_locos(unsigned) const;
436 virtual unsigned add_loco(unsigned, const std::string &, const VehicleType &);
438 MfxInfoArray::iterator add_mfx_info(const MfxInfo &);
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);
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;
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;
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);
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;
468 virtual const TelemetryInfo *enumerate_telemetry(unsigned) const;
469 virtual float get_telemetry_value(const std::string &) const;
472 virtual void flush();
474 void save_state() const;