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/io/serial.h>
   7 #include <msp/time/timedelta.h>
   8 #include <msp/time/timestamp.h>
   9 #include "driver.h"
  10
  11 namespace R2C2 {
  12
  13 class ArduControl: public Driver
  14 {
  15 private:
  16         enum Command
  17         {
  18                 POWER_ON = 0x01,
  19                 POWER_OFF = 0x02,
  20                 READ_POWER_STATE = 0x03,
  21                 READ_TRACK_CURRENT = 0x08,
  22                 SET_OVERCURRENT_LIMIT = 0x09,
  23                 READ_INPUT_VOLTAGE = 0x0A,
  24                 MOTOROLA_SPEED = 0x11,
  25                 MOTOROLA_REVERSE = 0x12,
  26                 MOTOROLA_SPEED_DIRECTION = 0x13,
  27                 MOTOROLA_SPEED_FUNCTION = 0x14,
  28                 MOTOROLA_SOLENOID = 0x15,
  29                 MFX_SET_STATION_ID = 0x21,
  30                 MFX_ANNOUNCE = 0x22,
  31                 MFX_SEARCH = 0x23,
  32                 MFX_ASSIGN_ADDRESS = 0x24,
  33                 MFX_PING = 0x25,
  34                 MFX_SPEED = 0x28,
  35                 MFX_SPEED_FUNCS8 = 0x29,
  36                 MFX_SPEED_FUNCS16 = 0x2A,
  37                 S88_READ = 0x30,
  38                 COMMAND_OK = 0x80,
  39                 RECEIVE_OVERRUN = 0x81,
  40                 FRAMING_ERROR = 0x82,
  41                 INVALID_COMMAND = 0x83,
  42                 LENGTH_ERROR = 0x84,
  43                 INVALID_VALUE = 0x85,
  44                 OVERCURRENT = 0xA0,
  45                 TRACK_CURRENT = 0xC0,
  46                 INPUT_VOLTAGE = 0xC1,
  47                 POWER_STATE = 0xC2,
  48                 S88_DATA = 0xD0,
  49                 MFX_FEEDBACK = 0xD1
  50         };
  51
  52         struct Tag
  53         {
  54                 enum Type
  55                 {
  56                         NONE,
  57                         GENERAL,
  58                         LOCOMOTIVE,
  59                         ACCESSORY,
  60                         SENSOR
  61                 };
  62
  63                 Type type;
  64                 unsigned char command;
  65                 unsigned short serial;
  66                 unsigned id;
  67
  68                 Tag();
  69
  70                 operator bool() const { return type!=NONE; }
  71         };
  72
  73         enum GeneralCommand
  74         {
  75                 POWER
  76         };
  77
  78         enum Protocol
  79         {
  80                 MM,
  81                 MFX
  82         };
  83
  84         struct ProtocolInfo
  85         {
  86                 unsigned max_address;
  87                 unsigned max_speed;
  88                 unsigned max_func;
  89         };
  90
  91         template<typename T>
  92         struct ControlledVariable
  93         {
  94                 T current;
  95                 T pending;
  96                 unsigned short serial;
  97
  98                 ControlledVariable(): current(), pending(), serial(0) { }
  99                 ControlledVariable(T v): current(v), pending(v), serial(0) { }
 100
 101                 bool set(T v) { if(v==pending) return false; pending = v; ++serial; return true; }
 102                 bool commit(unsigned short s) { if(s!=serial) return false; current = pending; return true; }
 103
 104                 operator T() const { return current; }
 105         };
 106
 107         struct Locomotive
 108         {
 109                 enum Command
 110                 {
 111                         SPEED,
 112                         REVERSE,
 113                         FUNCTIONS
 114                 };
 115
 116                 unsigned id;
 117                 Protocol proto;
 118                 unsigned address;
 119                 ControlledVariable<unsigned> speed;
 120                 ControlledVariable<bool> reverse;
 121                 ControlledVariable<unsigned> funcs;
 122                 unsigned last_change_age;
 123
 124                 Locomotive(Protocol, unsigned);
 125
 126                 unsigned create_speed_dir_command(char *) const;
 127                 unsigned create_speed_func_command(unsigned, char *) const;
 128         };
 129
 130         struct Accessory
 131         {
 132                 enum Kind
 133                 {
 134                         TURNOUT,
 135                         SIGNAL
 136                 };
 137
 138                 enum Command
 139                 {
 140                         ACTIVATE,
 141                         DEACTIVATE
 142                 };
 143
 144                 Kind kind;
 145                 unsigned address;
 146                 unsigned bits;
 147                 ControlledVariable<unsigned> state;
 148                 unsigned target;
 149                 Msp::Time::TimeDelta active_time;
 150
 151                 Accessory(Kind, unsigned, unsigned);
 152
 153                 unsigned create_state_command(unsigned, bool, char *) const;
 154         };
 155
 156         struct Sensor
 157         {
 158                 enum Command
 159                 {
 160                         STATE
 161                 };
 162
 163                 unsigned address;
 164                 ControlledVariable<bool> state;
 165
 166                 Sensor(unsigned);
 167         };
 168
 169         struct PendingCommand
 170         {
 171                 Tag tag;
 172                 char command[15];
 173                 unsigned char length;
 174                 unsigned repeat_count;
 175
 176                 PendingCommand();
 177                 PendingCommand(GeneralCommand);
 178                 PendingCommand(Locomotive &, Locomotive::Command, unsigned = 0);
 179                 PendingCommand(Accessory &, Accessory::Command, unsigned = 0);
 180         };
 181
 182         class Task
 183         {
 184         protected:
 185                 Task() { }
 186         public:
 187                 virtual ~Task() { }
 188
 189                 virtual bool get_work(PendingCommand &) = 0;
 190                 virtual void process_reply(const char *, unsigned) { }
 191         };
 192
 193         class RefreshTask: public Task
 194         {
 195         private:
 196                 ArduControl &control;
 197                 Locomotive *loco;
 198                 unsigned phase;
 199
 200         public:
 201                 RefreshTask(ArduControl &);
 202
 203                 virtual bool get_work(PendingCommand &);
 204         };
 205
 206         class S88Task: public Task
 207         {
 208         private:
 209                 ArduControl &control;
 210                 unsigned octets_remaining;
 211
 212         public:
 213                 S88Task(ArduControl &);
 214
 215                 virtual bool get_work(PendingCommand &);
 216                 virtual void process_reply(const char *, unsigned);
 217         };
 218
 219         class MfxAnnounceTask: public Task
 220         {
 221         private:
 222                 ArduControl &control;
 223                 Msp::Time::TimeStamp next;
 224
 225         public:
 226                 MfxAnnounceTask(ArduControl &);
 227
 228                 virtual bool get_work(PendingCommand &);
 229         };
 230
 231         class MfxSearchTask: public Task
 232         {
 233         private:
 234                 ArduControl &control;
 235                 Msp::Time::TimeStamp next;
 236                 unsigned size;
 237                 unsigned bits;
 238                 bool pending;
 239
 240         public:
 241                 MfxSearchTask(ArduControl &);
 242
 243                 virtual bool get_work(PendingCommand &);
 244                 virtual void process_reply(const char *, unsigned);
 245         };
 246
 247         class ControlThread: public Msp::Thread
 248         {
 249         private:
 250                 ArduControl &control;
 251                 bool done;
 252                 std::vector<Task *> tasks;
 253
 254         public:
 255                 ControlThread(ArduControl &);
 256
 257                 void exit();
 258         private:
 259                 virtual void main();
 260                 bool get_work(PendingCommand &);
 261                 unsigned do_command(const PendingCommand &);
 262                 unsigned process_reply(const char *, unsigned);
 263         };
 264
 265         typedef std::map<unsigned, Locomotive> LocomotiveMap;
 266         typedef std::list<Locomotive *> LocomotivePtrList;
 267         typedef std::map<unsigned, Accessory> AccessoryMap;
 268         typedef std::list<Accessory *> AccessoryPtrList;
 269         typedef std::map<unsigned, Sensor> SensorMap;
 270
 271         Msp::IO::Serial serial;
 272         unsigned debug;
 273
 274         ControlledVariable<bool> power;
 275
 276         LocomotiveMap locomotives;
 277         LocomotivePtrList refresh_cycle;
 278         LocomotivePtrList::iterator next_refresh;
 279         unsigned refresh_counter;
 280         AccessoryMap accessories;
 281         AccessoryPtrList accessory_queue;
 282         Accessory *active_accessory;
 283         Msp::Time::TimeStamp off_timeout;
 284         std::list<PendingCommand> command_queue;
 285         std::list<Tag> completed_commands;
 286
 287         SensorMap sensors;
 288         unsigned n_s88_octets;
 289
 290         unsigned mfx_announce_serial;
 291         unsigned next_mfx_address;
 292
 293         Msp::Mutex mutex;
 294         ControlThread thread;
 295
 296         static ProtocolInfo protocol_info[2];
 297
 298 public:
 299         ArduControl(const std::string &);
 300         ~ArduControl();
 301
 302         virtual void set_power(bool);
 303         virtual bool get_power() const { return power; }
 304         virtual void halt(bool);
 305         virtual bool is_halted() const { return false; }
 306
 307         virtual const char *enumerate_protocols(unsigned) const;
 308 private:
 309         static Protocol map_protocol(const std::string &);
 310 public:
 311         virtual unsigned get_protocol_speed_steps(const std::string &) const;
 312
 313         virtual unsigned add_loco(unsigned, const std::string &, const VehicleType &);
 314         virtual void remove_loco(unsigned);
 315         virtual void set_loco_speed(unsigned, unsigned);
 316         virtual void set_loco_reverse(unsigned, bool);
 317         virtual void set_loco_function(unsigned, unsigned, bool);
 318 private:
 319         void add_loco_to_refresh(Locomotive &);
 320         void remove_loco_from_refresh(Locomotive &);
 321         Locomotive *get_loco_to_refresh();
 322         void advance_next_refresh();
 323
 324 public:
 325         virtual unsigned add_turnout(unsigned, const TrackType &);
 326         virtual void remove_turnout(unsigned);
 327         virtual void set_turnout(unsigned, unsigned);
 328         virtual unsigned get_turnout(unsigned) const;
 329
 330         virtual unsigned add_signal(unsigned, const SignalType &);
 331         virtual void remove_signal(unsigned);
 332         virtual void set_signal(unsigned, unsigned);
 333         virtual unsigned get_signal(unsigned) const;
 334
 335 private:
 336         unsigned add_accessory(Accessory::Kind, unsigned, unsigned);
 337         void remove_accessory(Accessory::Kind, unsigned);
 338         void set_accessory(Accessory::Kind, unsigned, unsigned);
 339         unsigned get_accessory(Accessory::Kind, unsigned) const;
 340
 341 public:
 342         virtual unsigned add_sensor(unsigned);
 343         virtual void remove_sensor(unsigned);
 344         virtual void set_sensor(unsigned, bool) { }
 345         virtual bool get_sensor(unsigned) const;
 346
 347         virtual void tick();
 348         virtual void flush();
 349
 350 private:
 351         void push_command(const PendingCommand &);
 352         bool pop_command(PendingCommand &);
 353         void push_completed_tag(const Tag &);
 354         Tag pop_completed_tag();
 355 };
 356
 357 } // namespace R2C2
 358
 359 #endif