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         class ControlThread: public Msp::Thread
 170         {
 171         private:
 172                 ArduControl &control;
 173                 bool done;
 174
 175         public:
 176                 ControlThread(ArduControl &);
 177
 178                 void exit();
 179         private:
 180                 virtual void main();
 181         };
 182
 183         struct QueuedCommand
 184         {
 185                 Tag tag;
 186                 char command[15];
 187                 unsigned char length;
 188
 189                 QueuedCommand();
 190                 QueuedCommand(GeneralCommand);
 191                 QueuedCommand(Locomotive &, Locomotive::Command, unsigned = 0);
 192                 QueuedCommand(Accessory &, Accessory::Command, unsigned = 0);
 193         };
 194
 195         typedef std::map<unsigned, Locomotive> LocomotiveMap;
 196         typedef std::list<Locomotive *> LocomotivePtrList;
 197         typedef std::map<unsigned, Accessory> AccessoryMap;
 198         typedef std::list<Accessory *> AccessoryPtrList;
 199         typedef std::map<unsigned, Sensor> SensorMap;
 200
 201         Msp::IO::Serial serial;
 202         unsigned debug;
 203
 204         ControlledVariable<bool> power;
 205
 206         LocomotiveMap locomotives;
 207         LocomotivePtrList refresh_cycle;
 208         LocomotivePtrList::iterator next_refresh;
 209         unsigned refresh_counter;
 210         AccessoryMap accessories;
 211         AccessoryPtrList accessory_queue;
 212         Accessory *active_accessory;
 213         Msp::Time::TimeStamp off_timeout;
 214         std::list<QueuedCommand> command_queue;
 215         std::list<Tag> completed_commands;
 216
 217         SensorMap sensors;
 218         unsigned n_s88_octets;
 219
 220         unsigned mfx_announce_serial;
 221         unsigned next_mfx_address;
 222
 223         Msp::Mutex mutex;
 224         ControlThread thread;
 225
 226         static ProtocolInfo protocol_info[2];
 227
 228 public:
 229         ArduControl(const std::string &);
 230         ~ArduControl();
 231
 232         virtual void set_power(bool);
 233         virtual bool get_power() const { return power; }
 234         virtual void halt(bool);
 235         virtual bool is_halted() const { return false; }
 236
 237         virtual const char *enumerate_protocols(unsigned) const;
 238 private:
 239         static Protocol map_protocol(const std::string &);
 240 public:
 241         virtual unsigned get_protocol_speed_steps(const std::string &) const;
 242
 243         virtual unsigned add_loco(unsigned, const std::string &, const VehicleType &);
 244         virtual void remove_loco(unsigned);
 245         virtual void set_loco_speed(unsigned, unsigned);
 246         virtual void set_loco_reverse(unsigned, bool);
 247         virtual void set_loco_function(unsigned, unsigned, bool);
 248 private:
 249         void add_loco_to_refresh(Locomotive &);
 250         void remove_loco_from_refresh(Locomotive &);
 251         Locomotive *get_loco_to_refresh();
 252         void advance_next_refresh();
 253
 254 public:
 255         virtual unsigned add_turnout(unsigned, const TrackType &);
 256         virtual void remove_turnout(unsigned);
 257         virtual void set_turnout(unsigned, unsigned);
 258         virtual unsigned get_turnout(unsigned) const;
 259
 260         virtual unsigned add_signal(unsigned, const SignalType &);
 261         virtual void remove_signal(unsigned);
 262         virtual void set_signal(unsigned, unsigned);
 263         virtual unsigned get_signal(unsigned) const;
 264
 265 private:
 266         unsigned add_accessory(Accessory::Kind, unsigned, unsigned);
 267         void remove_accessory(Accessory::Kind, unsigned);
 268         void set_accessory(Accessory::Kind, unsigned, unsigned);
 269         unsigned get_accessory(Accessory::Kind, unsigned) const;
 270
 271 public:
 272         virtual unsigned add_sensor(unsigned);
 273         virtual void remove_sensor(unsigned);
 274         virtual void set_sensor(unsigned, bool) { }
 275         virtual bool get_sensor(unsigned) const;
 276
 277         virtual void tick();
 278         virtual void flush();
 279
 280 private:
 281         void push_command(const QueuedCommand &);
 282         bool pop_command(QueuedCommand &);
 283         void push_completed_tag(const Tag &);
 284         Tag pop_completed_tag();
 285 };
 286
 287 } // namespace R2C2
 288
 289 #endif