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                 SET_BAUD_RATE = 0x70,
  39                 COMMAND_OK = 0x80,
  40                 RECEIVE_OVERRUN = 0x81,
  41                 FRAMING_ERROR = 0x82,
  42                 INVALID_COMMAND = 0x83,
  43                 LENGTH_ERROR = 0x84,
  44                 INVALID_VALUE = 0x85,
  45                 OVERCURRENT = 0xA0,
  46                 BAUD_CHANGE_FAILED = 0xA1,
  47                 TRACK_CURRENT = 0xC0,
  48                 INPUT_VOLTAGE = 0xC1,
  49                 POWER_STATE = 0xC2,
  50                 S88_DATA = 0xD0,
  51                 MFX_SEARCH_FEEDBACK = 0xD1,
  52                 MFX_PING_FEEDBACK = 0xD2
  53         };
  54
  55         struct Tag
  56         {
  57                 enum Type
  58                 {
  59                         NONE,
  60                         GENERAL,
  61                         LOCOMOTIVE,
  62                         ACCESSORY,
  63                         SENSOR
  64                 };
  65
  66                 Type type;
  67                 unsigned char command;
  68                 unsigned short serial;
  69                 unsigned id;
  70
  71                 Tag();
  72
  73                 operator bool() const { return type!=NONE; }
  74         };
  75
  76         enum GeneralCommand
  77         {
  78                 POWER,
  79                 NEW_LOCO
  80         };
  81
  82         enum Protocol
  83         {
  84                 MM,
  85                 MFX
  86         };
  87
  88         struct ProtocolInfo
  89         {
  90                 unsigned max_address;
  91                 unsigned max_speed;
  92                 unsigned max_func;
  93         };
  94
  95         template<typename T>
  96         struct ControlledVariable
  97         {
  98                 T current;
  99                 T pending;
 100                 unsigned short serial;
 101
 102                 ControlledVariable(): current(), pending(), serial(0) { }
 103                 ControlledVariable(T v): current(v), pending(v), serial(0) { }
 104
 105                 bool set(T v) { if(v==pending) return false; pending = v; ++serial; return true; }
 106                 bool commit(unsigned short s) { if(s!=serial) return false; current = pending; return true; }
 107
 108                 operator T() const { return current; }
 109         };
 110
 111         struct Locomotive
 112         {
 113                 enum Command
 114                 {
 115                         SPEED,
 116                         REVERSE,
 117                         FUNCTIONS
 118                 };
 119
 120                 unsigned id;
 121                 Protocol proto;
 122                 unsigned address;
 123                 ControlledVariable<unsigned> speed;
 124                 ControlledVariable<bool> reverse;
 125                 ControlledVariable<unsigned> funcs;
 126                 unsigned last_change_age;
 127
 128                 Locomotive(Protocol, unsigned);
 129
 130                 unsigned create_speed_dir_command(char *) const;
 131                 unsigned create_speed_func_command(unsigned, char *) const;
 132         };
 133
 134         struct MfxInfo: public DetectedLocomotive
 135         {
 136                 unsigned id;
 137         };
 138
 139         struct Accessory
 140         {
 141                 enum Kind
 142                 {
 143                         TURNOUT,
 144                         SIGNAL
 145                 };
 146
 147                 enum Command
 148                 {
 149                         ACTIVATE,
 150                         DEACTIVATE
 151                 };
 152
 153                 Kind kind;
 154                 unsigned address;
 155                 unsigned bits;
 156                 ControlledVariable<unsigned> state;
 157                 unsigned target;
 158                 Msp::Time::TimeDelta active_time;
 159
 160                 Accessory(Kind, unsigned, unsigned);
 161
 162                 unsigned create_state_command(unsigned, bool, char *) const;
 163         };
 164
 165         struct Sensor
 166         {
 167                 enum Command
 168                 {
 169                         STATE
 170                 };
 171
 172                 unsigned address;
 173                 ControlledVariable<bool> state;
 174
 175                 Sensor(unsigned);
 176         };
 177
 178         struct PendingCommand
 179         {
 180                 Tag tag;
 181                 char command[15];
 182                 unsigned char length;
 183                 unsigned repeat_count;
 184
 185                 PendingCommand();
 186                 PendingCommand(GeneralCommand);
 187                 PendingCommand(Locomotive &, Locomotive::Command, unsigned = 0);
 188                 PendingCommand(Accessory &, Accessory::Command, unsigned = 0);
 189         };
 190
 191         template<typename T>
 192         class Queue
 193         {
 194         private:
 195                 std::list<T> items;
 196                 Msp::Mutex mutex;
 197
 198         public:
 199                 void push(const T &);
 200                 bool pop(T &);
 201         };
 202
 203         class Task
 204         {
 205         protected:
 206                 Task() { }
 207         public:
 208                 virtual ~Task() { }
 209
 210                 virtual bool get_work(PendingCommand &) = 0;
 211                 virtual void process_reply(const char *, unsigned) { }
 212         };
 213
 214         class RefreshTask: public Task
 215         {
 216         private:
 217                 typedef std::list<Locomotive *> LocomotivePtrList;
 218
 219                 LocomotivePtrList cycle;
 220                 LocomotivePtrList::iterator next;
 221                 unsigned round;
 222                 Locomotive *loco;
 223                 unsigned phase;
 224                 Msp::Mutex mutex;
 225
 226         public:
 227                 RefreshTask();
 228
 229                 virtual bool get_work(PendingCommand &);
 230
 231                 void add_loco(Locomotive &);
 232                 void remove_loco(Locomotive &);
 233         private:
 234                 Locomotive *get_next_loco();
 235                 void advance();
 236         };
 237
 238         class S88Task: public Task
 239         {
 240         private:
 241                 ArduControl &control;
 242                 unsigned n_octets;
 243                 unsigned octets_remaining;
 244
 245         public:
 246                 S88Task(ArduControl &);
 247
 248                 virtual bool get_work(PendingCommand &);
 249                 virtual void process_reply(const char *, unsigned);
 250
 251                 void set_n_octets(unsigned);
 252                 void grow_n_octets(unsigned);
 253         };
 254
 255         class MfxAnnounceTask: public Task
 256         {
 257         private:
 258                 unsigned serial;
 259                 Msp::Time::TimeStamp next;
 260
 261         public:
 262                 MfxAnnounceTask();
 263
 264                 virtual bool get_work(PendingCommand &);
 265
 266                 void set_serial(unsigned);
 267         };
 268
 269         class MfxSearchTask: public Task
 270         {
 271         private:
 272                 ArduControl &control;
 273                 unsigned next_address;
 274                 Msp::Time::TimeStamp next;
 275                 unsigned size;
 276                 unsigned bits;
 277                 unsigned misses;
 278                 Queue<MfxInfo> queue;
 279
 280         public:
 281                 MfxSearchTask(ArduControl &);
 282
 283                 virtual bool get_work(PendingCommand &);
 284                 virtual void process_reply(const char *, unsigned);
 285
 286                 bool pop_info(MfxInfo &);
 287         };
 288
 289         class ControlThread: public Msp::Thread
 290         {
 291         private:
 292                 ArduControl &control;
 293                 bool done;
 294                 std::vector<Task *> tasks;
 295
 296         public:
 297                 ControlThread(ArduControl &);
 298
 299                 void exit();
 300         private:
 301                 virtual void main();
 302                 void init_baud_rate();
 303                 bool get_work(PendingCommand &);
 304                 unsigned do_command(const PendingCommand &);
 305                 unsigned process_reply(const char *, unsigned);
 306         };
 307
 308         typedef std::map<unsigned, Locomotive> LocomotiveMap;
 309         typedef std::vector<MfxInfo> MfxInfoArray;
 310         typedef std::map<unsigned, Accessory> AccessoryMap;
 311         typedef std::list<Accessory *> AccessoryPtrList;
 312         typedef std::map<unsigned, Sensor> SensorMap;
 313
 314         Msp::IO::Serial serial;
 315         unsigned debug;
 316
 317         ControlledVariable<bool> power;
 318
 319         LocomotiveMap locomotives;
 320         MfxInfoArray mfx_info;
 321         AccessoryMap accessories;
 322         AccessoryPtrList accessory_queue;
 323         Accessory *active_accessory;
 324         Msp::Time::TimeStamp off_timeout;
 325
 326         SensorMap sensors;
 327
 328         Msp::Mutex mutex;
 329         Queue<PendingCommand> command_queue;
 330         Queue<Tag> completed_commands;
 331         RefreshTask refresh;
 332         S88Task s88;
 333         MfxAnnounceTask mfx_announce;
 334         MfxSearchTask mfx_search;
 335         ControlThread thread;
 336
 337         static ProtocolInfo protocol_info[2];
 338
 339 public:
 340         ArduControl(const std::string &);
 341         ~ArduControl();
 342
 343         virtual void set_power(bool);
 344         virtual bool get_power() const { return power; }
 345         virtual void halt(bool);
 346         virtual bool is_halted() const { return false; }
 347
 348         virtual const char *enumerate_protocols(unsigned) const;
 349 private:
 350         static Protocol map_protocol(const std::string &);
 351 public:
 352         virtual unsigned get_protocol_speed_steps(const std::string &) const;
 353
 354         virtual const DetectedLocomotive *enumerate_detected_locos(unsigned) const;
 355         virtual unsigned add_loco(unsigned, const std::string &, const VehicleType &);
 356         virtual void remove_loco(unsigned);
 357         virtual void set_loco_speed(unsigned, unsigned);
 358         virtual void set_loco_reverse(unsigned, bool);
 359         virtual void set_loco_function(unsigned, unsigned, bool);
 360
 361         virtual unsigned add_turnout(unsigned, const TrackType &);
 362         virtual void remove_turnout(unsigned);
 363         virtual void set_turnout(unsigned, unsigned);
 364         virtual unsigned get_turnout(unsigned) const;
 365
 366         virtual unsigned add_signal(unsigned, const SignalType &);
 367         virtual void remove_signal(unsigned);
 368         virtual void set_signal(unsigned, unsigned);
 369         virtual unsigned get_signal(unsigned) const;
 370
 371 private:
 372         unsigned add_accessory(Accessory::Kind, unsigned, unsigned);
 373         void remove_accessory(Accessory::Kind, unsigned);
 374         void set_accessory(Accessory::Kind, unsigned, unsigned);
 375         unsigned get_accessory(Accessory::Kind, unsigned) const;
 376
 377 public:
 378         virtual unsigned add_sensor(unsigned);
 379         virtual void remove_sensor(unsigned);
 380         virtual void set_sensor(unsigned, bool) { }
 381         virtual bool get_sensor(unsigned) const;
 382
 383         virtual void tick();
 384         virtual void flush();
 385 };
 386
 387 } // namespace R2C2
 388
 389 #endif