Turn ArduControl command_queue into a Task

[r2c2.git] / source / libr2c2 / arducontrol.cpp

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index 2cdf0c6798440026782b7ba3b9d2ca245b74db9a..4acfc60e0e761a0c5aaa7d4c260a0023988a8034 100644 (file)
--- a/source/libr2c2/arducontrol.cpp
+++ b/source/libr2c2/arducontrol.cpp
@@ -207,7 +207,7 @@ unsigned ArduControl::add_turnout(unsigned addr, const TrackType &type)
        if(!addr || !type.is_turnout())
                throw invalid_argument("ArduControl::add_turnout");
 
-       return add_accessory(Accessory::TURNOUT, addr, type.get_state_bits());
+       return add_accessory(Accessory::TURNOUT, addr, type.get_state_bits(), type.get_paths());
 }
 
 void ArduControl::remove_turnout(unsigned addr)
@@ -227,7 +227,7 @@ unsigned ArduControl::get_turnout(unsigned addr) const
 
 unsigned ArduControl::add_signal(unsigned addr, const SignalType &)
 {
-       return add_accessory(Accessory::SIGNAL, addr, 1);
+       return add_accessory(Accessory::SIGNAL, addr, 1, 3);
 }
 
 void ArduControl::remove_signal(unsigned addr)
@@ -245,7 +245,7 @@ unsigned ArduControl::get_signal(unsigned addr) const
        return get_accessory(Accessory::SIGNAL, addr);
 }
 
-unsigned ArduControl::add_accessory(Accessory::Kind kind, unsigned addr, unsigned bits)
+unsigned ArduControl::add_accessory(Accessory::Kind kind, unsigned addr, unsigned bits, unsigned states)
 {
        AccessoryMap::iterator i = accessories.lower_bound(addr);
        AccessoryMap::iterator j = accessories.upper_bound(addr+bits-1);
@@ -258,7 +258,7 @@ unsigned ArduControl::add_accessory(Accessory::Kind kind, unsigned addr, unsigne
                        throw key_error(addr);
        }
 
-       insert_unique(accessories, addr, Accessory(kind, addr, bits));
+       insert_unique(accessories, addr, Accessory(kind, addr, bits, states));
        return addr;
 }
 
@@ -291,6 +291,20 @@ unsigned ArduControl::get_accessory(Accessory::Kind kind, unsigned addr) const
        return acc.state;
 }
 
+void ArduControl::activate_accessory_by_mask(Accessory &acc, unsigned mask)
+{
+       unsigned bit = mask&~(mask-1);
+       for(active_index=0; (bit>>active_index)>1; ++active_index) ;
+       acc.state.set((acc.state&~bit)|(acc.target&bit));
+       if(debug>=1)
+               IO::print("Setting accessory %d bit %d, state=%d\n", acc.address, active_index, acc.state.pending);
+       PendingCommand cmd(acc, Accessory::ACTIVATE, active_index);
+       command_queue.push(cmd);
+       active_accessory = &acc;
+
+       monitor.reset_peak();
+}
+
 unsigned ArduControl::add_sensor(unsigned addr)
 {
        if(!addr)
@@ -402,11 +416,18 @@ void ArduControl::tick()
        {
                Accessory &acc = *accessory_queue.front();
 
-               if(acc.state!=acc.target || acc.uncertain)
+               if(acc.uncertain)
+               {
+                       unsigned zeroes = acc.uncertain&~acc.target;
+                       if(zeroes)
+                               activate_accessory_by_mask(acc, zeroes);
+                       else
+                               activate_accessory_by_mask(acc, acc.uncertain);
+               }
+               else if(acc.state!=acc.target)
                {
                        unsigned changes = acc.state^acc.target;
-                       unsigned lowest_bit = changes&~(changes-1);
-                       if(lowest_bit>>acc.bits)
+                       if(!(changes&((1<<acc.bits)-1)))
                        {
                                // All remaining changes are in non-physical bits
                                acc.state.set(acc.state^changes);
@@ -414,14 +435,12 @@ void ArduControl::tick()
                        }
                        else
                        {
-                               unsigned mask = (lowest_bit ? lowest_bit : acc.uncertain);
-                               for(active_index=0; (mask>>active_index)>1; ++active_index) ;
-                               acc.state.set(acc.state^lowest_bit);
-                               PendingCommand cmd(acc, Accessory::ACTIVATE, active_index);
-                               command_queue.push(cmd);
-                               active_accessory = &acc;
-
-                               monitor.reset_peak();
+                               unsigned toggle_bit = 0;
+                               for(unsigned bit=1; (!toggle_bit && bit<=changes); bit<<=1)
+                                       if((changes&bit) && (acc.valid_states&(1<<(acc.state^bit))))
+                                               toggle_bit = bit;
+
+                               activate_accessory_by_mask(acc, toggle_bit);
                        }
                }
                else
@@ -440,8 +459,9 @@ void ArduControl::tick()
 
        if(active_accessory && off_timeout)
        {
+               bool success = (monitor.get_peak()>0.35f && monitor.get_current()<monitor.get_peak()-0.2f);
                Time::TimeStamp t = Time::now();
-               if(t>off_timeout)
+               if(t>off_timeout || success)
                {
                        Accessory &acc = *active_accessory;
 
@@ -450,11 +470,16 @@ void ArduControl::tick()
                        // Assume success if we were uncertain of the physical setting
                        if(acc.uncertain&bit)
                                acc.uncertain &= ~bit;
-                       else if(acc.kind==Accessory::TURNOUT && monitor.get_peak()<0.5f)
+                       else if(acc.kind==Accessory::TURNOUT && !success)
                        {
+                               if(debug>=1)
+                                       IO::print("Peak current only %.2f A\n", monitor.get_peak());
                                signal_turnout_failed.emit(acc.address);
                                acc.state.rollback();
-                               acc.target ^= bit;
+                               if(acc.valid_states&(1<<(acc.target^bit)))
+                                       acc.target ^= bit;
+                               else
+                                       acc.target = acc.state;
                        }
 
                        off_timeout = Time::TimeStamp();
@@ -565,14 +590,15 @@ unsigned ArduControl::Locomotive::create_speed_func_command(unsigned f, char *bu
 }
 
 
-ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b):
+ArduControl::Accessory::Accessory(Kind k, unsigned a, unsigned b, unsigned s):
        kind(k),
        address(a),
        bits(b),
+       valid_states(s),
        state(0),
        uncertain((1<<bits)-1),
        target(0),
-       active_time(500*Time::msec)
+       active_time((bits*700)*Time::msec)
 { }
 
 unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
@@ -676,6 +702,17 @@ bool ArduControl::Queue<T>::empty() const
 }
 
 
+bool ArduControl::CommandQueueTask::get_work(PendingCommand &cmd)
+{
+       return queue.pop(cmd);
+}
+
+void ArduControl::CommandQueueTask::push(const PendingCommand &cmd)
+{
+       queue.push(cmd);
+}
+
+
 ArduControl::RefreshTask::RefreshTask():
        next(cycle.end()),
        round(0),
@@ -1009,6 +1046,7 @@ ArduControl::ControlThread::ControlThread(ArduControl &c):
        control(c),
        done(false)
 {
+       tasks.push_back(&control.command_queue);
        tasks.push_back(&control.monitor);
        tasks.push_back(&control.mfx_announce);
        tasks.push_back(&control.mfx_search);
@@ -1130,9 +1168,6 @@ void ArduControl::ControlThread::init_baud_rate()
 
 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
 {
-       if(control.command_queue.pop(cmd))
-               return true;
-
        for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
                if((*i)->get_work(cmd))
                        return true;
@@ -1214,14 +1249,11 @@ unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned r
                return type;
        }
        else if(type==POWER_STATE && rlength==2)
+               set_power(reply[1]);
+       else if(type==OVERCURRENT)
        {
-               control.power.set(reply[1]);
-
-               Tag tag;
-               tag.type = Tag::GENERAL;
-               tag.command = POWER;
-               tag.serial = control.power.serial;
-               control.completed_commands.push(tag);
+               set_power(false);
+               IO::print("Overcurrent detected!\n");
        }
        else
        {
@@ -1232,6 +1264,17 @@ unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned r
        return 0;
 }
 
+void ArduControl::ControlThread::set_power(bool p)
+{
+       control.power.set(p);
+
+       Tag tag;
+       tag.type = Tag::GENERAL;
+       tag.command = POWER;
+       tag.serial = control.power.serial;
+       control.completed_commands.push(tag);
+}
+
 
 ArduControl::Loader::Loader(ArduControl &c):
        DataFile::ObjectLoader<ArduControl>(c)