#include <msp/core/maputils.h>
+#include <msp/datafile/writer.h>
+#include <msp/fs/redirectedpath.h>
+#include <msp/fs/stat.h>
#include <msp/io/print.h>
#include <msp/time/utils.h>
#include "arducontrol.h"
{ 0x3FFF, 126, 15 } // MFX
};
-ArduControl::ArduControl(const string &dev):
- serial(dev),
- debug(1),
+ArduControl::ArduControl(const Options &opts):
+ serial(opts.get<string>(string(), "ttyUSB0")),
+ debug(opts.get<unsigned>("debug")),
+ state_file("arducontrol.state"),
power(false),
- next_refresh(refresh_cycle.end()),
- refresh_counter(0),
+ halted(false),
active_accessory(0),
- n_s88_octets(0),
- mfx_announce_serial(0),
- next_mfx_address(1),
+ command_timeout(200*Time::msec),
+ s88(*this),
+ mfx_search(*this),
thread(*this)
{
- QueuedCommand cmd;
+ if(FS::exists(state_file))
+ DataFile::load(*this, state_file.str());
+
+ unsigned max_address = 0;
+ for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
+ max_address = max(max_address, i->address);
+ mfx_search.set_next_address(max_address+1);
+
+ PendingCommand cmd;
cmd.command[0] = READ_POWER_STATE;
cmd.length = 1;
- push_command(cmd);
+ command_queue.push(cmd);
cmd.command[0] = MFX_SET_STATION_ID;
cmd.command[1] = 'R';
cmd.command[3] = 'C';
cmd.command[4] = '2';
cmd.length = 5;
- push_command(cmd);
+ command_queue.push(cmd);
}
ArduControl::~ArduControl()
{
if(power.set(p))
{
- QueuedCommand cmd(POWER);
+ PendingCommand cmd(POWER);
cmd.tag.serial = power.serial;
cmd.command[0] = (p ? POWER_ON : POWER_OFF);
cmd.length = 1;
- push_command(cmd);
+ command_queue.push(cmd);
}
}
-void ArduControl::halt(bool)
+void ArduControl::halt(bool h)
{
+ if(h==halted)
+ return;
+
+ halted = h;
+ if(halted)
+ {
+ for(LocomotiveMap::const_iterator i=locomotives.begin(); i!=locomotives.end(); ++i)
+ set_loco_speed(i->first, 0);
+ }
+
+ signal_halt.emit(halted);
}
const char *ArduControl::enumerate_protocols(unsigned i) const
return protocol_info[map_protocol(proto_name)].max_speed;
}
+const Driver::DetectedLocomotive *ArduControl::enumerate_detected_locos(unsigned i) const
+{
+ if(i>=mfx_info.size())
+ return 0;
+
+ return &mfx_info[i];
+}
+
unsigned ArduControl::add_loco(unsigned addr, const string &proto_name, const VehicleType &)
{
if(!addr)
return loco.id;
}
+ArduControl::MfxInfoArray::iterator ArduControl::add_mfx_info(const MfxInfo &info)
+{
+ MfxInfoArray::iterator i;
+ for(i=mfx_info.begin(); (i!=mfx_info.end() && i->id!=info.id); ++i) ;
+ if(i==mfx_info.end())
+ {
+ mfx_info.push_back(info);
+ i = --mfx_info.end();
+ }
+ else
+ *i = info;
+ return i;
+}
+
void ArduControl::remove_loco(unsigned id)
{
Locomotive &loco = get_item(locomotives, id);
- remove_loco_from_refresh(loco);
+ refresh.remove_loco(loco);
locomotives.erase(id);
}
if(speed>protocol_info[loco.proto].max_speed)
throw invalid_argument("ArduControl::set_loco_speed");
+ if(speed && halted)
+ return;
+
if(loco.speed.set(speed))
{
- QueuedCommand cmd(loco, Locomotive::SPEED);
- push_command(cmd);
+ PendingCommand cmd(loco, Locomotive::SPEED);
+ command_queue.push(cmd);
- add_loco_to_refresh(loco);
+ refresh.add_loco(loco);
}
}
Locomotive &loco = get_item(locomotives, id);
if(loco.reverse.set(rev))
{
- QueuedCommand cmd(loco, Locomotive::REVERSE);
- push_command(cmd);
+ PendingCommand cmd(loco, Locomotive::REVERSE);
+ command_queue.push(cmd);
- add_loco_to_refresh(loco);
+ refresh.add_loco(loco);
}
}
{
if(func>0 || loco.proto!=MM)
{
- QueuedCommand cmd(loco, Locomotive::FUNCTIONS, func);
- push_command(cmd);
+ PendingCommand cmd(loco, Locomotive::FUNCTIONS, func);
+ command_queue.push(cmd);
}
- add_loco_to_refresh(loco);
- }
-}
-
-void ArduControl::add_loco_to_refresh(Locomotive &loco)
-{
- MutexLock lock(mutex);
- refresh_cycle.push_back(&loco);
- if(refresh_cycle.size()>15)
- {
- LocomotivePtrList::iterator oldest = refresh_cycle.begin();
- for(LocomotivePtrList::iterator i=refresh_cycle.begin(); ++i!=refresh_cycle.end(); )
- if((*i)->last_change_age>(*oldest)->last_change_age)
- oldest = i;
- if(oldest==next_refresh)
- advance_next_refresh();
- refresh_cycle.erase(oldest);
- }
- if(next_refresh==refresh_cycle.end())
- next_refresh = refresh_cycle.begin();
-}
-
-void ArduControl::remove_loco_from_refresh(Locomotive &loco)
-{
- MutexLock lock(mutex);
- for(LocomotivePtrList::iterator i=refresh_cycle.begin(); i!=refresh_cycle.end(); ++i)
- if(*i==&loco)
- {
- if(i==next_refresh)
- {
- if(refresh_cycle.size()>1)
- advance_next_refresh();
- else
- next_refresh = refresh_cycle.end();
- }
- refresh_cycle.erase(i);
- return;
- }
-}
-
-ArduControl::Locomotive *ArduControl::get_loco_to_refresh()
-{
- MutexLock lock(mutex);
- if(refresh_cycle.empty())
- return 0;
-
- Locomotive *loco = *next_refresh;
- advance_next_refresh();
- return loco;
-}
-
-void ArduControl::advance_next_refresh()
-{
- ++next_refresh;
- if(next_refresh==refresh_cycle.end())
- {
- next_refresh = refresh_cycle.begin();
- ++refresh_counter;
+ refresh.add_loco(loco);
}
}
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)
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)
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);
throw key_error(addr);
}
- insert_unique(accessories, addr, Accessory(kind, addr, bits));
+ insert_unique(accessories, addr, Accessory(kind, addr, bits, states));
return addr;
}
if(acc.kind!=kind)
throw key_error(addr);
- if(state!=acc.target)
+ if(state!=acc.target || acc.uncertain)
{
acc.target = state;
accessory_queue.push_back(&acc);
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)
throw invalid_argument("ArduControl::add_sensor");
insert_unique(sensors, addr, Sensor(addr));
- unsigned octet_index = (addr-1)/8;
- if(octet_index>=n_s88_octets)
- n_s88_octets = octet_index+1;
+ s88.grow_n_octets((addr+7)/8);
return addr;
}
void ArduControl::remove_sensor(unsigned addr)
{
remove_existing(sensors, addr);
- // TODO update n_s88_octets
+ // TODO update s88.n_octets
}
bool ArduControl::get_sensor(unsigned addr) const
void ArduControl::tick()
{
- while(Tag tag = pop_completed_tag())
+ Tag tag;
+ while(completed_commands.pop(tag))
{
if(tag.type==Tag::GENERAL)
{
if(power.commit(tag.serial))
signal_power.emit(power.current);
}
+ else if(tag.command==NEW_LOCO)
+ {
+ MfxInfo info;
+ if(mfx_search.pop_info(info))
+ {
+ MfxInfoArray::iterator i = add_mfx_info(info);
+ save_state();
+ signal_locomotive_detected.emit(*i);
+ }
+ }
}
else if(tag.type==Tag::LOCOMOTIVE)
{
Accessory &acc = i->second;
if(tag.command==Accessory::ACTIVATE)
- {
off_timeout = Time::now()+acc.active_time;
- }
else if(tag.command==Accessory::DEACTIVATE)
{
if(acc.state.commit(tag.serial))
{
- if(acc.state==acc.target)
- {
- if(acc.kind==Accessory::TURNOUT)
- signal_turnout.emit(acc.address, acc.state);
- else if(acc.kind==Accessory::SIGNAL)
- signal_signal.emit(acc.address, acc.state);
- }
if(&acc==active_accessory)
active_accessory = 0;
}
}
}
- while(!active_accessory && !accessory_queue.empty())
+ while(power && !active_accessory && !accessory_queue.empty())
{
Accessory &acc = *accessory_queue.front();
- if(acc.state!=acc.target)
+ 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)
{
- active_accessory = &acc;
-
unsigned changes = acc.state^acc.target;
- unsigned lowest_bit = changes&~(changes-1);
- unsigned i;
- for(i=0; (lowest_bit>>i)>1; ++i) ;
- acc.state.set(acc.state^lowest_bit);
- QueuedCommand cmd(acc, Accessory::ACTIVATE, i);
- push_command(cmd);
+ if(!(changes&((1<<acc.bits)-1)))
+ {
+ // All remaining changes are in non-physical bits
+ acc.state.set(acc.state^changes);
+ acc.state.commit(acc.state.serial);
+ }
+ else
+ {
+ 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
+ {
accessory_queue.pop_front();
+
+ if(acc.state==acc.target)
+ {
+ if(acc.kind==Accessory::TURNOUT)
+ signal_turnout.emit(acc.address, acc.state);
+ else if(acc.kind==Accessory::SIGNAL)
+ signal_signal.emit(acc.address, acc.state);
+ }
+ }
}
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;
+
+ unsigned bit = 1<<active_index;
+
+ // Assume success if we were uncertain of the physical setting
+ if(acc.uncertain&bit)
+ acc.uncertain &= ~bit;
+ 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();
+ if(acc.valid_states&(1<<(acc.target^bit)))
+ acc.target ^= bit;
+ else
+ acc.target = acc.state;
+ }
+
off_timeout = Time::TimeStamp();
- QueuedCommand cmd(*active_accessory, Accessory::DEACTIVATE);
- push_command(cmd);
+ PendingCommand cmd(acc, Accessory::DEACTIVATE, active_index);
+ command_queue.push(cmd);
}
}
}
void ArduControl::flush()
{
+ while(!command_queue.empty() || (power && !accessory_queue.empty()))
+ tick();
}
-void ArduControl::push_command(const QueuedCommand &cmd)
+void ArduControl::save_state() const
{
- MutexLock lock(mutex);
- command_queue.push_back(cmd);
-}
+ FS::RedirectedPath tmp_file(state_file);
+ IO::BufferedFile out(tmp_file.str(), IO::M_WRITE);
+ DataFile::Writer writer(out);
-bool ArduControl::pop_command(QueuedCommand &cmd)
-{
- MutexLock lock(mutex);
- if(command_queue.empty())
- return false;
- cmd = command_queue.front();
- command_queue.pop_front();
- return true;
-}
-
-void ArduControl::push_completed_tag(const Tag &tag)
-{
- MutexLock lock(mutex);
- completed_commands.push_back(tag);
-}
-
-ArduControl::Tag ArduControl::pop_completed_tag()
-{
- MutexLock lock(mutex);
- if(completed_commands.empty())
- return Tag();
- Tag tag = completed_commands.front();
- completed_commands.pop_front();
- return tag;
+ writer.write((DataFile::Statement("mfx_announce_serial"), mfx_announce.get_serial()));
+ for(MfxInfoArray::const_iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
+ {
+ DataFile::Statement st("mfx_locomotive");
+ st.append(i->id);
+ st.sub.push_back((DataFile::Statement("address"), i->address));
+ st.sub.push_back((DataFile::Statement("name"), i->name));
+ writer.write(st);
+ }
}
}
-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),
- active_time(500*Time::msec)
+ uncertain((1<<bits)-1),
+ target(0),
+ active_time((bits*700)*Time::msec)
{ }
unsigned ArduControl::Accessory::create_state_command(unsigned b, bool c, char *buffer) const
{ }
+ArduControl::PendingCommand::PendingCommand():
+ length(0),
+ repeat_count(1)
+{ }
+
+ArduControl::PendingCommand::PendingCommand(GeneralCommand cmd):
+ length(0),
+ repeat_count(1)
+{
+ tag.type = Tag::GENERAL;
+ tag.command = cmd;
+}
+
+ArduControl::PendingCommand::PendingCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index):
+ repeat_count(8)
+{
+ tag.type = Tag::LOCOMOTIVE;
+ tag.command = cmd;
+ tag.id = loco.id;
+ if(cmd==Locomotive::SPEED)
+ {
+ tag.serial = loco.speed.serial;
+ length = loco.create_speed_dir_command(command);
+ }
+ else if(cmd==Locomotive::REVERSE)
+ {
+ tag.serial = loco.reverse.serial;
+ length = loco.create_speed_dir_command(command);
+ }
+ else if(cmd==Locomotive::FUNCTIONS)
+ {
+ tag.serial = loco.funcs.serial;
+ length = loco.create_speed_func_command(index, command);
+ }
+ else
+ throw invalid_argument("PendingCommand");
+}
+
+ArduControl::PendingCommand::PendingCommand(Accessory &acc, Accessory::Command cmd, unsigned index):
+ repeat_count(1)
+{
+ tag.type = Tag::ACCESSORY;
+ tag.command = cmd;
+ tag.id = acc.address;
+ if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
+ {
+ tag.serial = acc.state.serial;
+ length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
+ }
+ else
+ throw invalid_argument("PendingCommand");
+}
+
+
+template<typename T>
+void ArduControl::Queue<T>::push(const T &item)
+{
+ MutexLock lock(mutex);
+ items.push_back(item);
+}
+
+template<typename T>
+bool ArduControl::Queue<T>::pop(T &item)
+{
+ MutexLock lock(mutex);
+ if(items.empty())
+ return false;
+
+ item = items.front();
+ items.pop_front();
+ return true;
+}
+
+template<typename T>
+bool ArduControl::Queue<T>::empty() const
+{
+ return items.empty();
+}
+
+
+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),
+ loco(0),
+ phase(0)
+{ }
+
+bool ArduControl::RefreshTask::get_work(PendingCommand &cmd)
+{
+ if(loco && loco->proto==MM && phase==0)
+ {
+ cmd.length = loco->create_speed_func_command(round%4+1, cmd.command);
+ cmd.repeat_count = 2;
+ ++phase;
+ return true;
+ }
+
+ loco = get_next_loco();
+ if(!loco)
+ return false;
+
+ phase = 0;
+ if(loco->proto==MM)
+ {
+ cmd.length = loco->create_speed_dir_command(cmd.command);
+ cmd.repeat_count = 2;
+ }
+ else if(loco->proto==MFX)
+ cmd.length = loco->create_speed_func_command(0, cmd.command);
+ else
+ return false;
+
+ return true;
+}
+
+void ArduControl::RefreshTask::add_loco(Locomotive &l)
+{
+ MutexLock lock(mutex);
+ cycle.push_back(&l);
+ if(cycle.size()>15)
+ {
+ LocomotivePtrList::iterator oldest = cycle.begin();
+ for(LocomotivePtrList::iterator i=cycle.begin(); ++i!=cycle.end(); )
+ if((*i)->last_change_age>(*oldest)->last_change_age)
+ oldest = i;
+ if(oldest==next)
+ advance();
+ cycle.erase(oldest);
+ }
+ if(next==cycle.end())
+ next = cycle.begin();
+}
+
+void ArduControl::RefreshTask::remove_loco(Locomotive &l)
+{
+ MutexLock lock(mutex);
+ for(LocomotivePtrList::iterator i=cycle.begin(); i!=cycle.end(); ++i)
+ if(*i==&l)
+ {
+ if(i==next)
+ {
+ if(cycle.size()>1)
+ advance();
+ else
+ next = cycle.end();
+ }
+ cycle.erase(i);
+ return;
+ }
+}
+
+ArduControl::Locomotive *ArduControl::RefreshTask::get_next_loco()
+{
+ MutexLock lock(mutex);
+ if(cycle.empty())
+ return 0;
+
+ Locomotive *l = *next;
+ advance();
+ return l;
+}
+
+void ArduControl::RefreshTask::advance()
+{
+ ++next;
+ if(next==cycle.end())
+ {
+ next= cycle.begin();
+ ++round;
+ }
+}
+
+
+ArduControl::S88Task::S88Task(ArduControl &c):
+ control(c),
+ n_octets(0),
+ octets_remaining(0),
+ delay(0)
+{ }
+
+bool ArduControl::S88Task::get_work(PendingCommand &cmd)
+{
+ if(delay)
+ {
+ --delay;
+ return false;
+ }
+ if(octets_remaining || !n_octets)
+ return false;
+
+ octets_remaining = n_octets;
+ cmd.command[0] = S88_READ;
+ cmd.command[1] = octets_remaining;
+ cmd.length = 2;
+
+ delay = 4;
+
+ return true;
+}
+
+void ArduControl::S88Task::process_reply(const char *reply, unsigned length)
+{
+ unsigned char type = reply[0];
+ if(type==S88_DATA && length>2)
+ {
+ unsigned offset = static_cast<unsigned char>(reply[1]);
+ unsigned count = length-2;
+
+ SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
+ SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
+ for(SensorMap::iterator i=begin; i!=end; ++i)
+ {
+ unsigned bit_index = i->first-1-offset*8;
+ bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
+ i->second.state.set(state);
+
+ Tag tag;
+ tag.type = Tag::SENSOR;
+ tag.command = Sensor::STATE;
+ tag.serial = i->second.state.serial;
+ tag.id = i->first;
+ control.completed_commands.push(tag);
+ }
+
+ if(count>octets_remaining)
+ octets_remaining = 0;
+ else
+ octets_remaining -= count;
+ }
+}
+
+void ArduControl::S88Task::set_n_octets(unsigned n)
+{
+ n_octets = n;
+}
+
+void ArduControl::S88Task::grow_n_octets(unsigned n)
+{
+ if(n>n_octets)
+ n_octets = n;
+}
+
+
+ArduControl::MfxAnnounceTask::MfxAnnounceTask():
+ serial(0)
+{ }
+
+bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
+{
+ Time::TimeStamp t = Time::now();
+ if(t<next)
+ return false;
+
+ cmd.command[0] = MFX_ANNOUNCE;
+ cmd.command[1] = serial>>8;
+ cmd.command[2] = serial;
+ cmd.length = 3;
+ next = t+400*Time::msec;
+
+ return true;
+}
+
+void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
+{
+ serial = s;
+}
+
+
+ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
+ control(c),
+ next_address(1),
+ size(0),
+ bits(0),
+ misses(0)
+{ }
+
+bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
+{
+ if(size>32)
+ {
+ if(control.debug>=1)
+ IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
+
+ MfxInfo info;
+ info.protocol = "MFX";
+ info.address = next_address;
+ info.name = format("%08X", bits);
+ info.id = bits;
+ queue.push(info);
+
+ cmd.command[0] = MFX_ASSIGN_ADDRESS;
+ cmd.command[1] = next_address>>8;
+ cmd.command[2] = next_address;
+ for(unsigned i=0; i<4; ++i)
+ cmd.command[3+i] = bits>>(24-i*8);
+ cmd.length = 7;
+
+ cmd.tag.type = Tag::GENERAL;
+ cmd.tag.command = NEW_LOCO;
+ cmd.tag.id = bits;
+
+ size = 0;
+ bits = 0;
+ ++next_address;
+
+ return true;
+ }
+
+ Time::TimeStamp t = Time::now();
+ if(t<next)
+ return false;
+
+ cmd.command[0] = MFX_SEARCH;
+ for(unsigned i=0; i<4; ++i)
+ cmd.command[1+i] = bits>>(24-i*8);
+ cmd.command[5] = size;
+ cmd.length = 6;
+
+ next = t+200*Time::msec;
+
+ if(control.debug>=1)
+ IO::print("Search %08X/%d\n", bits, size);
+
+ return true;
+}
+
+void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned length)
+{
+ unsigned char type = reply[0];
+ if(type==MFX_SEARCH_FEEDBACK && length==2)
+ {
+ if(reply[1])
+ {
+ misses = 0;
+ ++size;
+ }
+ else if(size>0 && misses<6)
+ {
+ ++misses;
+ bits ^= 1<<(32-size);
+ }
+ else
+ {
+ next = Time::now()+2*Time::sec;
+ bits = 0;
+ size = 0;
+ misses = 0;
+ }
+ }
+}
+
+void ArduControl::MfxSearchTask::set_next_address(unsigned a)
+{
+ next_address = a;
+}
+
+bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
+{
+ return queue.pop(info);
+}
+
+
+ArduControl::MonitorTask::MonitorTask():
+ voltage(0),
+ current(0),
+ base_level(0),
+ peak_level(0),
+ next_type(0)
+{ }
+
+bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
+{
+ Time::TimeStamp t = Time::now();
+ if(t<next_poll)
+ return false;
+
+ if(next_type==0)
+ cmd.command[0] = READ_INPUT_VOLTAGE;
+ else
+ cmd.command[0] = READ_TRACK_CURRENT;
+ cmd.length = 1;
+
+ next_poll = t+200*Time::msec;
+ next_type = (next_type+1)%5;
+
+ return true;
+}
+
+void ArduControl::MonitorTask::process_reply(const char *reply, unsigned length)
+{
+ unsigned char type = reply[0];
+ if(type==INPUT_VOLTAGE && length==3)
+ voltage = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
+ else if(type==TRACK_CURRENT && length==5)
+ {
+ current = ((static_cast<unsigned char>(reply[1])<<8) | static_cast<unsigned char>(reply[2]))/1000.0f;
+ float peak = ((static_cast<unsigned char>(reply[3])<<8) | static_cast<unsigned char>(reply[4]))/1000.0f;
+ peak_level = max(peak_level, peak);
+ base_level = min(base_level, current);
+ }
+}
+
+void ArduControl::MonitorTask::reset_peak()
+{
+ base_level = current;
+ peak_level = current;
+}
+
+
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);
+ tasks.push_back(&control.s88);
+ tasks.push_back(&control.refresh);
+
launch();
}
void ArduControl::ControlThread::main()
{
- char command[15];
- unsigned length = 0;
- unsigned repeat_count = 0;
- Tag tag;
- Locomotive *loco = 0;
- unsigned phase = 0;
- unsigned s88_octets_remaining = 0;
-
- Msp::Time::TimeStamp next_mfx_announce;
- unsigned mfx_search_size = 0;
- unsigned mfx_search_bits = 0;
- Msp::Time::TimeStamp next_mfx_search;
+ init_baud_rate();
while(!done)
{
- Time::TimeStamp t = Time::now();
-
- if(!repeat_count)
+ PendingCommand cmd;
+ if(get_work(cmd))
{
- tag = Tag();
- length = 0;
- repeat_count = 1;
- QueuedCommand qcmd;
- if(control.pop_command(qcmd))
+ bool success = true;
+ bool resync = false;
+ for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
{
- length = qcmd.length;
- copy(qcmd.command, qcmd.command+length, command);
- if(qcmd.tag.type==Tag::LOCOMOTIVE)
- repeat_count = 8;
- tag = qcmd.tag;
+ unsigned result = do_command(cmd, control.command_timeout);
+ success = (result==COMMAND_OK);
+ resync = (result==0);
}
- else if(loco && phase==0)
- {
- length = loco->create_speed_func_command(control.refresh_counter%4+1, command);
- repeat_count = 2;
- ++phase;
- }
- else if(t>=next_mfx_announce)
- {
- command[0] = MFX_ANNOUNCE;
- command[1] = control.mfx_announce_serial>>8;
- command[2] = control.mfx_announce_serial;
- length = 3;
- next_mfx_announce = t+400*Time::msec;
- }
- else if(t>=next_mfx_search)
+
+ if(success && cmd.tag)
+ control.completed_commands.push(cmd.tag);
+
+ if(resync)
{
- command[0] = MFX_SEARCH;
- for(unsigned i=0; i<4; ++i)
- command[1+i] = mfx_search_bits>>(24-i*8);
- command[5] = mfx_search_size;
- length = 6;
- next_mfx_search = t+200*Time::msec;
if(control.debug>=1)
- IO::print("Search %08X/%d\n", mfx_search_bits, mfx_search_size);
- }
- else if(!s88_octets_remaining && control.n_s88_octets)
- {
- command[0] = S88_READ;
- command[1] = control.n_s88_octets;
- length = 2;
- s88_octets_remaining = control.n_s88_octets;
- }
- else if((loco = control.get_loco_to_refresh()))
- {
- if(loco->proto==MM)
+ IO::print("Synchronization with ArduControl lost, attempting to recover\n");
+ for(unsigned i=0; (resync && i<16); ++i)
+ {
+ control.serial.put('\xFF');
+ while(IO::poll(control.serial, IO::P_INPUT, control.command_timeout))
+ resync = (control.serial.get()!=0xFF);
+ }
+ if(resync)
{
- length = loco->create_speed_dir_command(command);
- repeat_count = 2;
- phase = 0;
+ if(control.debug>=1)
+ IO::print("Resynchronization failed, giving up\n");
+ done = true;
}
- else if(loco->proto==MFX)
+ else
{
- length = loco->create_speed_func_command(0, command);
- phase = 1;
+ if(control.debug>=1)
+ IO::print("Resynchronization successful\n");
+ if(cmd.tag)
+ control.command_queue.push(cmd);
}
}
- else
+ }
+ else
+ Time::sleep(10*Time::msec);
+ }
+}
+
+void ArduControl::ControlThread::init_baud_rate()
+{
+ static unsigned rates[] = { 57600, 9600, 19200, 38400, 0 };
+ unsigned rate = 0;
+ control.serial.set_data_bits(8);
+ control.serial.set_parity(IO::Serial::NONE);
+ control.serial.set_stop_bits(1);
+ for(unsigned i=0; rates[i]; ++i)
+ {
+ control.serial.set_baud_rate(rates[i]);
+ control.serial.put('\xFF');
+ if(IO::poll(control.serial, IO::P_INPUT, 500*Time::msec))
+ {
+ int c = control.serial.get();
+ if(c==0xFF)
{
- // Send an idle packet for the MM protocol
- command[0] = MOTOROLA_SPEED;
- command[1] = 80;
- command[2] = 0;
- command[3] = 0;
- length = 4;
+ rate = rates[i];
+ break;
}
}
+ }
- if(control.debug>=2)
+ if(!rate)
+ {
+ if(control.debug>=1)
+ IO::print("ArduControl detection failed\n");
+ done = true;
+ return;
+ }
+
+ if(control.debug>=1)
+ IO::print("ArduControl detected at %d bits/s\n", rate);
+
+ if(rate!=rates[0])
+ {
+ PendingCommand cmd;
+ cmd.command[0] = SET_BAUD_RATE;
+ cmd.command[1] = rates[0]>>8;
+ cmd.command[2] = rates[0];
+ cmd.length = 3;
+ if(do_command(cmd, Time::sec)==COMMAND_OK)
{
- string cmd_hex;
- for(unsigned i=0; i<length; ++i)
- cmd_hex += format(" %02X", static_cast<unsigned char>(command[i]));
- IO::print("< %02X%s\n", length^0xFF, cmd_hex);
+ control.serial.set_baud_rate(rates[0]);
+ Time::sleep(Time::sec);
+ if(do_command(cmd, Time::sec)==COMMAND_OK)
+ {
+ if(control.debug>=1)
+ IO::print("Rate changed to %d bits/s\n", rates[0]);
+ }
}
+ }
+}
- control.serial.put(length^0xFF);
- control.serial.write(command, length);
- --repeat_count;
+bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
+{
+ for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
+ if((*i)->get_work(cmd))
+ return true;
- bool got_reply = false;
- bool got_data = false;
- while(!got_reply || got_data)
- {
- if(got_reply)
- got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
- else
- got_data = IO::poll(control.serial, IO::P_INPUT);
+ // As fallback, send an idle packet for the MM protocol
+ cmd.command[0] = MOTOROLA_SPEED;
+ cmd.command[1] = 80;
+ cmd.command[2] = 0;
+ cmd.command[3] = 0;
+ cmd.length = 4;
- if(got_data)
- {
- unsigned rlength = control.serial.get()^0xFF;
- if(rlength>15)
- {
- IO::print("Invalid length %02X\n", rlength);
- continue;
- }
+ return true;
+}
- char reply[15];
- unsigned pos = 0;
- while(pos<rlength)
- pos += control.serial.read(reply+pos, rlength-pos);
+unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
+{
+ if(control.debug>=2)
+ {
+ string cmd_hex;
+ for(unsigned i=0; i<cmd.length; ++i)
+ cmd_hex += format(" %02X", static_cast<unsigned char>(cmd.command[i]));
+ IO::print("< %02X%s\n", cmd.length^0xFF, cmd_hex);
+ }
- if(control.debug>=2)
- {
- string reply_hex;
- for(unsigned i=0; i<rlength; ++i)
- reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
- IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
- }
+ control.serial.put(cmd.length^0xFF);
+ control.serial.write(cmd.command, cmd.length);
- unsigned char type = reply[0];
- if((type&0xE0)==0x80)
- {
- got_reply = true;
- if(type!=COMMAND_OK)
- IO::print("Error %02X\n", type);
- else if(tag && !repeat_count)
- control.push_completed_tag(tag);
- }
- else if(type==POWER_STATE && rlength==2)
- {
- control.power.set(reply[1]);
+ unsigned result = 0;
+ while(1)
+ {
+ bool got_data;
+ if(result)
+ got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
+ else
+ got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
- Tag ptag;
- ptag.type = Tag::GENERAL;
- ptag.command = POWER;
- ptag.serial = control.power.serial;
- control.push_completed_tag(ptag);
- }
- else if(type==MFX_FEEDBACK && rlength==2)
- {
- if(command[0]==MFX_SEARCH)
- {
- bool finished = true;
- if(reply[1])
- {
- if(mfx_search_size==32)
- {
- if(control.debug>=1)
- IO::print("Assigning MFX address %d to decoder %08X\n", control.next_mfx_address, mfx_search_bits);
-
- QueuedCommand qcmd;
- qcmd.command[0] = MFX_ASSIGN_ADDRESS;
- qcmd.command[1] = control.next_mfx_address>>8;
- qcmd.command[2] = control.next_mfx_address;
- for(unsigned i=0; i<4; ++i)
- qcmd.command[3+i] = mfx_search_bits>>(24-i*8);
- qcmd.length = 7;
- control.push_command(qcmd);
- ++control.next_mfx_address;
- }
- else
- {
- ++mfx_search_size;
- finished = false;
- }
- }
- else if(mfx_search_size>0)
- {
- unsigned mask = 1<<(32-mfx_search_size);
- if(!(mfx_search_bits&mask))
- {
- mfx_search_bits |= mask;
- finished = false;
- }
- }
-
- if(finished)
- {
- next_mfx_search = t+2*Time::sec;
- mfx_search_bits = 0;
- mfx_search_size = 0;
- }
- }
- }
- else if(type==S88_DATA && rlength>2)
- {
- unsigned offset = static_cast<unsigned char>(reply[1]);
- unsigned count = rlength-2;
-
- SensorMap::iterator begin = control.sensors.lower_bound(offset*8+1);
- SensorMap::iterator end = control.sensors.upper_bound((offset+count)*8);
- for(SensorMap::iterator i=begin; i!=end; ++i)
- {
- unsigned bit_index = i->first-1-offset*8;
- bool state = (reply[2+bit_index/8]>>(7-bit_index%8))&1;
- i->second.state.set(state);
-
- Tag stag;
- stag.type = Tag::SENSOR;
- stag.command = Sensor::STATE;
- stag.serial = i->second.state.serial;
- stag.id = i->first;
- control.push_completed_tag(stag);
- }
-
- if(count>s88_octets_remaining)
- s88_octets_remaining = 0;
- else
- s88_octets_remaining -= count;
- }
- }
+ if(!got_data)
+ break;
+
+ unsigned rlength = control.serial.get()^0xFF;
+ if(rlength>15)
+ {
+ IO::print("Invalid length %02X\n", rlength);
+ continue;
}
- }
-}
+ char reply[15];
+ unsigned pos = 0;
+ while(pos<rlength)
+ {
+ if(!IO::poll(control.serial, IO::P_INPUT, timeout))
+ return 0;
+ pos += control.serial.read(reply+pos, rlength-pos);
+ }
-ArduControl::QueuedCommand::QueuedCommand():
- length(0)
-{ }
+ if(control.debug>=2)
+ {
+ string reply_hex;
+ for(unsigned i=0; i<rlength; ++i)
+ reply_hex += format(" %02X", static_cast<unsigned char>(reply[i]));
+ IO::print("> %02X%s\n", rlength^0xFF, reply_hex);
+ }
-ArduControl::QueuedCommand::QueuedCommand(GeneralCommand cmd):
- length(0)
-{
- tag.type = Tag::GENERAL;
- tag.command = cmd;
+ unsigned r = process_reply(reply, rlength);
+ if(r && !result)
+ result = r;
+ }
+
+ return result;
}
-ArduControl::QueuedCommand::QueuedCommand(Locomotive &loco, Locomotive::Command cmd, unsigned index)
+unsigned ArduControl::ControlThread::process_reply(const char *reply, unsigned rlength)
{
- tag.type = Tag::LOCOMOTIVE;
- tag.command = cmd;
- tag.id = loco.id;
- if(cmd==Locomotive::SPEED)
+ unsigned char type = reply[0];
+ if((type&0xE0)==0x80)
{
- tag.serial = loco.speed.serial;
- length = loco.create_speed_dir_command(command);
+ if(type!=COMMAND_OK)
+ IO::print("Error %02X\n", type);
+ return type;
}
- else if(cmd==Locomotive::REVERSE)
+ else if(type==POWER_STATE && rlength==2)
+ set_power(reply[1]);
+ else if(type==OVERCURRENT)
{
- tag.serial = loco.reverse.serial;
- length = loco.create_speed_dir_command(command);
+ set_power(false);
+ IO::print("Overcurrent detected!\n");
}
- else if(cmd==Locomotive::FUNCTIONS)
+ else
{
- tag.serial = loco.funcs.serial;
- length = loco.create_speed_func_command(index, command);
+ for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
+ (*i)->process_reply(reply, rlength);
}
- else
- throw invalid_argument("QueuedCommand");
+
+ return 0;
}
-ArduControl::QueuedCommand::QueuedCommand(Accessory &acc, Accessory::Command cmd, unsigned index)
+void ArduControl::ControlThread::set_power(bool p)
{
- tag.type = Tag::ACCESSORY;
- tag.command = cmd;
- tag.id = acc.address;
- if(cmd==Accessory::ACTIVATE || cmd==Accessory::DEACTIVATE)
- {
- tag.serial = acc.state.serial;
- length = acc.create_state_command(index, (cmd==Accessory::ACTIVATE), command);
- }
- else
- throw invalid_argument("QueuedCommand");
+ 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)
+{
+ add("mfx_announce_serial", &Loader::mfx_announce_serial);
+ add("mfx_locomotive", &Loader::mfx_locomotive);
+}
+
+void ArduControl::Loader::mfx_announce_serial(unsigned s)
+{
+ obj.mfx_announce.set_serial(s);
+}
+
+void ArduControl::Loader::mfx_locomotive(unsigned id)
+{
+ MfxInfo info;
+ info.id = id;
+ info.protocol = "MFX";
+ load_sub(info);
+ obj.add_mfx_info(info);
+}
+
+
+ArduControl::MfxInfo::Loader::Loader(MfxInfo &i):
+ DataFile::ObjectLoader<MfxInfo>(i)
+{
+ add("address", static_cast<unsigned MfxInfo::*>(&MfxInfo::address));
+ add("name", static_cast<string MfxInfo::*>(&MfxInfo::name));
}
} // namespace R2C2
projects / r2c2.git / blobdiff