{ 0x3FFF, 126, 15 } // MFX
};
+Driver::TelemetryInfo ArduControl::telemetry_info[6] =
+{
+ { "voltage", "Voltage", "V", 1 },
+ { "current", "Current", "A", 2 },
+ { "cmd-rate", "Cmd rate", "/ s", 0 },
+ { "cmd-queue-depth", "Cmd queue", "", 0 },
+ { "acc-queue-depth", "Acc queue", "", 0 },
+ { "s88-latency", "S88 latency", "ms", 0 }
+};
+
ArduControl::ArduControl(const Options &opts):
serial(opts.get<string>(string(), "ttyUSB0")),
debug(opts.get<unsigned>("debug")),
return i;
}
+ArduControl::MfxInfo *ArduControl::find_mfx_info(unsigned id)
+{
+ for(MfxInfoArray::iterator i=mfx_info.begin(); i!=mfx_info.end(); ++i)
+ if(i->id==id)
+ return &*i;
+ return 0;
+}
+
void ArduControl::remove_loco(unsigned id)
{
Locomotive &loco = get_item(locomotives, id);
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;
}
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)
return get_item(sensors, addr).state;
}
+const Driver::TelemetryInfo *ArduControl::enumerate_telemetry(unsigned i) const
+{
+ if(i<6)
+ return telemetry_info+i;
+ else
+ return 0;
+}
+
+float ArduControl::get_telemetry_value(const string &name) const
+{
+ if(name==telemetry_info[0].name)
+ return monitor.get_voltage();
+ else if(name==telemetry_info[1].name)
+ return monitor.get_current();
+ else if(name==telemetry_info[2].name)
+ return thread.get_command_rate();
+ else if(name==telemetry_info[3].name)
+ return command_queue.size();
+ else if(name==telemetry_info[4].name)
+ return accessory_queue.size();
+ else if(name==telemetry_info[5].name)
+ return s88.get_latency()/Time::msec;
+ else
+ throw key_error(name);
+}
+
void ArduControl::tick()
{
Tag tag;
{
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);
}
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
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;
// 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();
}
-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
return true;
}
+template<typename T>
+unsigned ArduControl::Queue<T>::size() const
+{
+ return items.size();
+}
+
template<typename T>
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::Task::Task(const string &n, unsigned p):
+ name(n),
+ priority(p)
+{ }
+
+void ArduControl::Task::sleep(const Time::TimeDelta &dt)
+{
+ sleep_timeout = Time::now()+dt;
+}
+
+
+ArduControl::CommandQueueTask::CommandQueueTask():
+ Task("CommandQueue")
+{ }
+
+
ArduControl::RefreshTask::RefreshTask():
+ Task("Refresh", 2),
next(cycle.end()),
round(0),
loco(0),
++next;
if(next==cycle.end())
{
- next= cycle.begin();
+ next = cycle.begin();
++round;
}
}
ArduControl::S88Task::S88Task(ArduControl &c):
+ Task("S88"),
control(c),
n_octets(0),
- octets_remaining(0),
- delay(0)
+ octets_remaining(0)
{ }
bool ArduControl::S88Task::get_work(PendingCommand &cmd)
{
- if(delay)
- {
- --delay;
- return false;
- }
if(octets_remaining || !n_octets)
return false;
+ Time::TimeStamp t = Time::now();
+ if(last_poll)
+ latency = t-last_poll;
+ last_poll = t;
+
octets_remaining = n_octets;
cmd.command[0] = S88_READ;
cmd.command[1] = octets_remaining;
cmd.length = 2;
- delay = 4;
+ sleep(100*Time::msec);
return true;
}
ArduControl::MfxAnnounceTask::MfxAnnounceTask():
+ Task("MfxAnnounce", 1),
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;
+
+ sleep(400*Time::msec);
return true;
}
ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
+ Task("MfxSearch", 1),
control(c),
next_address(1),
size(0),
bits(0),
- misses(0)
+ misses(0),
+ pending_info(0),
+ read_array(0),
+ read_offset(0),
+ read_length(0),
+ block_size(0)
{ }
bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
{
+ if(read_length>0)
+ {
+ cmd.command[0] = MFX_READ;
+ cmd.command[1] = pending_info->address>>8;
+ cmd.command[2] = pending_info->address;
+ unsigned index = read_array*0x40+read_offset;
+ cmd.command[3] = index>>8;
+ cmd.command[4] = index;
+ unsigned length = (read_length>=4 ? 4 : read_length>=2 ? 2 : 1);
+ cmd.command[5] = length;
+ cmd.length = 6;
+
+ sleep(100*Time::msec);
+
+ return true;
+ }
+ else if(pending_info)
+ {
+ queue.push(*pending_info);
+ Tag tag;
+ tag.type = Tag::GENERAL;
+ tag.command = NEW_LOCO;
+ tag.id = pending_info->id;
+ control.completed_commands.push(tag);
+
+ if(control.debug>=1)
+ IO::print("Completed processing locomotive %s at address %d\n", pending_info->name, pending_info->address);
+
+ delete pending_info;
+ pending_info = 0;
+ }
+
if(size>32)
{
+ unsigned address = 0;
+ if(MfxInfo *existing = control.find_mfx_info(bits))
+ address = existing->address;
+ else
+ address = next_address++;
+
if(control.debug>=1)
- IO::print("Assigning MFX address %d to decoder %08X\n", next_address, bits);
+ IO::print("Assigning MFX address %d to decoder %08X\n", address, bits);
- MfxInfo info;
- info.protocol = "MFX";
- info.address = next_address;
- info.name = format("%08X", bits);
- info.id = bits;
- queue.push(info);
+ pending_info = new MfxInfo;
+ pending_info->protocol = "MFX";
+ pending_info->address = address;
+ pending_info->name = format("%08X", bits);
+ pending_info->id = bits;
cmd.command[0] = MFX_ASSIGN_ADDRESS;
- cmd.command[1] = next_address>>8;
- cmd.command[2] = next_address;
+ cmd.command[1] = address>>8;
+ cmd.command[2] = 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;
+ misses = 0;
+
+ read_array = 0;
+ read_offset = 0;
+ read_length = 6;
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;
+ sleep(100*Time::msec);
if(control.debug>=1)
IO::print("Search %08X/%d\n", bits, size);
}
else
{
- next = Time::now()+2*Time::sec;
+ sleep(2*Time::sec);
bits = 0;
size = 0;
misses = 0;
}
}
+ else if(type==MFX_READ_FEEDBACK && length>=3)
+ {
+ if(reply[1])
+ {
+ misses = 0;
+
+ for(unsigned i=2; i<length; ++i)
+ read_data[read_offset+i-2] = reply[i];
+ read_offset += length-2;
+ read_length -= length-2;
+
+ if(!read_length)
+ {
+ if(read_array==0)
+ block_size = static_cast<unsigned char>(read_data[4])*static_cast<unsigned char>(read_data[5]);
+
+ bool array_handled = false;
+ if(read_data[0]==0x18)
+ {
+ for(unsigned i=1; i<read_offset; ++i)
+ if(!read_data[i])
+ {
+ pending_info->name = string(read_data+1, i-1);
+ array_handled = true;
+ break;
+ }
+
+ if(!array_handled)
+ read_length = 4;
+ }
+ else
+ array_handled = true;
+
+ if(array_handled && control.debug>=1)
+ {
+ IO::print("MFX CA %03X:", read_array);
+ for(unsigned i=0; i<read_offset; ++i)
+ IO::print(" %02X", static_cast<unsigned char>(read_data[i]));
+ IO::print("\n");
+ }
+
+ if(array_handled && read_array<block_size)
+ {
+ ++read_array;
+ read_offset = 0;
+ read_length = 1;
+ }
+ }
+ }
+ else
+ {
+ ++misses;
+ if(misses>=10)
+ {
+ if(control.debug>=1)
+ IO::print("Failed to read MFX configuration from %d\n", pending_info->address);
+ read_length = 0;
+ }
+ }
+ }
}
void ArduControl::MfxSearchTask::set_next_address(unsigned a)
ArduControl::MonitorTask::MonitorTask():
+ Task("Monitor"),
voltage(0),
current(0),
base_level(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;
+ sleep(200*Time::msec);
next_type = (next_type+1)%5;
return true;
ArduControl::ControlThread::ControlThread(ArduControl &c):
control(c),
- done(false)
+ done(false),
+ cmd_rate(20),
+ cmd_count(0)
{
+ tasks.push_back(&control.command_queue);
tasks.push_back(&control.monitor);
tasks.push_back(&control.mfx_announce);
tasks.push_back(&control.mfx_search);
void ArduControl::ControlThread::main()
{
init_baud_rate();
+ cmd_rate_start = Time::now();
while(!done)
{
control.command_queue.push(cmd);
}
}
+
+ if(cmd_count>=cmd_rate)
+ {
+ Time::TimeStamp t = Time::now();
+ cmd_rate = cmd_count/((t-cmd_rate_start)/Time::sec);
+ cmd_rate_start = t;
+ cmd_count = 0;
+ }
}
else
Time::sleep(10*Time::msec);
bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
{
- if(control.command_queue.pop(cmd))
- return true;
+ Time::TimeStamp t = Time::now();
+
+ unsigned count = 0;
+ for(; (count<tasks.size() && tasks[count]->get_sleep_timeout()<=t); ++count) ;
+
+ for(; count>0; --count)
+ {
+ unsigned i = 0;
+ for(unsigned j=1; j<count; ++j)
+ if(tasks[j]->get_priority()<tasks[i]->get_priority())
+ i = j;
- for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
- if((*i)->get_work(cmd))
+ Task *task = tasks[i];
+ bool result = task->get_work(cmd);
+
+ Time::TimeStamp st = max(task->get_sleep_timeout(), t);
+ for(; (i+1<tasks.size() && tasks[i+1]->get_sleep_timeout()<=st); ++i)
+ tasks[i] = tasks[i+1];
+ tasks[i] = task;
+
+ if(result)
+ {
+ if(control.debug>=2)
+ IO::print("Scheduled task %s\n", task->get_name());
return true;
+ }
+ }
// As fallback, send an idle packet for the MM protocol
cmd.command[0] = MOTOROLA_SPEED;
result = r;
}
+ ++cmd_count;
+
return result;
}
projects / r2c2.git / blobdiff