{ 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")),
state_file("arducontrol.state"),
power(false),
+ halted(false),
active_accessory(0),
+ command_timeout(200*Time::msec),
s88(*this),
mfx_search(*this),
thread(*this)
}
}
-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 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(speed>protocol_info[loco.proto].max_speed)
throw invalid_argument("ArduControl::set_loco_speed");
+ if(speed && halted)
+ return;
+
if(loco.speed.set(speed))
{
PendingCommand cmd(loco, Locomotive::SPEED);
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)
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;
{
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) ;
- active_index = i;
- acc.state.set(acc.state^lowest_bit);
- PendingCommand cmd(acc, Accessory::ACTIVATE, i);
- command_queue.push(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();
- PendingCommand cmd(*active_accessory, Accessory::DEACTIVATE, active_index);
+ 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::save_state() const
}
-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
return true;
}
+template<typename T>
+unsigned ArduControl::Queue<T>::size() const
+{
+ return items.size();
+}
+
+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::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),
+ peak_level(0),
+ next_type(0)
+{ }
+
+bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
+{
+ if(next_type==0)
+ cmd.command[0] = READ_INPUT_VOLTAGE;
+ else
+ cmd.command[0] = READ_TRACK_CURRENT;
+ cmd.length = 1;
+
+ sleep(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)
+ 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);
tasks.push_back(&control.s88);
void ArduControl::ControlThread::main()
{
init_baud_rate();
+ cmd_rate_start = Time::now();
while(!done)
{
if(get_work(cmd))
{
bool success = true;
+ bool resync = false;
for(unsigned i=0; (success && i<cmd.repeat_count); ++i)
- success = (do_command(cmd)==COMMAND_OK);
+ {
+ unsigned result = do_command(cmd, control.command_timeout);
+ success = (result==COMMAND_OK);
+ resync = (result==0);
+ }
+
if(success && cmd.tag)
control.completed_commands.push(cmd.tag);
+
+ if(resync)
+ {
+ if(control.debug>=1)
+ 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)
+ {
+ if(control.debug>=1)
+ IO::print("Resynchronization failed, giving up\n");
+ done = true;
+ }
+ else
+ {
+ if(control.debug>=1)
+ IO::print("Resynchronization successful\n");
+ if(cmd.tag)
+ 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);
cmd.command[1] = rates[0]>>8;
cmd.command[2] = rates[0];
cmd.length = 3;
- if(do_command(cmd)==COMMAND_OK)
+ if(do_command(cmd, Time::sec)==COMMAND_OK)
{
control.serial.set_baud_rate(rates[0]);
Time::sleep(Time::sec);
- if(do_command(cmd)==COMMAND_OK)
+ if(do_command(cmd, Time::sec)==COMMAND_OK)
{
if(control.debug>=1)
IO::print("Rate changed to %d bits/s\n", rates[0]);
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;
+
+ 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;
- for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
- if((*i)->get_work(cmd))
+ 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;
return true;
}
-unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd)
+unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
{
if(control.debug>=2)
{
if(result)
got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
else
- got_data = IO::poll(control.serial, IO::P_INPUT);
+ got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
if(!got_data)
break;
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);
+ }
if(control.debug>=2)
{
result = r;
}
+ ++cmd_count;
+
return result;
}
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
{
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)
projects / r2c2.git / blobdiff