Turn ArduControl command_queue into a Task

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

diff --git a/source/libr2c2/arducontrol.h b/source/libr2c2/arducontrol.h
index 555280985767a7e37ea512607a0337359ac11618..4373a84f707713e6b7d80c1e927875719b6cad0a 100644 (file)
--- a/source/libr2c2/arducontrol.h
+++ b/source/libr2c2/arducontrol.h
@@ -117,6 +117,7 @@ private:
 
                bool set(T v) { if(v==pending) return false; pending = v; ++serial; return true; }
                bool commit(unsigned short s) { if(s!=serial) return false; current = pending; return true; }
+               void rollback() { pending = current; ++serial; }
 
                operator T() const { return current; }
        };
@@ -172,11 +173,13 @@ private:
                Kind kind;
                unsigned address;
                unsigned bits;
+               unsigned valid_states;
                ControlledVariable<unsigned> state;
+               unsigned uncertain;
                unsigned target;
                Msp::Time::TimeDelta active_time;
 
-               Accessory(Kind, unsigned, unsigned);
+               Accessory(Kind, unsigned, unsigned, unsigned);
 
                unsigned create_state_command(unsigned, bool, char *) const;
        };
@@ -217,6 +220,7 @@ private:
        public:
                void push(const T &);
                bool pop(T &);
+               bool empty() const;
        };
 
        class Task
@@ -237,6 +241,9 @@ private:
 
        public:
                virtual bool get_work(PendingCommand &);
+
+               void push(const PendingCommand &);
+               bool empty() const { return queue.empty(); }
        };
 
        class RefreshTask: public Task
@@ -354,8 +361,9 @@ private:
                virtual void main();
                void init_baud_rate();
                bool get_work(PendingCommand &);
-               unsigned do_command(const PendingCommand &);
+               unsigned do_command(const PendingCommand &, const Msp::Time::TimeDelta &);
                unsigned process_reply(const char *, unsigned);
+               void set_power(bool);
        };
 
        typedef std::map<unsigned, Locomotive> LocomotiveMap;
@@ -369,6 +377,7 @@ private:
        Msp::FS::Path state_file;
 
        ControlledVariable<bool> power;
+       bool halted;
 
        LocomotiveMap locomotives;
        MfxInfoArray mfx_info;
@@ -380,8 +389,8 @@ private:
 
        SensorMap sensors;
 
-       Msp::Mutex mutex;
-       Queue<PendingCommand> command_queue;
+       Msp::Time::TimeDelta command_timeout;
+       CommandQueueTask command_queue;
        Queue<Tag> completed_commands;
        RefreshTask refresh;
        S88Task s88;
@@ -399,7 +408,7 @@ public:
        virtual void set_power(bool);
        virtual bool get_power() const { return power; }
        virtual void halt(bool);
-       virtual bool is_halted() const { return false; }
+       virtual bool is_halted() const { return halted; }
 
        virtual const char *enumerate_protocols(unsigned) const;
 private:
@@ -428,10 +437,11 @@ public:
        virtual unsigned get_signal(unsigned) const;
 
 private:
-       unsigned add_accessory(Accessory::Kind, unsigned, unsigned);
+       unsigned add_accessory(Accessory::Kind, unsigned, unsigned, unsigned);
        void remove_accessory(Accessory::Kind, unsigned);
        void set_accessory(Accessory::Kind, unsigned, unsigned);
        unsigned get_accessory(Accessory::Kind, unsigned) const;
+       void activate_accessory_by_mask(Accessory &, unsigned);
 
 public:
        virtual unsigned add_sensor(unsigned);