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 c9a88aa56f4c30f068bda6fc40c9f673337d2284..4373a84f707713e6b7d80c1e927875719b6cad0a 100644 (file)
--- a/source/libr2c2/arducontrol.h
+++ b/source/libr2c2/arducontrol.h
@@ -3,6 +3,8 @@
 
 #include <msp/core/mutex.h>
 #include <msp/core/thread.h>
+#include <msp/datafile/objectloader.h>
+#include <msp/fs/path.h>
 #include <msp/io/serial.h>
 #include <msp/time/timedelta.h>
 #include <msp/time/timestamp.h>
@@ -12,6 +14,17 @@ namespace R2C2 {
 
 class ArduControl: public Driver
 {
+public:
+       class Loader: public Msp::DataFile::ObjectLoader<ArduControl>
+       {
+       public:
+               Loader(ArduControl &);
+
+       private:
+               void mfx_announce_serial(unsigned);
+               void mfx_locomotive(unsigned);
+       };
+
 private:
        enum Command
        {
@@ -104,6 +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; }
        };
@@ -133,6 +147,12 @@ private:
 
        struct MfxInfo: public DetectedLocomotive
        {
+               class Loader: public Msp::DataFile::ObjectLoader<MfxInfo>
+               {
+               public:
+                       Loader(MfxInfo &);
+               };
+
                unsigned id;
        };
 
@@ -153,11 +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;
        };
@@ -198,6 +220,7 @@ private:
        public:
                void push(const T &);
                bool pop(T &);
+               bool empty() const;
        };
 
        class Task
@@ -211,6 +234,18 @@ private:
                virtual void process_reply(const char *, unsigned) { }
        };
 
+       class CommandQueueTask: public Task
+       {
+       private:
+               Queue<PendingCommand> queue;
+
+       public:
+               virtual bool get_work(PendingCommand &);
+
+               void push(const PendingCommand &);
+               bool empty() const { return queue.empty(); }
+       };
+
        class RefreshTask: public Task
        {
        private:
@@ -241,6 +276,7 @@ private:
                ArduControl &control;
                unsigned n_octets;
                unsigned octets_remaining;
+               unsigned delay;
 
        public:
                S88Task(ArduControl &);
@@ -264,6 +300,7 @@ private:
                virtual bool get_work(PendingCommand &);
 
                void set_serial(unsigned);
+               unsigned get_serial() const { return serial; }
        };
 
        class MfxSearchTask: public Task
@@ -283,9 +320,32 @@ private:
                virtual bool get_work(PendingCommand &);
                virtual void process_reply(const char *, unsigned);
 
+               void set_next_address(unsigned);
                bool pop_info(MfxInfo &);
        };
 
+       class MonitorTask: public Task
+       {
+       private:
+               float voltage;
+               float current;
+               float base_level;
+               float peak_level;
+               Msp::Time::TimeStamp next_poll;
+               unsigned next_type;
+
+       public:
+               MonitorTask();
+
+               virtual bool get_work(PendingCommand &);
+               virtual void process_reply(const char *, unsigned);
+
+               float get_voltage() const { return voltage; }
+               float get_current() const { return current; }
+               void reset_peak();
+               float get_peak() const { return peak_level-base_level; }
+       };
+
        class ControlThread: public Msp::Thread
        {
        private:
@@ -301,8 +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;
@@ -313,37 +374,41 @@ private:
 
        Msp::IO::Serial serial;
        unsigned debug;
+       Msp::FS::Path state_file;
 
        ControlledVariable<bool> power;
+       bool halted;
 
        LocomotiveMap locomotives;
        MfxInfoArray mfx_info;
        AccessoryMap accessories;
        AccessoryPtrList accessory_queue;
        Accessory *active_accessory;
+       unsigned char active_index;
        Msp::Time::TimeStamp off_timeout;
 
        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;
        MfxAnnounceTask mfx_announce;
        MfxSearchTask mfx_search;
+       MonitorTask monitor;
        ControlThread thread;
 
        static ProtocolInfo protocol_info[2];
 
 public:
-       ArduControl(const std::string &);
+       ArduControl(const Options &);
        ~ArduControl();
 
        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:
@@ -353,6 +418,9 @@ public:
 
        virtual const DetectedLocomotive *enumerate_detected_locos(unsigned) const;
        virtual unsigned add_loco(unsigned, const std::string &, const VehicleType &);
+private:
+       MfxInfoArray::iterator add_mfx_info(const MfxInfo &);
+public:
        virtual void remove_loco(unsigned);
        virtual void set_loco_speed(unsigned, unsigned);
        virtual void set_loco_reverse(unsigned, bool);
@@ -369,10 +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);
@@ -382,6 +451,8 @@ public:
 
        virtual void tick();
        virtual void flush();
+private:
+       void save_state() const;
 };
 
 } // namespace R2C2