#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>
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
{
POWER_ON = 0x01,
POWER_OFF = 0x02,
+ READ_POWER_STATE = 0x03,
READ_TRACK_CURRENT = 0x08,
SET_OVERCURRENT_LIMIT = 0x09,
READ_INPUT_VOLTAGE = 0x0A,
MOTOROLA_SPEED_DIRECTION = 0x13,
MOTOROLA_SPEED_FUNCTION = 0x14,
MOTOROLA_SOLENOID = 0x15,
+ MFX_SET_STATION_ID = 0x21,
+ MFX_ANNOUNCE = 0x22,
+ MFX_SEARCH = 0x23,
+ MFX_ASSIGN_ADDRESS = 0x24,
+ MFX_PING = 0x25,
+ MFX_SPEED = 0x28,
+ MFX_SPEED_FUNCS8 = 0x29,
+ MFX_SPEED_FUNCS16 = 0x2A,
S88_READ = 0x30,
+ SET_BAUD_RATE = 0x70,
COMMAND_OK = 0x80,
RECEIVE_OVERRUN = 0x81,
FRAMING_ERROR = 0x82,
LENGTH_ERROR = 0x84,
INVALID_VALUE = 0x85,
OVERCURRENT = 0xA0,
+ BAUD_CHANGE_FAILED = 0xA1,
TRACK_CURRENT = 0xC0,
INPUT_VOLTAGE = 0xC1,
- S88_DATA = 0xD0
+ POWER_STATE = 0xC2,
+ S88_DATA = 0xD0,
+ MFX_SEARCH_FEEDBACK = 0xD1,
+ MFX_PING_FEEDBACK = 0xD2
};
struct Tag
Type type;
unsigned char command;
unsigned short serial;
- unsigned address;
+ unsigned id;
Tag();
enum GeneralCommand
{
- POWER
+ POWER,
+ NEW_LOCO
};
enum Protocol
{
- NONE,
- MM
+ MM,
+ MFX
+ };
+
+ struct ProtocolInfo
+ {
+ unsigned max_address;
+ unsigned max_speed;
+ unsigned max_func;
};
template<typename T>
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; }
};
FUNCTIONS
};
+ unsigned id;
Protocol proto;
unsigned address;
ControlledVariable<unsigned> speed;
unsigned create_speed_func_command(unsigned, char *) const;
};
+ struct MfxInfo: public DetectedLocomotive
+ {
+ class Loader: public Msp::DataFile::ObjectLoader<MfxInfo>
+ {
+ public:
+ Loader(MfxInfo &);
+ };
+
+ unsigned id;
+ };
+
struct Accessory
{
enum Kind
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;
};
Sensor(unsigned);
};
+ struct PendingCommand
+ {
+ Tag tag;
+ char command[15];
+ unsigned char length;
+ unsigned repeat_count;
+
+ PendingCommand();
+ PendingCommand(GeneralCommand);
+ PendingCommand(Locomotive &, Locomotive::Command, unsigned = 0);
+ PendingCommand(Accessory &, Accessory::Command, unsigned = 0);
+ };
+
+ template<typename T>
+ class Queue
+ {
+ private:
+ std::list<T> items;
+ Msp::Mutex mutex;
+
+ public:
+ void push(const T &);
+ bool pop(T &);
+ bool empty() const;
+ };
+
+ class Task
+ {
+ protected:
+ Task() { }
+ public:
+ virtual ~Task() { }
+
+ virtual bool get_work(PendingCommand &) = 0;
+ 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:
+ typedef std::list<Locomotive *> LocomotivePtrList;
+
+ LocomotivePtrList cycle;
+ LocomotivePtrList::iterator next;
+ unsigned round;
+ Locomotive *loco;
+ unsigned phase;
+ Msp::Mutex mutex;
+
+ public:
+ RefreshTask();
+
+ virtual bool get_work(PendingCommand &);
+
+ void add_loco(Locomotive &);
+ void remove_loco(Locomotive &);
+ private:
+ Locomotive *get_next_loco();
+ void advance();
+ };
+
+ class S88Task: public Task
+ {
+ private:
+ ArduControl &control;
+ unsigned n_octets;
+ unsigned octets_remaining;
+ unsigned delay;
+
+ public:
+ S88Task(ArduControl &);
+
+ virtual bool get_work(PendingCommand &);
+ virtual void process_reply(const char *, unsigned);
+
+ void set_n_octets(unsigned);
+ void grow_n_octets(unsigned);
+ };
+
+ class MfxAnnounceTask: public Task
+ {
+ private:
+ unsigned serial;
+ Msp::Time::TimeStamp next;
+
+ public:
+ MfxAnnounceTask();
+
+ virtual bool get_work(PendingCommand &);
+
+ void set_serial(unsigned);
+ unsigned get_serial() const { return serial; }
+ };
+
+ class MfxSearchTask: public Task
+ {
+ private:
+ ArduControl &control;
+ unsigned next_address;
+ Msp::Time::TimeStamp next;
+ unsigned size;
+ unsigned bits;
+ unsigned misses;
+ Queue<MfxInfo> queue;
+
+ public:
+ MfxSearchTask(ArduControl &);
+
+ 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:
ArduControl &control;
bool done;
+ std::vector<Task *> tasks;
public:
ControlThread(ArduControl &);
void exit();
private:
virtual void main();
- };
-
- struct QueuedCommand
- {
- Tag tag;
- char command[15];
- unsigned char length;
-
- QueuedCommand();
- QueuedCommand(GeneralCommand);
- QueuedCommand(Locomotive &, Locomotive::Command, unsigned = 0);
- QueuedCommand(Accessory &, Accessory::Command, unsigned = 0);
+ void init_baud_rate();
+ bool get_work(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;
- typedef std::list<Locomotive *> LocomotivePtrList;
+ typedef std::vector<MfxInfo> MfxInfoArray;
typedef std::map<unsigned, Accessory> AccessoryMap;
typedef std::list<Accessory *> AccessoryPtrList;
typedef std::map<unsigned, Sensor> SensorMap;
Msp::IO::Serial serial;
- bool debug;
+ unsigned debug;
+ Msp::FS::Path state_file;
ControlledVariable<bool> power;
+ bool halted;
LocomotiveMap locomotives;
- LocomotivePtrList refresh_cycle;
- LocomotivePtrList::iterator next_refresh;
- unsigned refresh_counter;
+ MfxInfoArray mfx_info;
AccessoryMap accessories;
AccessoryPtrList accessory_queue;
Accessory *active_accessory;
+ unsigned char active_index;
Msp::Time::TimeStamp off_timeout;
- std::list<QueuedCommand> command_queue;
- std::list<Tag> completed_commands;
SensorMap sensors;
- unsigned n_s88_octets;
- Msp::Mutex mutex;
+ 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:
public:
virtual unsigned get_protocol_speed_steps(const std::string &) const;
- virtual void add_loco(unsigned, const std::string &, const VehicleType &);
+ 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);
virtual void set_loco_function(unsigned, unsigned, bool);
-private:
- void add_loco_to_refresh(Locomotive &);
- void remove_loco_from_refresh(Locomotive &);
- Locomotive *get_loco_to_refresh();
- void advance_next_refresh();
-public:
- virtual void add_turnout(unsigned, const TrackType &);
+ virtual unsigned add_turnout(unsigned, const TrackType &);
virtual void remove_turnout(unsigned);
virtual void set_turnout(unsigned, unsigned);
virtual unsigned get_turnout(unsigned) const;
- virtual void add_signal(unsigned, const SignalType &);
+ virtual unsigned add_signal(unsigned, const SignalType &);
virtual void remove_signal(unsigned);
virtual void set_signal(unsigned, unsigned);
virtual unsigned get_signal(unsigned) const;
private:
- void 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 void add_sensor(unsigned);
+ virtual unsigned add_sensor(unsigned);
virtual void remove_sensor(unsigned);
virtual void set_sensor(unsigned, bool) { }
virtual bool get_sensor(unsigned) const;
virtual void tick();
virtual void flush();
-
private:
- void push_command(const QueuedCommand &);
- bool pop_command(QueuedCommand &);
- void push_completed_tag(const Tag &);
- Tag pop_completed_tag();
+ void save_state() const;
};
} // namespace R2C2
projects / r2c2.git / blobdiff