#ifndef LIBR2C2_ARDUCONTROL_H_
#define LIBR2C2_ARDUCONTROL_H_
+#include <deque>
#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
{
MFX_SEARCH = 0x23,
MFX_ASSIGN_ADDRESS = 0x24,
MFX_PING = 0x25,
+ MFX_READ = 0x26,
MFX_SPEED = 0x28,
MFX_SPEED_FUNCS8 = 0x29,
MFX_SPEED_FUNCS16 = 0x2A,
POWER_STATE = 0xC2,
S88_DATA = 0xD0,
MFX_SEARCH_FEEDBACK = 0xD1,
- MFX_PING_FEEDBACK = 0xD2
+ MFX_PING_FEEDBACK = 0xD2,
+ MFX_READ_FEEDBACK = 0xD3
};
struct Tag
enum GeneralCommand
{
- POWER
+ POWER,
+ NEW_LOCO
};
enum Protocol
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; }
};
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;
};
PendingCommand(Accessory &, Accessory::Command, unsigned = 0);
};
+ template<typename T>
+ class Queue
+ {
+ private:
+ std::deque<T> items;
+ Msp::Mutex mutex;
+
+ public:
+ void push(const T &);
+ bool pop(T &);
+ unsigned size() const;
+ bool empty() const;
+ };
+
class Task
{
protected:
- Task() { }
+ std::string name;
+ unsigned priority;
+ Msp::Time::TimeStamp sleep_timeout;
+
+ Task(const std::string &, unsigned = 0);
public:
virtual ~Task() { }
+ const std::string &get_name() const { return name; }
+
virtual bool get_work(PendingCommand &) = 0;
virtual void process_reply(const char *, unsigned) { }
+
+ unsigned get_priority() const { return priority; }
+ const Msp::Time::TimeStamp &get_sleep_timeout() const { return sleep_timeout; }
+ protected:
+ void sleep(const Msp::Time::TimeDelta &);
+ };
+
+ class CommandQueueTask: public Task
+ {
+ private:
+ Queue<PendingCommand> queue;
+
+ public:
+ CommandQueueTask();
+
+ virtual bool get_work(PendingCommand &);
+
+ void push(const PendingCommand &);
+ unsigned size() const { return queue.size(); }
+ bool empty() const { return queue.empty(); }
};
class RefreshTask: public Task
ArduControl &control;
unsigned n_octets;
unsigned octets_remaining;
+ Msp::Time::TimeStamp last_poll;
+ Msp::Time::TimeDelta latency;
public:
S88Task(ArduControl &);
void set_n_octets(unsigned);
void grow_n_octets(unsigned);
+
+ const Msp::Time::TimeDelta &get_latency() const { return latency; }
};
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;
+
+ MfxInfo *pending_info;
+ unsigned read_array;
+ unsigned read_offset;
+ unsigned read_length;
+ char read_data[0x40];
+ unsigned block_size;
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;
+ 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
ArduControl &control;
bool done;
std::vector<Task *> tasks;
+ unsigned cmd_rate;
+ unsigned cmd_count;
+ Msp::Time::TimeStamp cmd_rate_start;
public:
ControlThread(ArduControl &);
+ unsigned get_command_rate() const { return cmd_rate; }
+
void exit();
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;
+ 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;
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;
- std::list<PendingCommand> command_queue;
- std::list<Tag> completed_commands;
SensorMap sensors;
- 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];
+ static TelemetryInfo telemetry_info[6];
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 const DetectedLocomotive *enumerate_detected_locos(unsigned) const { return 0; }
+ 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 &);
+ MfxInfo *find_mfx_info(unsigned);
+public:
virtual void remove_loco(unsigned);
virtual void set_loco_speed(unsigned, unsigned);
virtual void set_loco_reverse(unsigned, bool);
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);
virtual void set_sensor(unsigned, bool) { }
virtual bool get_sensor(unsigned) const;
+ virtual const TelemetryInfo *enumerate_telemetry(unsigned) const;
+ virtual float get_telemetry_value(const std::string &) const;
+
virtual void tick();
virtual void flush();
-
private:
- void push_command(const PendingCommand &);
- bool pop_command(PendingCommand &);
- void push_completed_tag(const Tag &);
- Tag pop_completed_tag();
+ void save_state() const;
};
} // namespace R2C2
projects / r2c2.git / blobdiff