add HEARTBEAT_CRITICAL to enforce heartbeat check

WiThrottle.cpp

@@ -1,7 +1,7 @@
 /*
  *  © 2021 Neil McKechnie
  *  © 2021 Mike S
- *  © 2020-2022 Harald Barth
+ *  © 2020-2024 Harald Barth
  *  © 2020-2021 M Steve Todd
  *  © 2020-2021 Chris Harlow
  *  All rights reserved.
@@ -97,12 +97,18 @@ WiThrottle::WiThrottle( int wificlientid) {
    nextThrottle=firstThrottle;
    firstThrottle= this;
    clientid=wificlientid;
+#ifdef HEARTBEAT_CRITICAL
+   heartBeatEnable=true;  // do not run without heartbeat
+#else
    heartBeatEnable=false; // until client turns it on
+#endif
    mostRecentCab=0;                
    for (int loco=0;loco<MAX_MY_LOCO; loco++) myLocos[loco].throttle='\0';
 }
 
 WiThrottle::~WiThrottle() {
+  // emergency stop any loco that was controlled from this throttle
+  eStop();
   if (Diag::WITHROTTLE) DIAG(F("Deleting WiThrottle client %d"),this->clientid);
   if (firstThrottle== this) {
     firstThrottle=this->nextThrottle;
@@ -140,7 +146,12 @@ void WiThrottle::parse(RingStream * stream, byte * cmdx) {
     switch (cmd[0]) {
     case '*':  // heartbeat control
       if (cmd[1]=='+') heartBeatEnable=true;
-      else if (cmd[1]=='-') heartBeatEnable=false;
+      else if (cmd[1]=='-') {
+#ifdef HEARTBEAT_CRITICAL
+	eStop();
+#endif
+	heartBeatEnable=false;
+      }
       break;
     case 'P':  
       if (cmd[1]=='P' && cmd[2]=='A' )  {  //PPA power mode 
@@ -303,10 +314,14 @@ void WiThrottle::locoAction(RingStream * stream, byte* aval, char throttleChar,
   switch (aval[0]) {
   case 'V':  // Vspeed
     { 
-      int witSpeed=getInt(aval+1);
+      uint8_t dccSpeed = WiTToDCCSpeed(getInt(aval+1));
+#ifdef HEARTBEAT_CRITICAL
+      if (heartBeatEnable == false) // if there is no heartBeat, keep throttle at
+	dccSpeed = 1;               // emegency stop (dccSpeed 1)
+#endif
       LOOPLOCOS(throttleChar, cab) {
 	mostRecentCab=myLocos[loco].cab;
-	DCC::setThrottle(myLocos[loco].cab, WiTToDCCSpeed(witSpeed), DCC::getThrottleDirection(myLocos[loco].cab));
+	DCC::setThrottle(myLocos[loco].cab, dccSpeed, DCC::getThrottleDirection(myLocos[loco].cab));
 	// SetThrottle will cause speed change broadcast
       }
     } 
@@ -394,19 +409,28 @@ void WiThrottle::loop(RingStream * stream) {
     wt->checkHeartbeat(stream);
 }
 
+void WiThrottle::eStop() {
+  LOOPLOCOS('*', -1) { 
+    if (myLocos[loco].throttle!='\0') {
+      if (Diag::WITHROTTLE) DIAG(F("%l  eStopping cab %d"),millis(),myLocos[loco].cab);
+      DCC::setThrottle(myLocos[loco].cab, 1, DCC::getThrottleDirection(myLocos[loco].cab)); // speed 1 is eStop
+    }
+  }
+}
+
 void WiThrottle::checkHeartbeat(RingStream * stream) {
   // if eStop time passed... eStop any locos still assigned to this client and then drop the connection
   if(heartBeatEnable && (millis()-heartBeat > ESTOP_SECONDS*1000)) {
-    if (Diag::WITHROTTLE)  DIAG(F("%l WiThrottle(%d) eStop(%ds) timeout, drop connection"), millis(), clientid, ESTOP_SECONDS);
+    if (Diag::WITHROTTLE)  DIAG(F("%l WiThrottle(%d) eStop(%ds) timeout"), millis(), clientid, ESTOP_SECONDS);
-    LOOPLOCOS('*', -1) { 
+    if (missedHeartbeatCounter++ > 10) {
-      if (myLocos[loco].throttle!='\0') {
+      if (Diag::WITHROTTLE)  DIAG(F("Too many missed heartbeats, drop connection"));
-        if (Diag::WITHROTTLE) DIAG(F("%l  eStopping cab %d"),millis(),myLocos[loco].cab);
+      delete this;
-        DCC::setThrottle(myLocos[loco].cab, 1, DCC::getThrottleDirection(myLocos[loco].cab)); // speed 1 is eStop
+      return;
-	heartBeat=millis(); // We have just stopped everyting, we don't need to do that again at next loop.
-      }
     }
-    // if it does come back, the throttle should re-acquire 
+    eStop();
-    delete this;
+    heartBeat=millis(); // We have just stopped everyting, we don't need to do that again at next loop.
+    // Destructor will take care of estop. If it does come back, the throttle should re-acquire 
+    // delete this;
     return;
   }
    

WiThrottle.h

@@ -1,6 +1,7 @@
 /*
  *  © 2021 Mike S
  *  © 2020-2021 Chris Harlow
+ *  © 2024 Harald Barth
  *  All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
@@ -20,7 +21,7 @@
  */
 #ifndef WiThrottle_h
 #define WiThrottle_h
-
+#include "defines.h"
 #include "RingStream.h"
 
 struct MYLOCO {
@@ -45,9 +46,15 @@ class WiThrottle {
     ~WiThrottle();
    
       static const int MAX_MY_LOCO=10;      // maximum number of locos assigned to a single client
+#ifdef HEARTBEAT_CRITICAL
+      static const int HEARTBEAT_SECONDS=1;
+      static const int HEARTBEAT_PRELOAD=2;
+      static const int ESTOP_SECONDS=3;
+#else
       static const int HEARTBEAT_SECONDS=10; // heartbeat at 10 secs to provide messaging transport
       static const int HEARTBEAT_PRELOAD=2; // request fast callback when connecting multiple messages
-      static const int ESTOP_SECONDS=20;     // eStop if no incoming messages for more than 8secs
+      static const int ESTOP_SECONDS=20;     // eStop if no incoming messages for more than 20secs
+#endif
       static WiThrottle* firstThrottle;
       static int getInt(byte * cmd);
       static int getLocoId(byte * cmd);
@@ -62,6 +69,7 @@ class WiThrottle {
       MYLOCO myLocos[MAX_MY_LOCO];   
       bool heartBeatEnable;
       unsigned long heartBeat;
+      uint8_t missedHeartbeatCounter = 0;
       bool introSent=false; 
       bool turnoutsSent=false; 
       bool rosterSent=false; 
@@ -75,6 +83,7 @@ class WiThrottle {
       void multithrottle(RingStream * stream, byte * cmd);
       void locoAction(RingStream * stream, byte* aval, char throttleChar, int cab);
       void accessory(RingStream *, byte* cmd);
+      void eStop();
       void checkHeartbeat(RingStream * stream); 
       void markForBroadcast2(int cab);
       void sendIntro(Print * stream);