Merge branch 'devel' into devel_chris

This reverts commit 23845f2df2, reversing
changes made to 76755993f1.

DCC.cpp

@@ -615,6 +615,19 @@ const ackOp FLASH SHORT_LOCO_ID_PROG[] = {
       CALLFAIL
 };
 
+// for CONSIST_ID_PROG the 20,19 values are already calculated
+const ackOp FLASH CONSIST_ID_PROG[] = {
+      BASELINE,
+      SETCV,(ackOp)20,
+      SETBYTEH,    // high byte to CV 20
+      WB,WACK,     // ignore dedcoder without cv20 support
+      SETCV,(ackOp)19,
+      SETBYTEL,   // low byte of word
+      WB,WACK,ITC1,   // If ACK, we are done - callback(1) means Ok
+      VB,WACK,ITC1,   // Some decoders do not ack and need verify
+      CALLFAIL
+};
+
 const ackOp FLASH LONG_LOCO_ID_PROG[] = {
       BASELINE,
       // Clear consist CV 19,20
@@ -689,6 +702,26 @@ void DCC::setLocoId(int id,ACK_CALLBACK callback) {
       DCCACK::Setup(id | 0xc000,LONG_LOCO_ID_PROG, callback);
 }
 
+void DCC::setConsistId(int id,bool reverse,ACK_CALLBACK callback) {
+  if (id<0 || id>10239) { //0x27FF according to standard
+    callback(-1);
+    return;
+  }
+  byte cv20;
+  byte cv19;
+
+  if (id<=HIGHEST_SHORT_ADDR) {
+    cv19=id;
+    cv20=0;
+  }
+  else {
+    cv20=id/100;
+    cv19=id%100;
+  }
+  if (reverse) cv19|=0x80;
+  DCCACK::Setup((cv20<<8)|cv19, CONSIST_ID_PROG, callback);
+}
+
 void DCC::forgetLoco(int cab) {  // removes any speed reminders for this loco
   setThrottle2(cab,1); // ESTOP this loco if still on track
   int reg=lookupSpeedTable(cab, false);

DCC.h

@@ -85,7 +85,7 @@ public:
 
   static void getLocoId(ACK_CALLBACK callback);
   static void setLocoId(int id,ACK_CALLBACK callback);
-
+  static void setConsistId(int id,bool reverse,ACK_CALLBACK callback);
   // Enhanced API functions
   static void forgetLoco(int cab); // removes any speed reminders for this loco
   static void forgetAllLocos();    // removes all speed reminders

DCCEXParser.cpp

@@ -458,6 +458,9 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
             DCC::setLocoId(p[0],callback_Wloco);
         else if (params == 4)  // WRITE CV ON PROG <W CV VALUE [CALLBACKNUM] [CALLBACKSUB]>
             DCC::writeCVByte(p[0], p[1], callback_W4);
+        else if ((params==2 || params==3 ) && p[0]=="CONSIST"_hk ) {
+            DCC::setConsistId(p[1],p[2]=="REVERSE"_hk,callback_Wconsist);
+        }    
         else if (params == 2)  // WRITE CV ON PROG <W CV VALUE>
             DCC::writeCVByte(p[0], p[1], callback_W);
 	else
@@ -797,6 +800,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         break;
 #endif
 
+    case '/': // implemented in EXRAIL parser
     case 'L': // LCC interface implemented in EXRAIL parser
         break; // Will <X> if not intercepted by EXRAIL 
 
@@ -1347,3 +1351,11 @@ void DCCEXParser::callback_Wloco(int16_t result)
     StringFormatter::send(getAsyncReplyStream(), F("<w %d>\n"), result);
     commitAsyncReplyStream();
 }
+
+void DCCEXParser::callback_Wconsist(int16_t result)
+{
+    if (result==1) result=stashP[1]; // pick up original requested id from command
+    StringFormatter::send(getAsyncReplyStream(), F("<w CONSIST %d%S>\n"),
+     result, stashP[2]=="REVERSE"_hk ? F(" REVERSE") : F(""));
+    commitAsyncReplyStream();
+}

DCCEXParser.h

@@ -71,6 +71,7 @@ struct DCCEXParser
     static void callback_R(int16_t result);
     static void callback_Rloco(int16_t result);
     static void callback_Wloco(int16_t result);
+    static void callback_Wconsist(int16_t result);
     static void callback_Vbit(int16_t result);
     static void callback_Vbyte(int16_t result);
     static FILTER_CALLBACK  filterCallback;

EXRAIL2.cpp

@@ -54,6 +54,7 @@
 #include "TrackManager.h"
 #include "Turntables.h"
 #include "IODevice.h"
+#include "EXRAILSensor.h"
 
 
 // One instance of RMFT clas is used for each "thread" in the automation.
@@ -176,7 +177,7 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
 
 /* static */ void RMFT2::begin() {
 
-  DIAG(F("EXRAIL RoutCode at =%P"),RouteCode);
+  //DIAG(F("EXRAIL RoutCode at =%P"),RouteCode);
     
   bool saved_diag=diag;
   diag=true;
@@ -251,6 +252,12 @@ if (compileFeatures & FEATURE_SIGNAL) {
       break;
     }
 
+    case OPCODE_ONSENSOR:
+        new EXRAILSensor(operand,progCounter+3,true );
+        break;
+    case OPCODE_ONBUTTON:
+        new EXRAILSensor(operand,progCounter+3,false );
+        break;
     case OPCODE_TURNOUT: {
       VPIN id=operand;
       int addr=getOperand(progCounter,1);
@@ -373,7 +380,7 @@ RMFT2::RMFT2(int progCtr) {
   speedo=0;
   forward=true;
   invert=false;
-  timeoutFlag=false;
+  blinkState=not_blink_task;
   stackDepth=0;
   onEventStartPosition=-1; // Not handling an ONxxx 
 
@@ -411,7 +418,7 @@ void RMFT2::createNewTask(int route, uint16_t cab) {
 
 void RMFT2::driveLoco(byte speed) {
   if (loco<=0) return;  // Prevent broadcast!
-  if (diag) DIAG(F("EXRAIL drive %d %d %d"),loco,speed,forward^invert);
+  //if (diag) DIAG(F("EXRAIL drive %d %d %d"),loco,speed,forward^invert);
  /* TODO.....
  power on appropriate track if DC or main if dcc
   if (TrackManager::getMainPowerMode()==POWERMODE::OFF) {
@@ -480,6 +487,7 @@ bool RMFT2::skipIfBlock() {
 }
 
 void RMFT2::loop() {
+  EXRAILSensor::checkAll();
 
   // Round Robin call to a RMFT task each time
   if (loopTask==NULL) return;
@@ -491,6 +499,23 @@ void RMFT2::loop() {
 void RMFT2::loop2() {
   if (delayTime!=0 && millis()-delayStart < delayTime) return;
 
+  // special stand alone blink task
+  if (compileFeatures & FEATURE_BLINK) { 
+    if (blinkState==blink_low) {
+      IODevice::write(blinkPin,HIGH);
+      blinkState=blink_high;
+      delayMe(getOperand(1));
+      return;
+    }
+    if (blinkState==blink_high) {
+      IODevice::write(blinkPin,LOW);
+      blinkState=blink_low;
+      delayMe(getOperand(2));
+      return;
+    }
+  }
+  
+  // Normal progstep following tasks continue here.
   byte opcode = GET_OPCODE;
   int16_t operand =  getOperand(0);
 
@@ -511,6 +536,10 @@ void RMFT2::loop2() {
     Turnout::setClosed(operand, true);
     break;
 
+  case OPCODE_TOGGLE_TURNOUT:
+    Turnout::setClosed(operand, Turnout::isThrown(operand));
+    break;
+
 #ifndef IO_NO_HAL
   case OPCODE_ROTATE:
     uint8_t activity;
@@ -560,39 +589,39 @@ void RMFT2::loop2() {
     break;
     
   case OPCODE_AT:
-    timeoutFlag=false;
+    blinkState=not_blink_task;
     if (readSensor(operand)) break;
     delayMe(50);
     return;
     
   case OPCODE_ATGTE: // wait for analog sensor>= value
-    timeoutFlag=false;
+    blinkState=not_blink_task;
     if (IODevice::readAnalogue(operand) >= (int)(getOperand(1))) break;
     delayMe(50);
     return;
     
   case OPCODE_ATLT: // wait for analog sensor < value
-    timeoutFlag=false;
+    blinkState=not_blink_task;
     if (IODevice::readAnalogue(operand) < (int)(getOperand(1))) break;
     delayMe(50);
     return;
       
   case OPCODE_ATTIMEOUT1:   // ATTIMEOUT(vpin,timeout) part 1
     timeoutStart=millis();
-    timeoutFlag=false;
+    blinkState=not_blink_task;
     break;
     
   case OPCODE_ATTIMEOUT2:
     if (readSensor(operand)) break; // success without timeout
     if (millis()-timeoutStart > 100*getOperand(1)) {
-      timeoutFlag=true;
+      blinkState=at_timeout;
       break; // and drop through
     }
     delayMe(50);
     return;
     
   case OPCODE_IFTIMEOUT: // do next operand if timeout flag set
-    skipIf=!timeoutFlag;
+    skipIf=blinkState!=at_timeout;
     break;
     
   case OPCODE_AFTER: // waits for sensor to hit and then remain off for 0.5 seconds. (must come after an AT operation)
@@ -624,13 +653,25 @@ void RMFT2::loop2() {
     break;
 
   case OPCODE_SET:
+    killBlinkOnVpin(operand);
     IODevice::write(operand,true);
     break;
     
   case OPCODE_RESET:
+    killBlinkOnVpin(operand);
     IODevice::write(operand,false);
     break;
-    
+  
+  case OPCODE_BLINK: 
+     // Start a new task to blink this vpin
+     killBlinkOnVpin(operand);
+     {
+      auto newtask=new RMFT2(progCounter);
+      newtask->blinkPin=operand;
+      newtask->blinkState=blink_low; // will go high on first call
+     }
+     break; 
+
   case OPCODE_PAUSE:
     DCC::setThrottle(0,1,true);  // pause all locos on the track
     pausingTask=this;
@@ -815,6 +856,10 @@ void RMFT2::loop2() {
   case OPCODE_FOFF:
     if (loco) DCC::setFn(loco,operand,false);
     break;
+  
+  case OPCODE_FTOGGLE:
+    if (loco) DCC::changeFn(loco,operand);
+    break;
     
   case OPCODE_DRIVE:
     {
@@ -830,6 +875,10 @@ void RMFT2::loop2() {
   case OPCODE_XFOFF:
     DCC::setFn(operand,getOperand(1),false);
     break;
+
+  case OPCODE_XFTOGGLE:
+    DCC::changeFn(operand,getOperand(1));
+    break;
     
   case OPCODE_DCCACTIVATE: {
     // operand is address<<3 | subaddr<<1 | active
@@ -1025,7 +1074,7 @@ void RMFT2::loop2() {
   case OPCODE_ROUTE:
   case OPCODE_AUTOMATION:
   case OPCODE_SEQUENCE:
-    if (diag) DIAG(F("EXRAIL begin(%d)"),operand);
+    //if (diag) DIAG(F("EXRAIL begin(%d)"),operand);
     break;
     
   case OPCODE_AUTOSTART: // Handled only during begin process
@@ -1043,6 +1092,8 @@ void RMFT2::loop2() {
   case OPCODE_ONGREEN:
   case OPCODE_ONCHANGE:
   case OPCODE_ONTIME:
+  case OPCODE_ONBUTTON:
+  case OPCODE_ONSENSOR:
 #ifndef IO_NO_HAL
   case OPCODE_DCCTURNTABLE: // Turntable definition ignored at runtime
   case OPCODE_EXTTTURNTABLE:  // Turntable definition ignored at runtime
@@ -1105,7 +1156,7 @@ int16_t RMFT2::getSignalSlot(int16_t id) {
 
 /* static */ void RMFT2::doSignal(int16_t id,char rag) {
   if (!(compileFeatures & FEATURE_SIGNAL)) return; // dont compile code below
-  if (diag) DIAG(F(" doSignal %d %x"),id,rag);
+  //if (diag) DIAG(F(" doSignal %d %x"),id,rag);
   
   // Schedule any event handler for this signal change.
   // This will work even without a signal definition. 
@@ -1125,7 +1176,7 @@ int16_t RMFT2::getSignalSlot(int16_t id) {
   VPIN redpin=GETHIGHFLASHW(RMFT2::SignalDefinitions,sigpos+2);
   VPIN amberpin=GETHIGHFLASHW(RMFT2::SignalDefinitions,sigpos+4);
   VPIN greenpin=GETHIGHFLASHW(RMFT2::SignalDefinitions,sigpos+6);
-  if (diag) DIAG(F("signal %d %d %d %d %d"),sigid,id,redpin,amberpin,greenpin);
+  //if (diag) DIAG(F("signal %d %d %d %d %d"),sigid,id,redpin,amberpin,greenpin);
 
   VPIN sigtype=sigid & ~SIGNAL_ID_MASK;
 
@@ -1133,7 +1184,7 @@ int16_t RMFT2::getSignalSlot(int16_t id) {
     // A servo signal, the pin numbers are actually servo positions
     // Note, setting a signal to a zero position has no effect.
     int16_t servopos= rag==SIGNAL_RED? redpin: (rag==SIGNAL_GREEN? greenpin : amberpin);
-    if (diag) DIAG(F("sigA %d %d"),id,servopos);
+    //if (diag) DIAG(F("sigA %d %d"),id,servopos);
     if  (servopos!=0) IODevice::writeAnalogue(id,servopos,PCA9685::Bounce);
     return;  
   }
@@ -1167,16 +1218,19 @@ int16_t RMFT2::getSignalSlot(int16_t id) {
   if (redpin) {
     bool redval=(rag==SIGNAL_RED || rag==SIMAMBER);
     if (!aHigh) redval=!redval;
+    killBlinkOnVpin(redpin);
     IODevice::write(redpin,redval);
   }
   if (amberpin) {
     bool amberval=(rag==SIGNAL_AMBER);
     if (!aHigh) amberval=!amberval;
+    killBlinkOnVpin(amberpin);
     IODevice::write(amberpin,amberval);
   }
   if (greenpin) {
     bool greenval=(rag==SIGNAL_GREEN || rag==SIMAMBER);
     if (!aHigh) greenval=!greenval;
+    killBlinkOnVpin(greenpin);
     IODevice::write(greenpin,greenval);
   }
 }
@@ -1248,7 +1302,7 @@ void RMFT2::rotateEvent(int16_t turntableId, bool change) {
 void RMFT2::clockEvent(int16_t clocktime, bool change) {
   // Hunt for an ONTIME for this time
   if (Diag::CMD)
-   DIAG(F("Looking for clock event at : %d"), clocktime);
+   DIAG(F("clockEvent at : %d"), clocktime);
   if (change) {
     onClockLookup->handleEvent(F("CLOCK"),clocktime);
     onClockLookup->handleEvent(F("CLOCK"),25*60+clocktime%60);
@@ -1258,12 +1312,31 @@ void RMFT2::clockEvent(int16_t clocktime, bool change) {
 void RMFT2::powerEvent(int16_t track, bool overload) {
   // Hunt for an ONOVERLOAD for this item
   if (Diag::CMD)
-   DIAG(F("Looking for Power event on track : %c"), track);
+   DIAG(F("powerEvent : %c"), track);
   if (overload) {
     onOverloadLookup->handleEvent(F("POWER"),track);
   }
 }
 
+// This function is used when setting pins so that a SET or RESET
+// will cause any blink task on that pin to terminate.
+// It will be compiled out of existence if no BLINK feature is used.
+void RMFT2::killBlinkOnVpin(VPIN pin) {
+   if (!(compileFeatures & FEATURE_BLINK)) return; 
+ 
+  RMFT2 * task=loopTask;
+  while(task) {
+    if (
+      (task->blinkState==blink_high || task->blinkState==blink_low) 
+       && task->blinkPin==pin) {
+        task->kill();
+        return;
+      }
+    task=task->next;
+    if (task==loopTask) return;
+  }
+}
+  
 void RMFT2::startNonRecursiveTask(const FSH* reason, int16_t id,int pc) {  
   // Check we dont already have a task running this handler
   RMFT2 * task=loopTask;

EXRAIL2.h

@@ -33,7 +33,7 @@
 // or more OPCODE_PAD instructions with the subsequent parameters. This wastes a byte but makes 
 // searching easier as a parameter can never be confused with an opcode. 
 // 
-enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
+enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,OPCODE_TOGGLE_TURNOUT,
              OPCODE_FWD,OPCODE_REV,OPCODE_SPEED,OPCODE_INVERT_DIRECTION,
              OPCODE_RESERVE,OPCODE_FREE,
              OPCODE_AT,OPCODE_AFTER,
@@ -41,9 +41,11 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              OPCODE_ATGTE,OPCODE_ATLT,
              OPCODE_ATTIMEOUT1,OPCODE_ATTIMEOUT2,
              OPCODE_LATCH,OPCODE_UNLATCH,OPCODE_SET,OPCODE_RESET,
+             OPCODE_BLINK,
              OPCODE_ENDIF,OPCODE_ELSE,
              OPCODE_DELAY,OPCODE_DELAYMINS,OPCODE_DELAYMS,OPCODE_RANDWAIT,
              OPCODE_FON,OPCODE_FOFF,OPCODE_XFON,OPCODE_XFOFF,
+             OPCODE_FTOGGLE,OPCODE_XFTOGGLE,
              OPCODE_RED,OPCODE_GREEN,OPCODE_AMBER,OPCODE_DRIVE,
              OPCODE_SERVO,OPCODE_SIGNAL,OPCODE_TURNOUT,OPCODE_WAITFOR,
              OPCODE_PAD,OPCODE_FOLLOW,OPCODE_CALL,OPCODE_RETURN,
@@ -71,7 +73,7 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              OPCODE_ROUTE_ACTIVE,OPCODE_ROUTE_INACTIVE,OPCODE_ROUTE_HIDDEN,
              OPCODE_ROUTE_DISABLED,
              OPCODE_STASH,OPCODE_CLEAR_STASH,OPCODE_CLEAR_ALL_STASH,OPCODE_PICKUP_STASH,
-
+             OPCODE_ONBUTTON,OPCODE_ONSENSOR,
              // OPcodes below this point are skip-nesting IF operations
              // placed here so that they may be skipped as a group
              // see skipIfBlock()
@@ -98,12 +100,21 @@ enum thrunger: byte {
   thrunge_lcd,  // Must be last!!
   };
 
+
+enum BlinkState: byte {
+    not_blink_task, 
+    blink_low, // blink task running with pin LOW
+    blink_high, // blink task running with pin high 
+    at_timeout  // ATTIMEOUT timed out flag
+    }; 
+
   // Flag bits for compile time features.
   static const byte FEATURE_SIGNAL= 0x80;
   static const byte FEATURE_LCC   = 0x40;
   static const byte FEATURE_ROSTER= 0x20;
   static const byte FEATURE_ROUTESTATE= 0x10;
   static const byte FEATURE_STASH = 0x08;
+  static const byte FEATURE_BLINK = 0x04;
   
  
   // Flag bits for status of hardware and TPL
@@ -192,6 +203,7 @@ private:
     static LookList* LookListLoader(OPCODE op1,
                       OPCODE op2=OPCODE_ENDEXRAIL,OPCODE op3=OPCODE_ENDEXRAIL);
     static uint16_t getOperand(int progCounter,byte n);
+    static void killBlinkOnVpin(VPIN pin);
     static RMFT2 * loopTask;
     static RMFT2 * pausingTask;
     void delayMe(long millisecs);
@@ -244,10 +256,10 @@ private:
     union {
       unsigned long waitAfter; // Used by OPCODE_AFTER
       unsigned long timeoutStart; // Used by OPCODE_ATTIMEOUT
+      VPIN blinkPin;  // Used by blink tasks 
     };
-    bool timeoutFlag;
     byte  taskId;
-    
+    BlinkState blinkState; // includes AT_TIMEOUT flag. 
     uint16_t loco;
     bool forward;
     bool invert;

EXRAIL2MacroReset.h

@@ -38,6 +38,7 @@
 #undef ATTIMEOUT
 #undef AUTOMATION 
 #undef AUTOSTART
+#undef BLINK
 #undef BROADCAST
 #undef CALL 
 #undef CLEAR_STASH
@@ -66,6 +67,7 @@
 #undef FOLLOW 
 #undef FON 
 #undef FORGET
+#undef FTOGGLE
 #undef FREE 
 #undef FWD 
 #undef GREEN
@@ -112,6 +114,8 @@
 #undef ONGREEN
 #undef ONRED
 #undef ONROTATE
+#undef ONBUTTON
+#undef ONSENSOR
 #undef ONTHROW 
 #undef ONCHANGE
 #undef PARSE
@@ -164,8 +168,10 @@
 #undef START 
 #undef STASH
 #undef STEALTH
+#undef STEALTH_GLOBAL
 #undef STOP 
 #undef THROW
+#undef TOGGLE_TURNOUT
 #undef TT_ADDPOSITION
 #undef TURNOUT 
 #undef TURNOUTL
@@ -180,6 +186,7 @@
 #undef WITHROTTLE
 #undef XFOFF
 #undef XFON
+#undef XFTOGGLE
 
 #ifndef RMFT2_UNDEF_ONLY
 #define ACTIVATE(addr,subaddr)
@@ -196,6 +203,7 @@
 #define ATTIMEOUT(sensor_id,timeout_ms)
 #define AUTOMATION(id,description) 
 #define AUTOSTART
+#define BLINK(vpin,onDuty,offDuty)
 #define BROADCAST(msg)
 #define CALL(route)
 #define CLEAR_STASH(id)
@@ -225,6 +233,7 @@
 #define FON(func)
 #define FORGET
 #define FREE(blockid) 
+#define FTOGGLE(func)
 #define FWD(speed) 
 #define GREEN(signal_id)
 #define HAL(haltype,params...)
@@ -272,6 +281,8 @@
 #define ONROTATE(turntable_id)
 #define ONTHROW(turnout_id) 
 #define ONCHANGE(sensor_id)
+#define ONSENSOR(sensor_id)
+#define ONBUTTON(sensor_id)
 #define PAUSE
 #define PIN_TURNOUT(id,pin,description...) 
 #define PRINT(msg) 
@@ -322,8 +333,10 @@
 #define START(route)
 #define STASH(id) 
 #define STEALTH(code...)
+#define STEALTH_GLOBAL(code...)
 #define STOP 
 #define THROW(id)
+#define TOGGLE_TURNOUT(id)
 #define TT_ADDPOSITION(turntable_id,position,value,angle,description...)
 #define TURNOUT(id,addr,subaddr,description...) 
 #define TURNOUTL(id,addr,description...) 
@@ -338,4 +351,6 @@
 #define WITHROTTLE(msg)
 #define XFOFF(cab,func)
 #define XFON(cab,func)
+#define XFTOGGLE(cab,func)
+
 #endif

EXRAIL2Parser.cpp

@@ -36,7 +36,7 @@
 
 void RMFT2::ComandFilter(Print * stream, byte & opcode, byte & paramCount, int16_t p[]) {
   (void)stream; // avoid compiler warning if we don't access this parameter
-  bool reject=false;
+  
   switch(opcode) {
     
   case 'D':
@@ -47,8 +47,7 @@ void RMFT2::ComandFilter(Print * stream, byte & opcode, byte & paramCount, int16
     break;
 	
   case '/':  // New EXRAIL command
-    reject=!parseSlash(stream,paramCount,p);
-    opcode=0;
+    if (parseSlash(stream,paramCount,p)) opcode=0;
     break;
   
   case 'A': //  <A address aspect>
@@ -106,9 +105,11 @@ void RMFT2::ComandFilter(Print * stream, byte & opcode, byte & paramCount, int16
     }
     if (paramCount==1) {  // <L eventid> LCC event arrived from adapter
         int16_t eventid=p[0];
-        reject=eventid<0 || eventid>=countLCCLookup;
-        if (!reject)  startNonRecursiveTask(F("LCC"),eventid,onLCCLookup[eventid]);
-        opcode=0;
+        bool reject = eventid<0 || eventid>=countLCCLookup;
+        if (!reject) {
+          startNonRecursiveTask(F("LCC"),eventid,onLCCLookup[eventid]);
+          opcode=0;
+        }
     }
     break; 
     
@@ -182,12 +183,20 @@ bool RMFT2::parseSlash(Print * stream, byte & paramCount, int16_t p[]) {
     StringFormatter::send(stream, F("<* EXRAIL STATUS"));
     RMFT2 * task=loopTask;
     while(task) {
+      if ((compileFeatures & FEATURE_BLINK)
+       && (task->blinkState==blink_high || task->blinkState==blink_low)) {
+        StringFormatter::send(stream,F("\nID=%d,PC=%d,BLINK=%d"),
+			    (int)(task->taskId),task->progCounter,task->blinkPin
+			    );
+      }
+      else {
       StringFormatter::send(stream,F("\nID=%d,PC=%d,LOCO=%d%c,SPEED=%d%c"),
 			    (int)(task->taskId),task->progCounter,task->loco,
 			    task->invert?'I':' ',
 			    task->speedo,
 			    task->forward?'F':'R'
 			    );
+      }
       task=task->next;
       if (task==loopTask) break;
     }

EXRAILMacros.h

@@ -145,6 +145,12 @@ static_assert(!hasdup(compileTimeSequenceList[0],1),"Duplicate SEQUENCE/ROUTE/AU
 
 #include "myAutomation.h"
 
+// Pass 1g Implants STEALTH_GLOBAL in correct place 
+#include "EXRAIL2MacroReset.h"
+#undef STEALTH_GLOBAL
+#define STEALTH_GLOBAL(code...) code
+#include "myAutomation.h"
+
 // Pass 1h Implements HAL macro by creating exrailHalSetup function
 // Also allows creating EXTurntable object
 #include "EXRAIL2MacroReset.h"
@@ -202,6 +208,8 @@ bool exrailHalSetup() {
 #define PICKUP_STASH(id) | FEATURE_STASH
 #undef STASH
 #define STASH(id) | FEATURE_STASH
+#undef BLINK
+#define BLINK(vpin,onDuty,offDuty) | FEATURE_BLINK
 
 const byte RMFT2::compileFeatures = 0
    #include "myAutomation.h"
@@ -451,6 +459,7 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define ATTIMEOUT(sensor_id,timeout) OPCODE_ATTIMEOUT1,0,0,OPCODE_ATTIMEOUT2,V(sensor_id),OPCODE_PAD,V(timeout/100L),
 #define AUTOMATION(id, description)  OPCODE_AUTOMATION, V(id), 
 #define AUTOSTART OPCODE_AUTOSTART,0,0,
+#define BLINK(vpin,onDuty,offDuty) OPCODE_BLINK,V(vpin),OPCODE_PAD,V(onDuty),OPCODE_PAD,V(offDuty),
 #define BROADCAST(msg) PRINT(msg)
 #define CALL(route) OPCODE_CALL,V(route),
 #define CLEAR_STASH(id) OPCODE_CLEAR_STASH,V(id),
@@ -484,6 +493,7 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define FON(func) OPCODE_FON,V(func),
 #define FORGET OPCODE_FORGET,0,0,
 #define FREE(blockid) OPCODE_FREE,V(blockid),
+#define FTOGGLE(func) OPCODE_FTOGGLE,V(func),
 #define FWD(speed) OPCODE_FWD,V(speed),
 #define GREEN(signal_id) OPCODE_GREEN,V(signal_id),
 #define HAL(haltype,params...)
@@ -518,6 +528,7 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define LCD(id,msg) PRINT(msg)
 #define SCREEN(display,id,msg) PRINT(msg)
 #define STEALTH(code...) PRINT(dummy)
+#define STEALTH_GLOBAL(code...) 
 #define LCN(msg) PRINT(msg)
 #define MESSAGE(msg) PRINT(msg)
 #define MOVETT(id,steps,activity) OPCODE_SERVO,V(id),OPCODE_PAD,V(steps),OPCODE_PAD,V(EXTurntable::activity),OPCODE_PAD,V(0),
@@ -542,6 +553,8 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #endif
 #define ONTHROW(turnout_id) OPCODE_ONTHROW,V(turnout_id),
 #define ONCHANGE(sensor_id) OPCODE_ONCHANGE,V(sensor_id),
+#define ONSENSOR(sensor_id) OPCODE_ONSENSOR,V(sensor_id),
+#define ONBUTTON(sensor_id) OPCODE_ONBUTTON,V(sensor_id),
 #define PAUSE OPCODE_PAUSE,0,0,
 #define PICKUP_STASH(id) OPCODE_PICKUP_STASH,V(id),
 #define PIN_TURNOUT(id,pin,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(pin),
@@ -595,6 +608,7 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define STASH(id) OPCODE_STASH,V(id), 
 #define STOP OPCODE_SPEED,V(0), 
 #define THROW(id)  OPCODE_THROW,V(id),
+#define TOGGLE_TURNOUT(id)  OPCODE_TOGGLE_TURNOUT,V(id),
 #ifndef IO_NO_HAL
 #define TT_ADDPOSITION(id,position,value,angle,description...) OPCODE_TTADDPOSITION,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(value),OPCODE_PAD,V(angle),
 #endif
@@ -611,6 +625,7 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #endif
 #define XFOFF(cab,func) OPCODE_XFOFF,V(cab),OPCODE_PAD,V(func),
 #define XFON(cab,func) OPCODE_XFON,V(cab),OPCODE_PAD,V(func),
+#define XFTOGGLE(cab,func) OPCODE_XFTOGGLE,V(cab),OPCODE_PAD,V(func),
 
 // Build RouteCode
 const int StringMacroTracker2=__COUNTER__;

EXRAILSensor.cpp

@@ -0,0 +1,104 @@
+/*
+ *  © 2024 Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+/**********************************************************************
+EXRAILSensor represents a sensor that should be monitored in order
+to call an exrail ONBUTTON or ONCHANGE handler.
+These are created at EXRAIL startup and thus need no delete or listing
+capability.
+The basic logic is similar to that found in the Sensor class
+except that on the relevant change an EXRAIL thread is started.    
+**********************************************************************/
+
+#include "EXRAILSensor.h"
+#include "EXRAIL2.h"
+
+void EXRAILSensor::checkAll() {
+  if (firstSensor == NULL) return;  // No sensors to be scanned
+  if (readingSensor == NULL) { 
+    // Not currently scanning sensor list
+    unsigned long thisTime = micros();
+    if (thisTime - lastReadCycle < cycleInterval) return;
+    // Required time has elapsed since last read cycle started,
+    // so initiate new scan through the sensor list
+    readingSensor = firstSensor;
+    lastReadCycle = thisTime;
+  }
+  
+  // Loop until either end of list is encountered or we pause for some reason
+  byte sensorCount = 0;
+
+  while (readingSensor != NULL) {
+    bool pause=readingSensor->check();
+    // Move to next sensor in list.
+    readingSensor = readingSensor->nextSensor;
+    // Currently process max of 16 sensors per entry.
+    // Performance measurements taken during development indicate that, with 128 sensors configured
+    // on 8x 16-pin MCP23017 GPIO expanders with polling (no change notification), all inputs can be read from the devices
+    // within 1.4ms (400Mhz I2C bus speed), and a full cycle of checking 128 sensors for changes takes under a millisecond.
+    if (pause || (++sensorCount)>=16) return; 
+  }
+} 
+
+bool EXRAILSensor::check() {
+  // check for debounced change in this sensor 
+  inputState = IODevice::read(pin);
+
+  // Check if changed since last time, and process changes.
+  if (inputState == active) {// no change
+    latchDelay = minReadCount; // Reset counter
+    return false;  // no change 
+  }
+
+    // Change detected ... has it stayed changed for long enough
+    if (latchDelay > 0) {
+      latchDelay--;
+      return false; 
+    } 
+    
+    // change validated, act on it.
+    active = inputState;
+    latchDelay = minReadCount;  // Reset debounce counter
+    if (onChange || active) {
+      new RMFT2(progCounter);
+      return true;  // Don't check any more sensors on this entry
+    }
+    return false; 
+}
+
+EXRAILSensor::EXRAILSensor(VPIN _pin, int _progCounter, bool _onChange) {
+  // Add to the start of the list
+  //DIAG(F("ONthing vpin=%d at %d"), _pin, _progCounter);
+  nextSensor = firstSensor;
+  firstSensor = this;
+
+  pin=_pin;
+  progCounter=_progCounter;
+  onChange=_onChange;
+
+  IODevice::configureInput(pin, true);   
+  active = IODevice::read(pin);
+  inputState = active;
+  latchDelay = minReadCount;
+}
+
+EXRAILSensor *EXRAILSensor::firstSensor=NULL;
+EXRAILSensor *EXRAILSensor::readingSensor=NULL;
+unsigned long EXRAILSensor::lastReadCycle=0;

EXRAILSensor.h

@@ -0,0 +1,50 @@
+/*
+ *  © 2024 Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#ifndef EXRAILSensor_h
+#define EXRAILSensor_h 
+#include "IODevice.h"
+class EXRAILSensor {
+  static EXRAILSensor * firstSensor;
+ static EXRAILSensor * readingSensor;
+ static unsigned long lastReadCycle;
+ 
+  public:
+  static void checkAll();
+  
+  EXRAILSensor(VPIN _pin, int _progCounter, bool _onChange);
+  bool check();
+  
+  private:
+  static const unsigned int cycleInterval = 10000; // min time between consecutive reads of each sensor in microsecs.
+                                                   // should not be less than device scan cycle time.
+  static const byte minReadCount = 4; // number of additional scans before acting on change
+                                        // E.g. 1 means that a change is ignored for one scan and actioned on the next.
+                                        // Max value is 63
+  
+  EXRAILSensor* nextSensor;
+  VPIN pin; 
+  int progCounter; 
+  bool active; 
+  bool inputState;
+  bool onChange;
+  byte latchDelay;
+};
+#endif

IO_HALDisplay.h

@@ -1,7 +1,9 @@
 /*
- *  © 2023, Neil McKechnie. All rights reserved.
+ *  © 2024, Paul Antoine
+ *  © 2023, Neil McKechnie
+ *  All rights reserved.
  *  
- *  This file is part of DCC++EX API
+ *  This file is part of DCC-EX API
  *
  *  This is free software: you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
@@ -112,13 +114,14 @@ protected:
     // Fill buffer with spaces
     memset(_buffer, ' ', _numCols*_numRows);
 
-    _displayDriver->clearNative();
-
     // Add device to list of HAL devices (not necessary but allows
     // status to be displayed using <D HAL SHOW> and device to be
     // reinitialised using <D HAL RESET>).
     IODevice::addDevice(this);
 
+    // Moved after addDevice() to ensure I2CManager.begin() has been called fisrt
+    _displayDriver->clearNative();
+
     // Also add this display to list of display handlers
     DisplayInterface::addDisplay(displayNo);
 

Release_Notes/EXRAIL additions.md

@@ -0,0 +1,38 @@
+
+BLINK(vpin, onMs,offMs)
+
+which will start a vpin blinking until such time as it is SET, RESET or set by a signal operation such as RED, AMBER, GREEN. 
+
+BLINK returns immediately, the blinking is autonomous. 
+
+This means a signal that always blinks amber could be done like this:
+```
+SIGNAL(30,31,32)
+ONAMBER(30) BLINK(31,500,500) DONE
+```
+The RED or GREEN calls will turn off the amber blink automatically.
+
+Alternatively a signal that has normal AMBER and flashing AMBER could be like this:
+
+#define FLASHAMBER(signal) \
+                AMBER(signal) \
+                BLINK(signal+1,500,500)
+  
+  (Caution: this issumes that the amber pin is redpin+1)
+
+  ==
+
+  FTOGGLE(function)
+   Toggles the current loco function (see FON and FOFF)
+
+  XFTOGGLE(loco,function)
+     Toggles the function on given loco. (See XFON, XFOFF)
+
+  TOGGLE_TURNOUT(id) 
+      Toggles the turnout (see CLOSE, THROW)
+
+  STEALTH_GLOBAL(code) 
+      ADVANCED C++ users only.
+      Inserts code such as static variables and functions that 
+      may be utilised by multiple STEALTH operations.
+       

Release_Notes/Exrail mods.txt

@@ -0,0 +1,98 @@
+
+BLINK(vpin, onMs,offMs)
+
+which will start a vpin blinking until such time as it is SET, RESET or set by a signal operation such as RED, AMBER, GREEN. 
+
+BLINK returns immediately, the blinking is autonomous. 
+
+This means a signal that always blinks amber could be done like this:
+
+SIGNAL(30,31,32)
+ONAMBER(30) BLINK(31,500,500) DONE
+
+The RED or GREEN calls will turn off the amber blink automatically.
+
+Alternatively a signal that has normal AMBER and flashing AMBER could be like this:
+
+#define FLASHAMBER(signal) \
+                AMBER(signal) \
+                BLINK(signal+1,500,500)
+  
+  (Caution: this assumes that the amber pin is redpin+1)
+
+  ==
+
+  FTOGGLE(function)
+   Toggles the current loco function (see FON and FOFF)
+
+  XFTOGGLE(loco,function)
+     Toggles the function on given loco. (See XFON, XFOFF)
+
+  TOGGLE_TURNOUT(id) 
+      Toggles the turnout (see CLOSE, THROW)
+
+  STEALTH_GLOBAL(code) 
+      ADVANCED C++ users only.
+      Inserts code such as static variables and functions that
+      may be utilised by multiple STEALTH operations.
+
+
+// 5.2.34 - <A address aspect> Command fopr DCC Extended Accessories.
+This command sends an extended accessory packet to the track, Normally used to set
+a signal aspect. Aspect numbers are undefined as sdtandards except for 0 which is
+always considered a stop.
+
+//        - Exrail ASPECT(address,aspect) for above.
+     The ASPECT command sents an aspect to a DCC accessory using the same logic as 
+     <A aspect address>.
+     
+//        - EXRAIL DCCX_SIGNAL(Address,redAspect,amberAspect,greenAspect)
+      This defines a signal (with id same as dcc address) that can be operated
+      by the RED/AMBER/GREEN commands.   In each case the command uses the signal
+      address to refer to the signal and the aspect chosen depends on the use of the RED
+      AMBER or GREEN command sent. Other aspects may be sent but will require the
+      direct use of the ASPECT command.
+      The IFRED/IFAMBER/IFGREEN  and ONRED/ONAMBER/ONGREEN commands contunue to operate
+      as for any other signal type. It is important to be aware that use of the ASPECT
+      or <A> commands will correctly set the IF flags and call the ON handlers if ASPECT
+      is used to set one of the three aspects defined in the DCCX_SIGNAL command. 
+      Direct use of other aspects does not affect the signal flags.
+      ASPECT and <A> can be used withput defining any signal if tyhe flag management or
+      ON event handlers are not required.    
+
+// 5.2.33 - Exrail CONFIGURE_SERVO(vpin,pos1,pos2,profile)
+   This macro offsers a more convenient way of performing the HAL call in halSetup.h
+    In halSetup.h --- IODevice::configureServo(101,300,400,PCA9685::slow);
+    In myAutomation.h --- CONFIGURE_SERVO(101,300,400,slow)
+
+// 5.2.32 - Railcom Cutout (Initial trial Mega2560 only)
+    This cutout will only work on a Mega2560 with a single EX8874 motor shield
+    configured in the normal way with the main track brake pin on pin 9.
+    <C RAILCOM ON>    Turns on the cutout mechanism.
+    <C RAILCOM OFF>   Tirns off the cutout. (This is the default)
+    <C RAILCOM DEBUG> ONLY to be used by developers used for waveform diagnostics.
+       (In DEBUG mode the main track idle packets are replaced with reset packets, This
+       makes it far easier to see the preambles and cutouts on a logic analyser or scope.)
+
+// 5.2.31 - Exrail JMRI_SENSOR(vpin [,count]) creates <S> types.
+       This Macro causes the creation of JMRI <S> type sensors in a way that is 
+       simpler than repeating lines of <S> commands.
+         JMRI_SENSOR(100)   is equenvelant to <S 100 100 1>
+         JMRI_SENSOR(100,16) will create <S> type sensors for vpins 100-115.
+
+// 5.2.26 - Silently ignore overridden HAL defaults
+//        - include HAL_IGNORE_DEFAULTS macro in EXRAIL
+            The HAL_IGNORE_DEFAULTS command, anywhere in myAutomation.h will 
+            prevent the startup code from trying the default I2C sensors/servos.  
+// 5.2.24 - Exrail macro asserts to catch 
+//            : duplicate/missing automation/route/sequence/call ids
+//            : latches and reserves out of range
+//            : speeds out of range
+            Causes compiler time messages for EXRAIL issues that would normally
+            only be discovered by things going wrong at run time. 
+// 5.2.13 - EXRAIL STEALTH
+            Permits a certain level of C++ code to be embedded as a single step in
+            an exrail sequence. Serious engineers only.
+
+// 5.2.9  - EXRAIL STASH feature 
+//        - Added ROUTE_DISABLED macro in EXRAIL

config.example.h

@@ -211,6 +211,19 @@ The configuration file for DCC-EX Command Station
 // #define DISABLE_VDPY
 // #define ENABLE_VDPY
 
+/////////////////////////////////////////////////////////////////////////////////////
+// DISABLE / ENABLE DIAG
+//
+// To diagose different errors, you can turn on differnet messages. This costs
+// program memory which we do not have enough on the Uno and Nano, so it is
+// by default DISABLED on those. If you think you can fit it (for example
+// having disabled some of the features above) you can enable it with
+// ENABLE_DIAG. You can even disable it on all other CPUs with
+// DISABLE_DIAG
+//
+// #define DISABLE_DIAG
+// #define ENABLE_DIAG
+
 /////////////////////////////////////////////////////////////////////////////////////
 // REDEFINE WHERE SHORT/LONG ADDR break is. According to NMRA the last short address
 // is 127 and the first long address is 128. There are manufacturers which have

defines.h

@@ -220,9 +220,15 @@
 // 
 #if defined(ARDUINO_AVR_NANO) || defined(ARDUINO_AVR_UNO)
 #define IO_NO_HAL // HAL too big whatever you disable otherwise
+
 #ifndef ENABLE_VDPY
 #define DISABLE_VDPY
 #endif
+
+#ifndef ENABLE_DIAG
+#define DISABLE_DIAG
+#endif
+
 #endif
 
 #if __has_include ( "myAutomation.h")

version.h

@@ -3,7 +3,16 @@
 
 #include "StringFormatter.h"
 
-#define VERSION "5.2.45"
+#define VERSION "5.2.48"
+// 5.2.48 - Bugfix: HALDisplay was generating I2C traffic prior to I2C being initialised
+// 5.2.47 - EXRAIL additions:
+//          STEALTH_GLOBAL
+//          BLINK
+//          TOGGLE_TURNOUT
+//          FTOGGLE, XFTOGGLE
+//          Reduced code-developmenmt DIAG noise
+// 5.2.46 - Support for extended consist CV20 in <R> and <W id>
+//        - New cmd <W CONSIST id [REVERSE]> to handle long/short consist ids
 // 5.2.45 - ESP32 Trackmanager reset cab number to 0 when track is not DC
 //          ESP32 fix PWM LEDC inverted pin mode
 //          ESP32 rewrite PWM LEDC to use pin mux