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0f55835b8b
WAITFOR(pin) waits until the corresponding pin is not busy (e.g. has finished moving the servo). SERVO2(pin, value, ms) moves to the nominated position in a time given in milliseconds by ms.
117 lines
4.5 KiB
C++
117 lines
4.5 KiB
C++
/*
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* © 2020, Chris Harlow. All rights reserved.
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*
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* This file is part of CommandStation-EX
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*
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* This is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* It is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with CommandStation. If not, see <https://www.gnu.org/licenses/>.
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*/
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#ifndef RMFT2_H
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#define RMFT2_H
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#include "FSH.h"
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#include "IODevice.h"
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// The following are the operation codes (or instructions) for a kind of virtual machine.
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// Each instruction is normally 2 bytes long with an operation code followed by a parameter.
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// In cases where more than one parameter is required, the first parameter is followed by one
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// or more OPCODE_PAD instructions with the subsequent parameters. This wastes a byte but makes
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// searching easier as a parameter can never be confused with an opcode.
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//
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enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
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OPCODE_FWD,OPCODE_REV,OPCODE_SPEED,OPCODE_INVERT_DIRECTION,
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OPCODE_RESERVE,OPCODE_FREE,
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OPCODE_AT,OPCODE_AFTER,
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OPCODE_LATCH,OPCODE_UNLATCH,OPCODE_SET,OPCODE_RESET,
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OPCODE_IF,OPCODE_IFNOT,OPCODE_ENDIF,OPCODE_IFRANDOM,OPCODE_IFRESERVE,
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OPCODE_DELAY,OPCODE_DELAYMINS,OPCODE_RANDWAIT,
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OPCODE_FON,OPCODE_FOFF,
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OPCODE_RED,OPCODE_GREEN,OPCODE_AMBER,
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OPCODE_SERVO,OPCODE_SIGNAL,OPCODE_TURNOUT,OPCODE_WAITFOR,
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OPCODE_PAD,OPCODE_FOLLOW,OPCODE_CALL,OPCODE_RETURN,
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OPCODE_JOIN,OPCODE_UNJOIN,OPCODE_READ_LOCO1,OPCODE_READ_LOCO2,OPCODE_POM,
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OPCODE_START,OPCODE_SETLOCO,OPCODE_SENDLOCO,
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OPCODE_PAUSE, OPCODE_RESUME,
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OPCODE_ONCLOSE, OPCODE_ONTHROW, OPCODE_SERVOTURNOUT, OPCODE_PINTURNOUT,
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OPCODE_PRINT,
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OPCODE_ROUTE,OPCODE_AUTOMATION,OPCODE_SEQUENCE,OPCODE_ENDTASK,OPCODE_ENDEXRAIL
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};
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// Flag bits for status of hardware and TPL
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static const byte SECTION_FLAG = 0x01;
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static const byte LATCH_FLAG = 0x02;
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static const byte TASK_FLAG = 0x04;
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static const byte MAX_STACK_DEPTH=4;
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static const short MAX_FLAGS=256;
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#define FLAGOVERFLOW(x) x>=MAX_FLAGS
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class RMFT2 {
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public:
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static void begin();
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static void loop();
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RMFT2(int progCounter);
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RMFT2(int route, uint16_t cab);
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~RMFT2();
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static void readLocoCallback(int16_t cv);
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static void emitWithrottleRouteList(Print* stream);
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static void createNewTask(int route, uint16_t cab);
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static void turnoutEvent(VPIN id, bool closed);
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private:
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static void ComandFilter(Print * stream, byte & opcode, byte & paramCount, int16_t p[]);
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static bool parseSlash(Print * stream, byte & paramCount, int16_t p[]) ;
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static void streamFlags(Print* stream);
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static void setFlag(VPIN id,byte onMask, byte OffMask=0);
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static bool getFlag(VPIN id,byte mask);
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static int locateRouteStart(int16_t _route);
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static int16_t progtrackLocoId;
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static void doSignal(VPIN id,bool red, bool amber, bool green);
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static void emitRouteDescription(Print * stream, char type, int id, const FSH * description);
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static void emitWithrottleDescriptions(Print * stream);
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static RMFT2 * loopTask;
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static RMFT2 * pausingTask;
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void delayMe(long millisecs);
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void driveLoco(byte speedo);
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bool readSensor(int16_t sensorId);
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bool skipIfBlock();
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bool readLoco();
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void loop2();
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void kill(const FSH * reason=NULL,int operand=0);
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void printMessage(uint16_t id); // Built by RMFTMacros.h
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void printMessage2(const FSH * msg);
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static bool diag;
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static const FLASH byte RouteCode[];
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static byte flags[MAX_FLAGS];
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// Local variables - exist for each instance/task
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RMFT2 *next; // loop chain
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int progCounter; // Byte offset of next route opcode in ROUTES table
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unsigned long delayStart; // Used by opcodes that must be recalled before completing
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unsigned long waitAfter; // Used by OPCODE_AFTER
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unsigned long delayTime;
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byte taskId;
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int loco;
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bool forward;
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bool invert;
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int speedo;
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byte stackDepth;
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int callStack[MAX_STACK_DEPTH];
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};
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#endif
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