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CommandStation-EX/EXRAIL2.cpp
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/*
* © 2024 Paul M. Antoine
* © 2021 Neil McKechnie
* © 2021-2023 Harald Barth
* © 2020-2023 Chris Harlow
* © 2022-2023 Colin Murdoch
* 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/>.
*/
/* EXRAILPlus planned FEATURE additions
F1. [DONE] DCC accessory packet opcodes (short and long form)
F2. [DONE] ONAccessory catchers
F3. [DONE] Turnout descriptions for Withrottle
F4. [DONE] Oled announcements (depends on HAL)
F5. [DONE] Withrottle roster info
F6. Multi-occupancy semaphore
F7. [DONE see AUTOSTART] Self starting sequences
F8. Park/unpark
F9. [DONE] Analog drive
F10. [DONE] Alias anywhere
F11. [DONE]EXRAIL/ENDEXRAIL unnecessary
F12. [DONE] Allow guarded code (as effect of ALIAS anywhere)
F13. [DONE] IFGTE/IFLT function
*/
/* EXRAILPlus planned TRANSPARENT additions
T1. [DONE] RAM based fast lookup for sequences ON* event catchers and signals.
T2. Extend to >64k
*/
#include <Arduino.h>
#include "defines.h"
#include "EXRAIL2.h"
#include "DCC.h"
#include "DCCWaveform.h"
#include "DIAG.h"
#include "WiThrottle.h"
#include "DCCEXParser.h"
#include "Turnouts.h"
#include "CommandDistributor.h"
#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.
// Each thread manages a loco on a journey through the layout, and/or may manage a scenery automation.
// The threads exist in a ring, each time through loop() the next thread in the ring is serviced.
// Statics
const int16_t LOCO_ID_WAITING=-99; // waiting for loco id from prog track
int16_t RMFT2::progtrackLocoId; // used for callback when detecting a loco on prog track
bool RMFT2::diag=false; // <D EXRAIL ON>
RMFT2 * RMFT2::loopTask=NULL; // loopTask contains the address of ONE of the tasks in a ring.
RMFT2 * RMFT2::pausingTask=NULL; // Task causing a PAUSE.
// when pausingTask is set, that is the ONLY task that gets any service,
// and all others will have their locos stopped, then resumed after the pausing task resumes.
byte RMFT2::flags[MAX_FLAGS];
Print * RMFT2::LCCSerial=0;
LookList * RMFT2::routeLookup=NULL;
LookList * RMFT2::signalLookup=NULL;
LookList * RMFT2::onThrowLookup=NULL;
LookList * RMFT2::onCloseLookup=NULL;
LookList * RMFT2::onActivateLookup=NULL;
LookList * RMFT2::onDeactivateLookup=NULL;
LookList * RMFT2::onRedLookup=NULL;
LookList * RMFT2::onAmberLookup=NULL;
LookList * RMFT2::onGreenLookup=NULL;
LookList * RMFT2::onChangeLookup=NULL;
LookList * RMFT2::onClockLookup=NULL;
#ifndef IO_NO_HAL
LookList * RMFT2::onRotateLookup=NULL;
#endif
LookList * RMFT2::onOverloadLookup=NULL;
byte * RMFT2::routeStateArray=nullptr;
const FSH * * RMFT2::routeCaptionArray=nullptr;
int16_t * RMFT2::stashArray=nullptr;
int16_t RMFT2::maxStashId=0;
// getOperand instance version, uses progCounter from instance.
uint16_t RMFT2::getOperand(byte n) {
return getOperand(progCounter,n);
}
// getOperand static version, must be provided prog counter from loop etc.
uint16_t RMFT2::getOperand(int progCounter,byte n) {
int offset=progCounter+1+(n*3);
byte lsb=GETHIGHFLASH(RouteCode,offset);
byte msb=GETHIGHFLASH(RouteCode,offset+1);
return msb<<8|lsb;
}
LookList::LookList(int16_t size) {
m_size=size;
m_loaded=0;
m_chain=nullptr;
if (size) {
m_lookupArray=new int16_t[size];
m_resultArray=new int16_t[size];
}
}
void LookList::add(int16_t lookup, int16_t result) {
if (m_loaded==m_size) return; // and forget
m_lookupArray[m_loaded]=lookup;
m_resultArray[m_loaded]=result;
m_loaded++;
}
int16_t LookList::find(int16_t value) {
for (int16_t i=0;i<m_size;i++) {
if (m_lookupArray[i]==value) return m_resultArray[i];
}
return m_chain ? m_chain->find(value) :-1;
}
void LookList::chain(LookList * chain) {
m_chain=chain;
}
void LookList::handleEvent(const FSH* reason,int16_t id) {
// New feature... create multiple ONhandlers
for (int i=0;i<m_size;i++)
if (m_lookupArray[i]==id)
RMFT2::startNonRecursiveTask(reason,id,m_resultArray[i]);
}
void LookList::stream(Print * _stream) {
for (int16_t i=0;i<m_size;i++) {
_stream->print(" ");
_stream->print(m_lookupArray[i]);
}
}
int16_t LookList::findPosition(int16_t value) {
for (int16_t i=0;i<m_size;i++) {
if (m_lookupArray[i]==value) return i;
}
return -1;
}
int16_t LookList::size() {
return m_size;
}
LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
int progCounter;
int16_t count=0;
// find size for list
for (progCounter=0;; SKIPOP) {
byte opcode=GET_OPCODE;
if (opcode==OPCODE_ENDEXRAIL) break;
if (opcode==op1 || opcode==op2 || opcode==op3) count++;
}
// create list
LookList* list=new LookList(count);
if (count==0) return list;
for (progCounter=0;; SKIPOP) {
byte opcode=GET_OPCODE;
if (opcode==OPCODE_ENDEXRAIL) break;
if (opcode==op1 || opcode==op2 || opcode==op3) list->add(getOperand(progCounter,0),progCounter);
}
return list;
}
/* static */ void RMFT2::begin() {
//DIAG(F("EXRAIL RoutCode at =%P"),RouteCode);
bool saved_diag=diag;
diag=true;
DCCEXParser::setRMFTFilter(RMFT2::ComandFilter);
for (int f=0;f<MAX_FLAGS;f++) flags[f]=0;
// create lookups
routeLookup=LookListLoader(OPCODE_ROUTE, OPCODE_AUTOMATION);
routeLookup->chain(LookListLoader(OPCODE_SEQUENCE));
if (compileFeatures && FEATURE_ROUTESTATE) {
routeStateArray=(byte *)calloc(routeLookup->size(),sizeof(byte));
routeCaptionArray=(const FSH * *)calloc(routeLookup->size(),sizeof(const FSH *));
}
onThrowLookup=LookListLoader(OPCODE_ONTHROW);
onCloseLookup=LookListLoader(OPCODE_ONCLOSE);
onActivateLookup=LookListLoader(OPCODE_ONACTIVATE);
onDeactivateLookup=LookListLoader(OPCODE_ONDEACTIVATE);
onChangeLookup=LookListLoader(OPCODE_ONCHANGE);
onClockLookup=LookListLoader(OPCODE_ONTIME);
#ifndef IO_NO_HAL
onRotateLookup=LookListLoader(OPCODE_ONROTATE);
#endif
onOverloadLookup=LookListLoader(OPCODE_ONOVERLOAD);
// onLCCLookup is not the same so not loaded here.
// Second pass startup, define any turnouts or servos, set signals red
// add sequences onRoutines to the lookups
if (compileFeatures & FEATURE_SIGNAL) {
onRedLookup=LookListLoader(OPCODE_ONRED);
onAmberLookup=LookListLoader(OPCODE_ONAMBER);
onGreenLookup=LookListLoader(OPCODE_ONGREEN);
// Load the signal lookup with slot numbers in the signal table
int signalCount=0;
for (int16_t slot=0;;slot++) {
SIGNAL_DEFINITION signal=getSignalSlot(slot);
DIAG(F("Signal s=%d id=%d t=%d"),slot,signal.id,signal.type);
if (signal.type==sigtypeNoMoreSignals) break;
if (signal.type==sigtypeContinuation) continue;
signalCount++;
}
signalLookup=new LookList(signalCount);
for (int16_t slot=0;;slot++) {
SIGNAL_DEFINITION signal=getSignalSlot(slot);
if (signal.type==sigtypeNoMoreSignals) break;
if (signal.type==sigtypeContinuation) continue;
signalLookup->add(signal.id,slot);
doSignal(signal.id, SIGNAL_RED);
}
}
int progCounter;
for (progCounter=0;; SKIPOP){
byte opcode=GET_OPCODE;
if (opcode==OPCODE_ENDEXRAIL) break;
VPIN operand=getOperand(progCounter,0);
switch (opcode) {
case OPCODE_AT:
case OPCODE_ATTIMEOUT2:
case OPCODE_AFTER:
case OPCODE_IF:
case OPCODE_IFNOT: {
int16_t pin = (int16_t)operand;
if (pin<0) pin = -pin;
DIAG(F("EXRAIL input VPIN %u"),pin);
IODevice::configureInput((VPIN)pin,true);
break;
}
case OPCODE_STASH:
case OPCODE_CLEAR_STASH:
case OPCODE_PICKUP_STASH: {
maxStashId=max(maxStashId,((int16_t)operand));
break;
}
case OPCODE_ATGTE:
case OPCODE_ATLT:
case OPCODE_IFGTE:
case OPCODE_IFLT:
case OPCODE_DRIVE: {
DIAG(F("EXRAIL analog input VPIN %u"),(VPIN)operand);
IODevice::configureAnalogIn((VPIN)operand);
break;
}
case OPCODE_ONSENSOR:
if (compileFeatures & FEATURE_SENSOR)
new EXRAILSensor(operand,progCounter+3,true );
break;
case OPCODE_ONBUTTON:
if (compileFeatures & FEATURE_SENSOR)
new EXRAILSensor(operand,progCounter+3,false );
break;
case OPCODE_TURNOUT: {
VPIN id=operand;
int addr=getOperand(progCounter,1);
byte subAddr=getOperand(progCounter,2);
setTurnoutHiddenState(DCCTurnout::create(id,addr,subAddr));
break;
}
case OPCODE_SERVOTURNOUT: {
VPIN id=operand;
VPIN pin=getOperand(progCounter,1);
int activeAngle=getOperand(progCounter,2);
int inactiveAngle=getOperand(progCounter,3);
int profile=getOperand(progCounter,4);
setTurnoutHiddenState(ServoTurnout::create(id,pin,activeAngle,inactiveAngle,profile));
break;
}
case OPCODE_PINTURNOUT: {
VPIN id=operand;
VPIN pin=getOperand(progCounter,1);
setTurnoutHiddenState(VpinTurnout::create(id,pin));
break;
}
#ifndef IO_NO_HAL
case OPCODE_DCCTURNTABLE: {
VPIN id=operand;
int home=getOperand(progCounter,1);
setTurntableHiddenState(DCCTurntable::create(id));
Turntable *tto=Turntable::get(id);
tto->addPosition(0,0,home);
break;
}
case OPCODE_EXTTTURNTABLE: {
VPIN id=operand;
VPIN pin=getOperand(progCounter,1);
int home=getOperand(progCounter,2);
setTurntableHiddenState(EXTTTurntable::create(id,pin));
Turntable *tto=Turntable::get(id);
tto->addPosition(0,0,home);
break;
}
case OPCODE_TTADDPOSITION: {
VPIN id=operand;
int position=getOperand(progCounter,1);
int value=getOperand(progCounter,2);
int angle=getOperand(progCounter,3);
Turntable *tto=Turntable::get(id);
tto->addPosition(position,value,angle);
break;
}
#endif
case OPCODE_AUTOSTART:
// automatically create a task from here at startup.
// Removed if (progCounter>0) check 4.2.31 because
// default start it top of file is now removed. .
new RMFT2(progCounter);
break;
default: // Ignore
break;
}
}
SKIPOP; // include ENDROUTES opcode
if (compileFeatures & FEATURE_STASH) {
// create the stash array from the highest id found
if (maxStashId>0) stashArray=(int16_t*)calloc(maxStashId+1, sizeof(int16_t));
//TODO check EEPROM and fetch stashArray
}
DIAG(F("EXRAIL %db, fl=%d, stash=%d"),progCounter,MAX_FLAGS, maxStashId);
// Removed for 4.2.31 new RMFT2(0); // add the startup route
diag=saved_diag;
}
void RMFT2::setTurnoutHiddenState(Turnout * t) {
// turnout descriptions are in low flash F strings
const FSH *desc = getTurnoutDescription(t->getId());
if (desc) t->setHidden(GETFLASH(desc)==0x01);
}
#ifndef IO_NO_HAL
void RMFT2::setTurntableHiddenState(Turntable * tto) {
const FSH *desc = getTurntableDescription(tto->getId());
if (desc) tto->setHidden(GETFLASH(desc)==0x01);
}
#endif
char RMFT2::getRouteType(int16_t id) {
int16_t progCounter=routeLookup->find(id);
if (progCounter>=0) {
byte type=GET_OPCODE;
if (type==OPCODE_ROUTE) return 'R';
if (type==OPCODE_AUTOMATION) return 'A';
}
return 'X';
}
RMFT2::RMFT2(int progCtr) {
progCounter=progCtr;
// get an unused task id from the flags table
taskId=255; // in case of overflow
for (int f=0;f<MAX_FLAGS;f++) {
if (!getFlag(f,TASK_FLAG)) {
taskId=f;
setFlag(f, TASK_FLAG);
break;
}
}
delayTime=0;
loco=0;
speedo=0;
forward=true;
invert=false;
blinkState=not_blink_task;
stackDepth=0;
onEventStartPosition=-1; // Not handling an ONxxx
// chain into ring of RMFTs
if (loopTask==NULL) {
loopTask=this;
next=this;
} else {
next=loopTask->next;
loopTask->next=this;
}
}
RMFT2::~RMFT2() {
driveLoco(1); // ESTOP my loco if any
setFlag(taskId,0,TASK_FLAG); // we are no longer using this id
if (next==this)
loopTask=NULL;
else
for (RMFT2* ring=next;;ring=ring->next)
if (ring->next == this) {
ring->next=next;
loopTask=next;
break;
}
}
void RMFT2::createNewTask(int route, uint16_t cab) {
int pc=routeLookup->find(route);
if (pc<0) return;
RMFT2* task=new RMFT2(pc);
task->loco=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);
/* TODO.....
power on appropriate track if DC or main if dcc
if (TrackManager::getMainPowerMode()==POWERMODE::OFF) {
TrackManager::setMainPower(POWERMODE::ON);
}
**********/
DCC::setThrottle(loco,speed, forward^invert);
speedo=speed;
}
bool RMFT2::readSensor(uint16_t sensorId) {
// Exrail operands are unsigned but we need the signed version as inserted by the macros.
int16_t sId=(int16_t) sensorId;
VPIN vpin=abs(sId);
if (getFlag(vpin,LATCH_FLAG)) return true; // latched on
// negative sensorIds invert the logic (e.g. for a break-beam sensor which goes OFF when detecting)
bool s= IODevice::read(vpin) ^ (sId<0);
if (s && diag) DIAG(F("EXRAIL Sensor %d hit"),sId);
return s;
}
// This skips to the end of an if block, or to the ELSE within it.
bool RMFT2::skipIfBlock() {
// returns false if killed
short nest = 1;
while (nest > 0) {
SKIPOP;
byte opcode = GET_OPCODE;
// all other IF type commands increase the nesting level
if (opcode>IF_TYPE_OPCODES) nest++;
else switch(opcode) {
case OPCODE_ENDEXRAIL:
kill(F("missing ENDIF"), nest);
return false;
case OPCODE_ENDIF:
nest--;
break;
case OPCODE_ELSE:
// if nest==1 then this is the ELSE for the IF we are skipping
if (nest==1) nest=0; // cause loop exit and return after ELSE
break;
default:
break;
}
}
return true;
}
/* static */ void RMFT2::readLocoCallback(int16_t cv) {
if (cv <= 0) {
DIAG(F("CV read error"));
progtrackLocoId = -1;
return;
}
if (cv & LONG_ADDR_MARKER) { // maker bit indicates long addr
progtrackLocoId = cv ^ LONG_ADDR_MARKER; // remove marker bit to get real long addr
if (progtrackLocoId <= HIGHEST_SHORT_ADDR ) { // out of range for long addr
DIAG(F("Long addr %d <= %d unsupported"), progtrackLocoId, HIGHEST_SHORT_ADDR);
progtrackLocoId = -1;
}
} else {
progtrackLocoId=cv;
}
}
void RMFT2::loop() {
if (compileFeatures & FEATURE_SENSOR)
EXRAILSensor::checkAll();
// Round Robin call to a RMFT task each time
if (loopTask==NULL) return;
loopTask=loopTask->next;
if (pausingTask==NULL || pausingTask==loopTask) loopTask->loop2();
}
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);
// skipIf will get set to indicate a failing IF condition
bool skipIf=false;
// if (diag) DIAG(F("RMFT2 %d %d"),opcode,operand);
// Attention: Returning from this switch leaves the program counter unchanged.
// This is used for unfinished waits for timers or sensors.
// Breaking from this switch will step to the next step in the route.
switch ((OPCODE)opcode) {
case OPCODE_THROW:
Turnout::setClosed(operand, false);
break;
case OPCODE_CLOSE:
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;
activity=getOperand(2);
Turntable::setPosition(operand,getOperand(1),activity);
break;
#endif
case OPCODE_REV:
forward = false;
driveLoco(operand);
break;
case OPCODE_FWD:
forward = true;
driveLoco(operand);
break;
case OPCODE_SPEED:
forward=DCC::getThrottleDirection(loco)^invert;
driveLoco(operand);
break;
case OPCODE_FORGET:
if (loco!=0) {
DCC::forgetLoco(loco);
loco=0;
}
break;
case OPCODE_INVERT_DIRECTION:
invert= !invert;
driveLoco(speedo);
break;
case OPCODE_RESERVE:
if (getFlag(operand,SECTION_FLAG)) {
driveLoco(0);
delayMe(500);
return;
}
setFlag(operand,SECTION_FLAG);
break;
case OPCODE_FREE:
setFlag(operand,0,SECTION_FLAG);
break;
case OPCODE_AT:
blinkState=not_blink_task;
if (readSensor(operand)) break;
delayMe(50);
return;
case OPCODE_ATGTE: // wait for analog sensor>= value
blinkState=not_blink_task;
if (IODevice::readAnalogue(operand) >= (int)(getOperand(1))) break;
delayMe(50);
return;
case OPCODE_ATLT: // wait for analog sensor < value
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();
blinkState=not_blink_task;
break;
case OPCODE_ATTIMEOUT2:
if (readSensor(operand)) break; // success without timeout
if (millis()-timeoutStart > 100*getOperand(1)) {
blinkState=at_timeout;
break; // and drop through
}
delayMe(50);
return;
case OPCODE_IFTIMEOUT: // do next operand if timeout flag set
skipIf=blinkState!=at_timeout;
break;
case OPCODE_AFTER: // waits for sensor to hit and then remain off for x mS.
// Note, this must come after an AT operation, which is
// automatically inserted by the AFTER macro.
if (readSensor(operand)) {
// reset timer and keep waiting
waitAfter=millis();
delayMe(50);
return;
}
if (millis()-waitAfter < getOperand(1) ) return;
break;
case OPCODE_AFTEROVERLOAD: // waits for the power to be turned back on - either by power routine or button
if (!TrackManager::isPowerOn(operand)) {
// reset timer to half a second and keep waiting
waitAfter=millis();
delayMe(50);
return;
}
if (millis()-waitAfter < 500 ) return;
break;
case OPCODE_LATCH:
setFlag(operand,LATCH_FLAG);
break;
case OPCODE_UNLATCH:
setFlag(operand,0,LATCH_FLAG);
break;
case OPCODE_SET:
case OPCODE_RESET:
{
auto count=getOperand(1);
for (uint16_t i=0;i<count;i++) {
killBlinkOnVpin(operand+i);
IODevice::write(operand+i,opcode==OPCODE_SET);
}
}
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;
break;
case OPCODE_POM:
if (loco) DCC::writeCVByteMain(loco, operand, getOperand(1));
break;
case OPCODE_POWEROFF:
TrackManager::setPower(POWERMODE::OFF);
TrackManager::setJoin(false);
break;
case OPCODE_SET_POWER:
// operand is TRACK_POWER , trackid
//byte thistrack=getOperand(1);
switch (operand) {
case TRACK_POWER_0:
TrackManager::setTrackPower(POWERMODE::OFF, getOperand(1));
break;
case TRACK_POWER_1:
TrackManager::setTrackPower(POWERMODE::ON, getOperand(1));
break;
}
break;
case OPCODE_SET_TRACK:
// operand is trackmode<<8 | track id
// If DC/DCX use my loco for DC address
{
TRACK_MODE mode = (TRACK_MODE)(operand>>8);
int16_t cab=(mode & TRACK_MODE_DC) ? loco : 0;
TrackManager::setTrackMode(operand & 0x0F, mode, cab);
}
break;
case OPCODE_SETFREQ:
// Frequency is default 0, or 1, 2,3
DCC::setDCFreq(loco,operand);
break;
case OPCODE_RESUME:
pausingTask=NULL;
driveLoco(speedo);
for (RMFT2 * t=next; t!=this;t=t->next) if (t->loco >0) t->driveLoco(t->speedo);
break;
case OPCODE_IF: // do next operand if sensor set
skipIf=!readSensor(operand);
break;
case OPCODE_ELSE: // skip to matching ENDIF
skipIf=true;
break;
case OPCODE_IFGTE: // do next operand if sensor>= value
skipIf=IODevice::readAnalogue(operand)<(int)(getOperand(1));
break;
case OPCODE_IFLT: // do next operand if sensor< value
skipIf=IODevice::readAnalogue(operand)>=(int)(getOperand(1));
break;
case OPCODE_IFLOCO: // do if the loco is the active one
skipIf=loco!=(uint16_t)operand; // bad luck if someone enters negative loco numbers into EXRAIL
break;
case OPCODE_IFNOT: // do next operand if sensor not set
skipIf=readSensor(operand);
break;
case OPCODE_IFRE: // do next operand if rotary encoder != position
skipIf=IODevice::readAnalogue(operand)!=(int)(getOperand(1));
break;
case OPCODE_IFRANDOM: // do block on random percentage
skipIf=(uint8_t)micros() >= operand * 255/100;
break;
case OPCODE_IFRESERVE: // do block if we successfully RERSERVE
if (!getFlag(operand,SECTION_FLAG)) setFlag(operand,SECTION_FLAG);
else skipIf=true;
break;
case OPCODE_IFRED: // do block if signal as expected
skipIf=!isSignal(operand,SIGNAL_RED);
break;
case OPCODE_IFAMBER: // do block if signal as expected
skipIf=!isSignal(operand,SIGNAL_AMBER);
break;
case OPCODE_IFGREEN: // do block if signal as expected
skipIf=!isSignal(operand,SIGNAL_GREEN);
break;
case OPCODE_IFTHROWN:
skipIf=Turnout::isClosed(operand);
break;
case OPCODE_IFCLOSED:
skipIf=Turnout::isThrown(operand);
break;
#ifndef IO_NO_HAL
case OPCODE_IFTTPOSITION: // do block if turntable at this position
skipIf=Turntable::getPosition(operand)!=(int)getOperand(1);
break;
#endif
case OPCODE_ENDIF:
break;
case OPCODE_DELAYMS:
delayMe(operand);
break;
case OPCODE_DELAY:
delayMe(operand*100L);
break;
case OPCODE_DELAYMINS:
delayMe(operand*60L*1000L);
break;
case OPCODE_RANDWAIT:
delayMe(operand==0 ? 0 : (micros()%operand) *100L);
break;
case OPCODE_RED:
doSignal(operand,SIGNAL_RED);
break;
case OPCODE_AMBER:
doSignal(operand,SIGNAL_AMBER);
break;
case OPCODE_GREEN:
doSignal(operand,SIGNAL_GREEN);
break;
case OPCODE_FON:
if (loco) DCC::setFn(loco,operand,true);
break;
case OPCODE_FOFF:
if (loco) DCC::setFn(loco,operand,false);
break;
case OPCODE_FTOGGLE:
if (loco) DCC::changeFn(loco,operand);
break;
case OPCODE_DRIVE:
{
byte analogSpeed=IODevice::readAnalogue(operand) *127 / 1024;
if (speedo!=analogSpeed) driveLoco(analogSpeed);
break;
}
case OPCODE_XFON:
DCC::setFn(operand,getOperand(1),true);
break;
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
int16_t addr=operand>>3;
int16_t subaddr=(operand>>1) & 0x03;
bool active=operand & 0x01;
DCC::setAccessory(addr,subaddr,active);
break;
}
case OPCODE_ASPECT: {
// operand is address<<5 | value
int16_t address=operand>>5;
byte aspect=operand & 0x1f;
if (!signalAspectEvent(address,aspect))
DCC::setExtendedAccessory(address,aspect);
break;
}
case OPCODE_FOLLOW:
progCounter=routeLookup->find(operand);
if (progCounter<0) kill(F("FOLLOW unknown"), operand);
return;
case OPCODE_CALL:
if (stackDepth==MAX_STACK_DEPTH) {
kill(F("CALL stack"), stackDepth);
return;
}
callStack[stackDepth++]=progCounter+3;
progCounter=routeLookup->find(operand);
if (progCounter<0) kill(F("CALL unknown"),operand);
return;
case OPCODE_RETURN:
if (stackDepth==0) {
kill(F("RETURN stack"));
return;
}
progCounter=callStack[--stackDepth];
return;
case OPCODE_ENDTASK:
case OPCODE_ENDEXRAIL:
kill();
return;
case OPCODE_KILLALL:
while(loopTask) loopTask->kill(F("KILLALL"));
return;
#ifndef DISABLE_PROG
case OPCODE_JOIN:
TrackManager::setPower(POWERMODE::ON);
TrackManager::setJoin(true);
break;
case OPCODE_UNJOIN:
TrackManager::setJoin(false);
break;
case OPCODE_READ_LOCO1: // READ_LOCO is implemented as 2 separate opcodes
progtrackLocoId=LOCO_ID_WAITING; // Nothing found yet
DCC::getLocoId(readLocoCallback);
break;
case OPCODE_READ_LOCO2:
if (progtrackLocoId==LOCO_ID_WAITING) {
delayMe(100);
return; // still waiting for callback
}
// At failed read will result in loco == -1
// which is intended so it can be checked
// from within EXRAIL
loco=progtrackLocoId;
speedo=0;
forward=true;
invert=false;
break;
#endif
case OPCODE_POWERON:
TrackManager::setMainPower(POWERMODE::ON);
TrackManager::setJoin(false);
break;
case OPCODE_START:
{
int newPc=routeLookup->find(operand);
if (newPc<0) break;
new RMFT2(newPc);
}
break;
case OPCODE_SENDLOCO: // cab, route
{
int newPc=routeLookup->find(getOperand(1));
if (newPc<0) break;
RMFT2* newtask=new RMFT2(newPc); // create new task
newtask->loco=operand;
}
break;
case OPCODE_SETLOCO:
{
loco=operand;
speedo=0;
forward=true;
invert=false;
}
break;
case OPCODE_LCC: // short form LCC
if ((compileFeatures & FEATURE_LCC) && LCCSerial)
StringFormatter::send(LCCSerial,F("<L x%h>"),(uint16_t)operand);
break;
case OPCODE_ACON: // MERG adapter
case OPCODE_ACOF:
if ((compileFeatures & FEATURE_LCC) && LCCSerial)
StringFormatter::send(LCCSerial,F("<L x%c%h%h>"),
opcode==OPCODE_ACON?'0':'1',
(uint16_t)operand,getOperand(progCounter,1));
break;
case OPCODE_LCCX: // long form LCC
if ((compileFeatures & FEATURE_LCC) && LCCSerial)
StringFormatter::send(LCCSerial,F("<L x%h%h%h%h>\n"),
getOperand(progCounter,1),
getOperand(progCounter,2),
getOperand(progCounter,3),
getOperand(progCounter,0)
);
break;
case OPCODE_SERVO: // OPCODE_SERVO,V(vpin),OPCODE_PAD,V(position),OPCODE_PAD,V(profile),OPCODE_PAD,V(duration)
IODevice::writeAnalogue(operand,getOperand(1),getOperand(2),getOperand(3));
break;
case OPCODE_WAITFOR: // OPCODE_SERVO,V(pin)
if (IODevice::isBusy(operand)) {
delayMe(100);
return;
}
break;
#ifndef IO_NO_HAL
case OPCODE_NEOPIXEL:
// OPCODE_NEOPIXEL,V([-]vpin),OPCODE_PAD,V(colour_RG),OPCODE_PAD,V(colour_B),OPCODE_PAD,V(count)
{
VPIN vpin=operand>0?operand:-operand;
auto count=getOperand(3);
killBlinkOnVpin(vpin,count);
IODevice::writeAnalogueRange(vpin,getOperand(1),operand>0,getOperand(2),count);
}
break;
case OPCODE_WAITFORTT: // OPCODE_WAITFOR,V(turntable_id)
if (Turntable::ttMoving(operand)) {
delayMe(100);
return;
}
break;
#endif
case OPCODE_PRINT:
printMessage(operand);
break;
case OPCODE_ROUTE_HIDDEN:
manageRouteState(operand,2);
break;
case OPCODE_ROUTE_INACTIVE:
manageRouteState(operand,0);
break;
case OPCODE_ROUTE_ACTIVE:
manageRouteState(operand,1);
break;
case OPCODE_ROUTE_DISABLED:
manageRouteState(operand,4);
break;
case OPCODE_STASH:
if (compileFeatures & FEATURE_STASH)
stashArray[operand] = invert? -loco : loco;
break;
case OPCODE_CLEAR_STASH:
if (compileFeatures & FEATURE_STASH)
stashArray[operand] = 0;
break;
case OPCODE_CLEAR_ALL_STASH:
if (compileFeatures & FEATURE_STASH)
for (int i=0;i<=maxStashId;i++) stashArray[operand]=0;
break;
case OPCODE_PICKUP_STASH:
if (compileFeatures & FEATURE_STASH) {
int16_t x=stashArray[operand];
if (x>=0) {
loco=x;
invert=false;
break;
}
loco=-x;
invert=true;
}
break;
case OPCODE_ROUTE:
case OPCODE_AUTOMATION:
case OPCODE_SEQUENCE:
//if (diag) DIAG(F("EXRAIL begin(%d)"),operand);
break;
case OPCODE_AUTOSTART: // Handled only during begin process
case OPCODE_PAD: // Just a padding for previous opcode needing >1 operand byte.
case OPCODE_TURNOUT: // Turnout definition ignored at runtime
case OPCODE_SERVOTURNOUT: // Turnout definition ignored at runtime
case OPCODE_PINTURNOUT: // Turnout definition ignored at runtime
case OPCODE_ONCLOSE: // Turnout event catchers ignored here
case OPCODE_ONLCC: // LCC event catchers ignored here
case OPCODE_ONACON: // MERG event catchers ignored here
case OPCODE_ONACOF: // MERG event catchers ignored here
case OPCODE_ONTHROW:
case OPCODE_ONACTIVATE: // Activate event catchers ignored here
case OPCODE_ONDEACTIVATE:
case OPCODE_ONRED:
case OPCODE_ONAMBER:
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
case OPCODE_TTADDPOSITION: // Turntable position definition ignored at runtime
case OPCODE_ONROTATE:
#endif
case OPCODE_ONOVERLOAD:
break;
default:
kill(F("INVOP"),operand);
}
// Falling out of the switch means move on to the next opcode
// but if we are skipping a false IF or else
if (skipIf) if (!skipIfBlock()) return;
SKIPOP;
}
void RMFT2::delayMe(long delay) {
delayTime=delay;
delayStart=millis();
}
bool RMFT2::setFlag(VPIN id,byte onMask, byte offMask) {
if (FLAGOVERFLOW(id)) return false; // Outside range limit
byte f=flags[id];
f &= ~offMask;
f |= onMask;
flags[id]=f;
return true;
}
bool RMFT2::getFlag(VPIN id,byte mask) {
if (FLAGOVERFLOW(id)) return 0; // Outside range limit
return flags[id]&mask;
}
void RMFT2::kill(const FSH * reason, int operand) {
if (reason) DIAG(F("EXRAIL ERROR pc=%d, cab=%d, %S %d"), progCounter,loco, reason, operand);
else if (diag) DIAG(F("ENDTASK at pc=%d"), progCounter);
delete this;
}
SIGNAL_DEFINITION RMFT2::getSignalSlot(int16_t slot) {
SIGNAL_DEFINITION signal;
COPYHIGHFLASH(&signal,SignalDefinitions,slot*sizeof(SIGNAL_DEFINITION),sizeof(SIGNAL_DEFINITION));
return signal;
}
/* 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);
// Schedule any event handler for this signal change.
// This will work even without a signal definition.
if (rag==SIGNAL_RED) onRedLookup->handleEvent(F("RED"),id);
else if (rag==SIGNAL_GREEN) onGreenLookup->handleEvent(F("GREEN"),id);
else onAmberLookup->handleEvent(F("AMBER"),id);
auto sigslot=signalLookup->find(id);
if (sigslot<0) return;
// keep track of signal state
setFlag(sigslot,rag,SIGNAL_MASK);
// Correct signal definition found, get the rag values
auto signal=getSignalSlot(sigslot);
switch (signal.type) {
case sigtypeSERVO:
{
auto servopos = rag==SIGNAL_RED? signal.redpin: (rag==SIGNAL_GREEN? signal.greenpin : signal.amberpin);
//if (diag) DIAG(F("sigA %d %d"),id,servopos);
if (servopos!=0) IODevice::writeAnalogue(id,servopos,PCA9685::Bounce);
return;
}
case sigtypeDCC:
{
// redpin,amberpin are the DCC addr,subaddr
DCC::setAccessory(signal.redpin,signal.amberpin, rag!=SIGNAL_RED);
return;
}
case sigtypeDCCX:
{
// redpin,amberpin,greenpin are the 3 aspects
auto value=signal.redpin;
if (rag==SIGNAL_AMBER) value=signal.amberpin;
if (rag==SIGNAL_GREEN) value=signal.greenpin;
DCC::setExtendedAccessory(id, value);
return;
}
case sigtypeNEOPIXEL:
{
// redpin,amberpin,greenpin are the 3 RG values but with no blue permitted. . (code limitation hack)
auto colour_RG=signal.redpin;
if (rag==SIGNAL_AMBER) colour_RG=signal.amberpin;
if (rag==SIGNAL_GREEN) colour_RG=signal.greenpin;
// blue channel is in followng signal slot (a continuation)
auto signal2=getSignalSlot(sigslot+1);
auto colour_B=signal2.redpin;
if (rag==SIGNAL_AMBER) colour_B=signal2.amberpin;
if (rag==SIGNAL_GREEN) colour_B=signal2.greenpin;
IODevice::writeAnalogue(id, colour_RG,true,colour_B);
return;
}
case sigtypeSIGNAL:
case sigtypeSIGNALH:
{
// LED or similar 3 pin signal, (all pins zero would be a virtual signal)
// If amberpin is zero, synthesise amber from red+green
const byte SIMAMBER=0x00;
if (rag==SIGNAL_AMBER && (signal.amberpin==0)) rag=SIMAMBER; // special case this func only
// Manage invert (HIGH on) pins
bool aHigh=signal.type==sigtypeSIGNALH;
// set the three pins
if (signal.redpin) {
bool redval=(rag==SIGNAL_RED || rag==SIMAMBER);
if (!aHigh) redval=!redval;
killBlinkOnVpin(signal.redpin);
IODevice::write(signal.redpin,redval);
}
if (signal.amberpin) {
bool amberval=(rag==SIGNAL_AMBER);
if (!aHigh) amberval=!amberval;
killBlinkOnVpin(signal.amberpin);
IODevice::write(signal.amberpin,amberval);
}
if (signal.greenpin) {
bool greenval=(rag==SIGNAL_GREEN || rag==SIMAMBER);
if (!aHigh) greenval=!greenval;
killBlinkOnVpin(signal.greenpin);
IODevice::write(signal.greenpin,greenval);
}
}
case sigtypeVIRTUAL: break;
case sigtypeContinuation: break;
case sigtypeNoMoreSignals: break;
}
}
/* static */ bool RMFT2::isSignal(int16_t id,char rag) {
if (!(compileFeatures & FEATURE_SIGNAL)) return false;
int16_t sigslot=signalLookup->find(id);
if (sigslot<0) return false;
return (flags[sigslot] & SIGNAL_MASK) == rag;
}
// signalAspectEvent returns true if the aspect is destined
// for a defined DCCX_SIGNAL which will handle all the RAG flags
// and ON* handlers.
// Otherwise false so the parser should send the command directly
bool RMFT2::signalAspectEvent(int16_t address, byte aspect ) {
if (!(compileFeatures & FEATURE_SIGNAL)) return false;
auto sigslot=signalLookup->find(address);
if (sigslot<0) return false; // this is not a defined signal
auto signal=getSignalSlot(sigslot);
if (signal.type!=sigtypeDCCX) return false; // not a DCCX signal
// Turn an aspect change into a RED/AMBER/GREEN setting
if (aspect==signal.redpin) {
doSignal(address,SIGNAL_RED);
return true;
}
if (aspect==signal.amberpin) {
doSignal(address,SIGNAL_AMBER);
return true;
}
if (aspect==signal.greenpin) {
doSignal(address,SIGNAL_GREEN);
return true;
}
return false; // aspect is not a defined one
}
void RMFT2::turnoutEvent(int16_t turnoutId, bool closed) {
// Hunt for an ONTHROW/ONCLOSE for this turnout
if (closed) onCloseLookup->handleEvent(F("CLOSE"),turnoutId);
else onThrowLookup->handleEvent(F("THROW"),turnoutId);
}
void RMFT2::activateEvent(int16_t addr, bool activate) {
// Hunt for an ONACTIVATE/ONDEACTIVATE for this accessory
if (activate) onActivateLookup->handleEvent(F("ACTIVATE"),addr);
else onDeactivateLookup->handleEvent(F("DEACTIVATE"),addr);
}
void RMFT2::changeEvent(int16_t vpin, bool change) {
// Hunt for an ONCHANGE for this sensor
if (change) onChangeLookup->handleEvent(F("CHANGE"),vpin);
}
#ifndef IO_NO_HAL
void RMFT2::rotateEvent(int16_t turntableId, bool change) {
// Hunt or an ONROTATE for this turntable
if (change) onRotateLookup->handleEvent(F("ROTATE"),turntableId);
}
#endif
void RMFT2::clockEvent(int16_t clocktime, bool change) {
// Hunt for an ONTIME for this time
if (Diag::CMD)
DIAG(F("clockEvent at : %d"), clocktime);
if (change) {
onClockLookup->handleEvent(F("CLOCK"),clocktime);
onClockLookup->handleEvent(F("CLOCK"),25*60+clocktime%60);
}
}
void RMFT2::powerEvent(int16_t track, bool overload) {
// Hunt for an ONOVERLOAD for this item
if (Diag::CMD)
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, uint16_t count) {
if (!(compileFeatures & FEATURE_BLINK)) return;
RMFT2 * stoptask=loopTask; // stop when we get back to here
RMFT2 * task=loopTask;
VPIN lastPin=pin+count-1;
while(task) {
auto nextTask=task->next;
if (
(task->blinkState==blink_high || task->blinkState==blink_low)
&& task->blinkPin>=pin
&& task->blinkPin<=lastPin
) {
if (diag) DIAG(F("kill blink %d"),task->blinkPin,lastPin);
task->kill();
}
task=nextTask;
if (task==stoptask) 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;
while(task) {
if (task->onEventStartPosition==pc) {
DIAG(F("Recursive ON%S(%d)"),reason, id);
return;
}
task=task->next;
if (task==loopTask) break;
}
task=new RMFT2(pc); // new task starts at this instruction
task->onEventStartPosition=pc; // flag for recursion detector
}
void RMFT2::printMessage2(const FSH * msg) {
DIAG(F("EXRAIL(%d) %S"),loco,msg);
}
static StringBuffer * buffer=NULL;
/* thrungeString is used to stream a HIGHFLASH string to a suitable Serial
and handle the oddities like LCD, BROADCAST and PARSE */
void RMFT2::thrungeString(uint32_t strfar, thrunger mode, byte id) {
//DIAG(F("thrunge addr=%l mode=%d id=%d"), strfar,mode,id);
Print * stream=NULL;
// Find out where the string is going
switch (mode) {
case thrunge_print:
StringFormatter::send(&USB_SERIAL,F("<* EXRAIL(%d) "),loco);
stream=&USB_SERIAL;
break;
case thrunge_serial: stream=&USB_SERIAL; break;
case thrunge_serial1:
#ifdef SERIAL1_COMMANDS
stream=&Serial1;
#endif
break;
case thrunge_serial2:
#ifdef SERIAL2_COMMANDS
stream=&Serial2;
#endif
break;
case thrunge_serial3:
#ifdef SERIAL3_COMMANDS
stream=&Serial3;
#endif
break;
case thrunge_serial4:
#ifdef SERIAL4_COMMANDS
stream=&Serial4;
#endif
break;
case thrunge_serial5:
#ifdef SERIAL5_COMMANDS
stream=&Serial5;
#endif
break;
case thrunge_serial6:
#ifdef SERIAL6_COMMANDS
stream=&Serial6;
#endif
break;
case thrunge_lcn:
#if defined(LCN_SERIAL)
stream=&LCN_SERIAL;
#endif
break;
case thrunge_parse:
case thrunge_broadcast:
case thrunge_message:
case thrunge_lcd:
default: // thrunge_lcd+1, ...
if (!buffer) buffer=new StringBuffer();
buffer->flush();
stream=buffer;
break;
}
if (!stream) return;
#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
// if mega stream it out
for (;;strfar++) {
char c=pgm_read_byte_far(strfar);
if (c=='\0') break;
stream->write(c);
}
#else
// UNO/NANO CPUs dont have high memory
// 32 bit cpus dont care anyway
stream->print((FSH *)strfar);
#endif
// and decide what to do next
switch (mode) {
case thrunge_print:
StringFormatter::send(&USB_SERIAL,F(" *>\n"));
break;
// TODO more serials for SAMx case thrunge_serial4: stream=&Serial4; break;
case thrunge_parse:
DCCEXParser::parseOne(&USB_SERIAL,(byte*)buffer->getString(),NULL);
break;
case thrunge_broadcast:
CommandDistributor::broadcastRaw(CommandDistributor::COMMAND_TYPE,buffer->getString());
break;
case thrunge_withrottle:
CommandDistributor::broadcastRaw(CommandDistributor::WITHROTTLE_TYPE,buffer->getString());
break;
case thrunge_message:
CommandDistributor::broadcastMessage(buffer->getString());
break;
case thrunge_lcd:
LCD(id,F("%s"),buffer->getString());
break;
default: // thrunge_lcd+1, ...
if (mode > thrunge_lcd)
SCREEN(mode-thrunge_lcd, id, F("%s"),buffer->getString()); // print to other display
break;
}
}
void RMFT2::manageRouteState(uint16_t id, byte state) {
if (compileFeatures && FEATURE_ROUTESTATE) {
// Route state must be maintained for when new throttles connect.
// locate route id in the Routes lookup
int16_t position=routeLookup->findPosition(id);
if (position<0) return;
// set state beside it
if (routeStateArray[position]==state) return;
routeStateArray[position]=state;
CommandDistributor::broadcastRouteState(id,state);
}
}
void RMFT2::manageRouteCaption(uint16_t id,const FSH* caption) {
if (compileFeatures && FEATURE_ROUTESTATE) {
// Route state must be maintained for when new throttles connect.
// locate route id in the Routes lookup
int16_t position=routeLookup->findPosition(id);
if (position<0) return;
// set state beside it
if (routeCaptionArray[position]==caption) return;
routeCaptionArray[position]=caption;
CommandDistributor::broadcastRouteCaption(id,caption);
}
}
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