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CommandStation-EX/RMFT2.cpp
Neil McKechnie 0f55835b8b Add RMFT WAITFOR() and SERVO2() commands. 
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.
2021-08-28 17:39:48 +01:00

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/*
* © 2020,2021 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/>.
*/
#include <Arduino.h>
#include "RMFT2.h"
#include "DCC.h"
#include "DIAG.h"
#include "WiThrottle.h"
#include "DCCEXParser.h"
#include "Turnouts.h"
// Command parsing keywords
const int16_t HASH_KEYWORD_EXRAIL=15435;
const int16_t HASH_KEYWORD_ON = 2657;
const int16_t HASH_KEYWORD_START=23232;
const int16_t HASH_KEYWORD_RESERVE=11392;
const int16_t HASH_KEYWORD_FREE=-23052;
const int16_t HASH_KEYWORD_LATCH=1618;
const int16_t HASH_KEYWORD_UNLATCH=1353;
const int16_t HASH_KEYWORD_PAUSE=-4142;
const int16_t HASH_KEYWORD_RESUME=27609;
const int16_t HASH_KEYWORD_KILL=5218;
const int16_t HASH_KEYWORD_ROUTES=-3702;
// 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 thrrads exist in a ring, each time through loop() the next thread in the ring is serviced.
// Statics
int16_t RMFT2::progtrackLocoId; // used for callback when detecting a loco on prograck
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];
#define GET_OPCODE GETFLASH(RMFT2::RouteCode+progCounter)
#define GET_OPERAND(n) GETFLASHW(RMFT2::RouteCode+progCounter+1+(n*3))
#define SKIPOP progCounter+=3
/* static */ void RMFT2::begin() {
DCCEXParser::setRMFTFilter(RMFT2::ComandFilter);
for (int f=0;f<MAX_FLAGS;f++) flags[f]=0;
int progCounter;
// first pass startup, define any turnouts or servos, set signals red and count size.
for (progCounter=0;; SKIPOP){
byte opcode=GET_OPCODE;
if (opcode==OPCODE_ENDEXRAIL) break;
if (opcode==OPCODE_SIGNAL) {
VPIN red=GET_OPERAND(0);
VPIN amber=GET_OPERAND(1);
VPIN green=GET_OPERAND(2);
IODevice::write(red,true);
if (amber) IODevice::write(amber,false);
IODevice::write(green,false);
continue;
}
if (opcode==OPCODE_TURNOUT) {
VPIN id=GET_OPERAND(0);
int addr=GET_OPERAND(1);
byte subAddr=GET_OPERAND(2);
DCCTurnout::create(id,addr,subAddr);
continue;
}
if (opcode==OPCODE_SERVOTURNOUT) {
int16_t id=GET_OPERAND(0);
VPIN pin=GET_OPERAND(1);
int activeAngle=GET_OPERAND(2);
int inactiveAngle=GET_OPERAND(3);
int profile=GET_OPERAND(4);
ServoTurnout::create(id,pin,activeAngle,inactiveAngle,profile);
continue;
}
if (opcode==OPCODE_PINTURNOUT) {
int16_t id=GET_OPERAND(0);
VPIN pin=GET_OPERAND(1);
VpinTurnout::create(id,pin);
continue;
}
// other opcodes are not needed on this pass
}
SKIPOP; // include ENDROUTES opcode
DIAG(F("EXRAIL %db, MAX_FLAGS=%d"), progCounter,MAX_FLAGS);
new RMFT2(0); // add the startup route
}
// This filter intercepts <> commands to do the following:
// - Implement RMFT specific commands/diagnostics
// - Reject/modify JMRI commands that would interfere with RMFT processing
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':
if (p[0]==HASH_KEYWORD_EXRAIL) { // <D EXRAIL ON/OFF>
diag = paramCount==2 && (p[1]==HASH_KEYWORD_ON || p[1]==1);
opcode=0;
}
break;
case '/': // New EXRAIL command
reject=!parseSlash(stream,paramCount,p);
opcode=0;
break;
default: // other commands pass through
break;
}
if (reject) {
opcode=0;
StringFormatter::send(stream,F("<X>"));
}
}
bool RMFT2::parseSlash(Print * stream, byte & paramCount, int16_t p[]) {
if (paramCount==0) { // STATUS
StringFormatter::send(stream, F("<* EXRAIL STATUS"));
RMFT2 * task=loopTask;
while(task) {
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;
}
// Now stream the flags
for (int id=0;id<MAX_FLAGS; id++) {
byte flag=flags[id];
if (flag & ~TASK_FLAG) { // not interested in TASK_FLAG only. Already shown above
StringFormatter::send(stream,F("\nflags[%d} "),id);
if (flag & SECTION_FLAG) StringFormatter::send(stream,F(" RESERVED"));
if (flag & LATCH_FLAG) StringFormatter::send(stream,F(" LATCHED"));
}
}
StringFormatter::send(stream,F(" *>\n"));
return true;
}
switch (p[0]) {
case HASH_KEYWORD_PAUSE: // </ PAUSE>
if (paramCount!=1) return false;
DCC::setThrottle(0,1,true); // pause all locos on the track
pausingTask=(RMFT2 *)1; // Impossible task address
return true;
case HASH_KEYWORD_RESUME: // </ RESUME>
if (paramCount!=1) return false;
pausingTask=NULL;
{
RMFT2 * task=loopTask;
while(task) {
if (task->loco) task->driveLoco(task->speedo);
task=task->next;
if (task==loopTask) break;
}
}
return true;
case HASH_KEYWORD_START: // </ START [cab] route >
if (paramCount<2 || paramCount>3) return false;
{
int route=(paramCount==2) ? p[1] : p[2];
uint16_t cab=(paramCount==2)? 0 : p[1];
int pc=locateRouteStart(route);
if (pc<0) return false;
RMFT2* task=new RMFT2(pc);
task->loco=cab;
}
return true;
case HASH_KEYWORD_ROUTES: // </ ROUTES > JMRI withrottle support
if (paramCount>1) return false;
StringFormatter::send(stream,F("</ROUTES "));
emitWithrottleRouteList(stream);
StringFormatter::send(stream,F(">"));
return true;
default:
break;
}
// all other / commands take 1 parameter 0 to MAX_FLAGS-1
if (paramCount!=2 || p[1]<0 || p[1]>=MAX_FLAGS) return false;
switch (p[0]) {
case HASH_KEYWORD_KILL: // Kill taskid
{
RMFT2 * task=loopTask;
while(task) {
if (task->taskId==p[1]) {
delete task;
return true;
}
task=task->next;
if (task==loopTask) break;
}
}
return false;
case HASH_KEYWORD_RESERVE: // force reserve a section
setFlag(p[1],SECTION_FLAG);
return true;
case HASH_KEYWORD_FREE: // force free a section
setFlag(p[1],0,SECTION_FLAG);
return true;
case HASH_KEYWORD_LATCH:
setFlag(p[1], LATCH_FLAG);
return true;
case HASH_KEYWORD_UNLATCH:
setFlag(p[1], 0, LATCH_FLAG);
return true;
default:
return false;
}
}
// This emits Routes and Automations to Withrottle
// Automations are given a state to set the button to "handoff" which implies
// handing over the loco to the automation.
// Routes are given "Set" buttons and do not cause the loco to be handed over.
void RMFT2::emitWithrottleRouteList(Print* stream) {
StringFormatter::send(stream,F("PRT]\\[Routes}|{Route]\\[Set}|{2]\\[Handoff}|{4\nPRL"));
emitWithrottleDescriptions(stream);
StringFormatter::send(stream,F("\n"));
}
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;
stackDepth=0;
// 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=locateRouteStart(route);
if (pc<0) return;
RMFT2* task=new RMFT2(pc);
task->loco=cab;
}
int RMFT2::locateRouteStart(int16_t _route) {
if (_route==0) return 0; // Route 0 is always start of ROUTES for default startup
for (int progCounter=0;;SKIPOP) {
byte opcode=GET_OPCODE;
if (opcode==OPCODE_ENDEXRAIL) {
DIAG(F("RMFT2 sequence %d not found"), _route);
return -1;
}
if ((opcode==OPCODE_ROUTE || opcode==OPCODE_AUTOMATION || opcode==OPCODE_SEQUENCE)
&& _route==(int)GET_OPERAND(0)) return progCounter;
}
return -1;
}
void RMFT2::driveLoco(byte speed) {
if (loco<=0) return; // Prevent broadcast!
if (diag) DIAG(F("EXRAIL drive %d %d %d"),loco,speed,forward^invert);
DCC::setThrottle(loco,speed, forward^invert);
speedo=speed;
}
bool RMFT2::readSensor(int16_t sensorId) {
VPIN vpin=abs(sensorId);
if (getFlag(vpin,LATCH_FLAG)) return true; // latched on
bool s= IODevice::read(vpin) ^ (sensorId<0);
if (s && diag) DIAG(F("EXRAIL Sensor %d hit"),sensorId);
return s;
}
bool RMFT2::skipIfBlock() {
// returns false if killed
short nest = 1;
while (nest > 0) {
SKIPOP;
byte opcode = GET_OPCODE;
switch(opcode) {
case OPCODE_ENDEXRAIL:
kill(F("missing ENDIF"), nest);
return false;
case OPCODE_IF:
case OPCODE_IFNOT:
case OPCODE_IFRANDOM:
case OPCODE_IFRESERVE:
nest++;
break;
case OPCODE_ENDIF:
nest--;
break;
default:
break;
}
}
return true;
}
/* static */ void RMFT2::readLocoCallback(int16_t cv) {
progtrackLocoId=cv;
}
void RMFT2::loop() {
// 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;
byte opcode = GET_OPCODE;
int16_t operand = GET_OPERAND(0);
// 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_REV:
forward = false;
driveLoco(operand);
break;
case OPCODE_FWD:
forward = true;
driveLoco(operand);
break;
case OPCODE_SPEED:
driveLoco(operand);
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:
if (readSensor(operand)) break;
delayMe(50);
return;
case OPCODE_AFTER: // waits for sensor to hit and then remain off for 0.5 seconds. (must come after an AT operation)
if (readSensor(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:
IODevice::write(operand,true);
break;
case OPCODE_RESET:
IODevice::write(operand,false);
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, GET_OPERAND(1));
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
if (!readSensor(operand)) if (!skipIfBlock()) return;
break;
case OPCODE_IFNOT: // do next operand if sensor not set
if (readSensor(operand)) if (!skipIfBlock()) return;
break;
case OPCODE_IFRANDOM: // do block on random percentage
if (random(100)>=operand) if (!skipIfBlock()) return;
break;
case OPCODE_IFRESERVE: // do block if we successfully RERSERVE
if (!getFlag(operand,SECTION_FLAG)) setFlag(operand,SECTION_FLAG);
else if (!skipIfBlock()) return;
break;
case OPCODE_ENDIF:
break;
case OPCODE_DELAY:
delayMe(operand*100L);
break;
case OPCODE_DELAYMINS:
delayMe(operand*60L*1000L);
break;
case OPCODE_RANDWAIT:
delayMe(random(operand)*100L);
break;
case OPCODE_RED:
doSignal(operand,true,false,false);
break;
case OPCODE_AMBER:
doSignal(operand,false,true,false);
break;
case OPCODE_GREEN:
doSignal(operand,false,false,true);
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_FOLLOW:
progCounter=locateRouteStart(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=locateRouteStart(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_JOIN:
DCC::setProgTrackSyncMain(true);
break;
case OPCODE_UNJOIN:
DCC::setProgTrackSyncMain(false);
break;
case OPCODE_READ_LOCO1: // READ_LOCO is implemented as 2 separate opcodes
DCC::getLocoId(readLocoCallback);
break;
case OPCODE_READ_LOCO2:
if (progtrackLocoId<0) {
delayMe(100);
return; // still waiting for callback
}
loco=progtrackLocoId;
speedo=0;
forward=true;
invert=false;
break;
case OPCODE_START:
{
int newPc=locateRouteStart(operand);
if (newPc<0) break;
new RMFT2(newPc);
}
break;
case OPCODE_SENDLOCO: // cab, route
{
int newPc=locateRouteStart(GET_OPERAND(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_SERVO: // OPCODE_SERVO,V(vpin),OPCODE_PAD,V(position),OPCODE_PAD,V(profile),OPCODE_PAD,V(duration)
IODevice::writeAnalogue(operand,GET_OPERAND(1),GET_OPERAND(2),GET_OPERAND(3));
break;
case OPCODE_WAITFOR: // OPCODE_SERVO,V(pin)
if (IODevice::isBusy(operand)) {
delayMe(100);
return;
}
break;
case OPCODE_PRINT:
printMessage(operand);
break;
case OPCODE_ROUTE:
case OPCODE_AUTOMATION:
case OPCODE_SEQUENCE:
DIAG(F("EXRAIL begin(%d)"),operand);
break;
case OPCODE_PAD: // Just a padding for previous opcode needing >1 operad byte.
case OPCODE_SIGNAL: // Signal definition ignore at run time
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 catcers ignored here
case OPCODE_ONTHROW: // Turnout definition ignored at runtime
break;
default:
kill(F("INVOP"),operand);
}
// Falling out of the switch means move on to the next opcode
SKIPOP;
}
void RMFT2::delayMe(long delay) {
delayTime=delay;
delayStart=millis();
}
void RMFT2::setFlag(VPIN id,byte onMask, byte offMask) {
if (FLAGOVERFLOW(id)) return; // Outside range limit
byte f=flags[id];
f &= ~offMask;
f |= onMask;
flags[id]=f;
}
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;
}
/* static */ void RMFT2::doSignal(VPIN id,bool red, bool amber, bool green) {
// CAUTION: hides class member progCounter
for (int progCounter=0;; SKIPOP){
byte opcode=GET_OPCODE;
if (opcode==OPCODE_ENDEXRAIL) return;
if (opcode!=OPCODE_SIGNAL) continue;
byte redpin=GET_OPERAND(1);
if (redpin!=id)continue;
byte amberpin=GET_OPERAND(2);
byte greenpin=GET_OPERAND(3);
IODevice::write(redpin,red);
if (amberpin) IODevice::write(amberpin,amber);
if (greenpin) IODevice::write(amberpin,green);
return;
}
}
void RMFT2::turnoutEvent(VPIN id, bool closed) {
byte huntFor=closed ? OPCODE_ONCLOSE : OPCODE_ONTHROW ;
// caution hides class progCounter;
for (int progCounter=0;; SKIPOP){
byte opcode=GET_OPCODE;
if (opcode==OPCODE_ENDEXRAIL) return;
if (opcode!=huntFor) continue;
if (id!=GET_OPERAND(0)) continue;
new RMFT2(progCounter); // new task starts at this instruction
return;
}
}
void RMFT2::printMessage2(const FSH * msg) {
DIAG(F("EXRAIL(%d) %S"),loco,msg);
}
// This is called by emitRouteDescriptions to emit a withrottle description for a route or autoomation.
void RMFT2::emitRouteDescription(Print * stream, char type, int id, const FSH * description) {
StringFormatter::send(stream,F("]\\[%c%d}|{%S}|{%c"),
type,id,description, type=='R'?'2':'4');
}
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