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https://github.com/MaSzyna-EU07/maszyna.git
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uart experiments
windows build fix log uart write error uart changes uart changes uart changes uart changes uart changes uart works uart changes verbose uart log uart changes uart changes uart logging uart logging uart changes changes uart changes
This commit is contained in:
milek7
173
uart.cpp
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173
uart.cpp
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#include "stdafx.h"
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#include "uart.h"
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#include "Globals.h"
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#include "World.h"
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#include "Train.h"
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#include "Logs.h"
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uart_input::uart_input()
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{
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conf = Global::uart_conf;
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if (sp_get_port_by_name(conf.port.c_str(), &port) != SP_OK)
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throw std::runtime_error("uart: cannot find specified port");
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if (sp_open(port, SP_MODE_READ_WRITE) != SP_OK)
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throw std::runtime_error("uart: cannot open port");
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if (sp_set_baudrate(port, conf.baud) != SP_OK)
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throw std::runtime_error("uart: cannot set baudrate");
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if (sp_set_flowcontrol(port, SP_FLOWCONTROL_NONE) != SP_OK)
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throw std::runtime_error("uart: cannot set flowcontrol");
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if (sp_flush(port, SP_BUF_BOTH) != SP_OK)
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throw std::runtime_error("uart: cannot flush");
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old_packet.fill(0);
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last_update = std::chrono::high_resolution_clock::now();
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}
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uart_input::~uart_input()
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{
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sp_close(port);
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sp_free_port(port);
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}
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#define SPLIT_INT16(x) (uint8_t)x, (uint8_t)(x >> 8)
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void uart_input::poll()
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{
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auto now = std::chrono::high_resolution_clock::now();
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if (std::chrono::duration<float>(now - last_update).count() < conf.updatetime)
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return;
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last_update = now;
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TTrain *t = Global::pWorld->train();
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sp_return ret;
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if (sp_input_waiting(port) >= 16)
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{
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std::array<uint8_t, 16> buffer;
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ret = sp_blocking_read(port, (void*)buffer.data(), buffer.size(), 0);
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if (ret < 0)
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throw std::runtime_error("uart: failed to read from port");
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sp_drain(port);
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data_pending = false;
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for (auto entry : input_bits)
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{
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input_type_t type = std::get<2>(entry);
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size_t byte = std::get<0>(entry) / 8;
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size_t bit = std::get<0>(entry) % 8;
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bool state = (bool)(buffer[byte] & (1 << bit));
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bool repeat = (type == impulse_r ||
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type == impulse_r_off ||
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type == impulse_r_on);
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bool changed = (state != (bool)(old_packet[byte] & (1 << bit)));
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if (!changed && !(repeat && state))
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continue;
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int action;
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command_data::desired_state_t desired_state;
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if (type == toggle)
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{
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action = GLFW_PRESS;
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desired_state = state ? command_data::ON : command_data::OFF;
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}
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else if (type == impulse_r_on)
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{
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action = state ? (changed ? GLFW_PRESS : GLFW_REPEAT) : GLFW_RELEASE;
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desired_state = command_data::ON;
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}
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else if (type == impulse_r_off)
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{
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action = state ? (changed ? GLFW_PRESS : GLFW_REPEAT) : GLFW_RELEASE;
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desired_state = command_data::OFF;
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}
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else if (type == impulse || type == impulse_r)
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{
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action = state ? (changed ? GLFW_PRESS : GLFW_REPEAT) : GLFW_RELEASE;
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desired_state = command_data::TOGGLE;
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}
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relay.post(std::get<1>(entry), 0, 0, action, 0, desired_state);
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}
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int mainctrl = buffer[6];
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int scndctrl = buffer[7];
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float trainbrake = (float)(((uint16_t)buffer[8] | ((uint16_t)buffer[9] << 8)) - conf.mainbrakemin) / (conf.mainbrakemax - conf.mainbrakemin);
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float localbrake = (float)(((uint16_t)buffer[10] | ((uint16_t)buffer[11] << 8)) - conf.mainbrakemin) / (conf.localbrakemax - conf.localbrakemin);
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t->set_mainctrl(mainctrl);
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t->set_scndctrl(scndctrl);
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t->set_trainbrake(trainbrake);
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t->set_localbrake(localbrake);
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old_packet = buffer;
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}
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if (!data_pending && sp_output_waiting(port) == 0)
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{
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// TODO: ugly! move it into structure like input_bits
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uint8_t buzzer = (uint8_t)t->get_alarm();
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uint8_t tacho = (uint8_t)t->get_tacho();
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uint16_t tank_press = (uint16_t)std::min(conf.tankuart, t->get_tank_pressure() / conf.tankmax * conf.tankuart);
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uint16_t pipe_press = (uint16_t)std::min(conf.pipeuart, t->get_pipe_pressure() / conf.pipemax * conf.pipeuart);
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uint16_t brake_press = (uint16_t)std::min(conf.brakeuart, t->get_brake_pressure() / conf.brakemax * conf.brakeuart);
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uint16_t hv_voltage = (uint16_t)std::min(conf.hvuart, t->get_hv_voltage() / conf.hvmax * conf.hvuart);
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auto current = t->get_current();
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uint16_t current1 = (uint16_t)std::min(conf.currentuart, current[0]) / conf.currentmax * conf.currentuart;
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uint16_t current2 = (uint16_t)std::min(conf.currentuart, current[1]) / conf.currentmax * conf.currentuart;
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uint16_t current3 = (uint16_t)std::min(conf.currentuart, current[2]) / conf.currentmax * conf.currentuart;
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std::array<uint8_t, 31> buffer =
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{
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0, 0, //byte 0-1
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tacho, //byte 2
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0, 0, 0, 0, 0, 0, //byte 3-8
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SPLIT_INT16(brake_press), //byte 9-10
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SPLIT_INT16(pipe_press), //byte 11-12
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SPLIT_INT16(tank_press), //byte 13-14
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SPLIT_INT16(hv_voltage), //byte 15-16
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SPLIT_INT16(current1), //byte 17-18
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SPLIT_INT16(current2), //byte 19-20
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SPLIT_INT16(current3), //byte 21-22
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0, 0, 0, 0, 0, 0, 0, 0 //byte 23-30
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};
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buffer[4] |= t->btLampkaOpory.b() << 1;
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buffer[4] |= t->btLampkaWysRozr.b() << 2;
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buffer[6] |= t->btLampkaOgrzewanieSkladu.b() << 0;
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buffer[6] |= t->btLampkaOpory.b() << 1;
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buffer[6] |= t->btLampkaPoslizg.b() << 2;
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buffer[6] |= t->btLampkaCzuwaka.b() << 6;
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buffer[6] |= t->btLampkaSHP.b() << 7;
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buffer[7] |= t->btLampkaStyczn.b() << 0;
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buffer[7] |= t->btLampkaNadmPrzetw.b() << 2;
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buffer[7] |= t->btLampkaNadmSil.b() << 4;
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buffer[7] |= t->btLampkaWylSzybki.b() << 5;
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buffer[7] |= t->btLampkaNadmSpr.b() << 6;
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buffer[8] |= buzzer << 7;
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sp_flush(port, SP_BUF_INPUT); // flush input buffer in preparation for reply packet
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ret = sp_blocking_write(port, (void*)buffer.data(), buffer.size(), 0);
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if (ret != buffer.size())
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throw std::runtime_error("uart: failed to write to port");
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data_pending = true;
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}
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}
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