File content as of revision 49:880c0b9c9c64:

#include "mbed.h"
#include "TextLCD.h"
#include "MCP23017.h"
#include <string>
#include <iostream>
#include <vector>

using namespace std;

 
/******PINS AND DECLARATIONS*******/

//------PINS

//SWITCHES p5 - p8
DigitalIn switch1(p5);
DigitalIn switch2(p6);
DigitalIn switch3(p7);
DigitalIn switch4(p8);

//RAIL SENSORS - INT0,INT1
//INT0 - p9
InterruptIn int0(p9);
//INT1 - p10
InterruptIn int1(p10);

///p11
///p12

//M0 - p13
DigitalIn d21stat(p13);     //Sensor right of the station
//M1 - p14
DigitalIn d22stat(p14);     //Sensor left of the station
//M2 - p15
DigitalIn station(p15); //Sensor in the middle of the station

//p16
//p17

//BUZZER - p18
DigitalOut buzz(p18); // buzz=0 doesn't beep, buzz=1 beeps

//POTENTIOMETER - p19
AnalogIn pot(p19);  //Gives float value pot.read(). Convert analog input to V with f*3.3

//DAT - p20
DigitalOut Track(p20); //Digital output bit used to drive track power via H-bridge

//LCD SCREEN - p21, p22, p23, p24, p25, p26
TextLCD lcd(p22,p21,p23,p24,p25,p26); // RS, E, A4, A5, A6, A7 // ldc.cls() to clear and printf(String up to 16char)

///p27
///p28
I2C i2c(p28,p27);

//LED1 - p29
DigitalOut redled(p29);
//LED2 - p30
DigitalOut greenled(p30);

//MBED LEDS
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);

//MCP
MCP23017 *mcp;


//------GLOBAL VARS

//......SENSOR POSITION VARS

//Definition of D sensors, will be interpreted as ints for the program's logic
#define D0 0
#define D1 1
#define D2 2
#define D3 3
#define D4 4
#define D5 5
#define D6 6
#define D7 7
#define D8 8
#define D9 9
#define D10 10
#define D11 11
#define D12 12
#define D13 13
#define D21 14
#define D22 15


/**
*
*Position class.
*
*@position - 
*@previous_cw - 
*@previous_ccw - 
*
*Position(int) - 
*
*get_pos() - 
*get_prev_cw() - 
*get_ccw() - 
*add_prev_cw() - 
*add_ccw() - 
*
**/
class Position{
    private:
        int position; 
        vector <int> previous_cw;
        vector <int> previous_ccw;
    public:
        Position(int p){
            position = p;
        }
        
        int get_pos(){
            return position;    
        }
        
        vector<int> get_next_cw(){
            return previous_ccw;
        }
        
        vector<int> get_next_ccw(){
            return previous_cw;
        }

        vector <int> get_prev_cw(){
            return previous_cw;    
        }
        
        vector <int> get_prev_ccw(){
            return previous_ccw;    
        }
        
        void add_prev_cw(int pos){
            previous_cw.push_back(pos);
        };
        
        void add_prev_ccw(int pos){
            previous_ccw.push_back(pos);
        };
};


//Creating a vector with all the positions.
vector<Position> positions;


/**
*
*Train class.
*
*@position - 
*@going_cw - 
*
*Train(int, bool) - 
*Train(bool) - 
*
*Vector get_next_sensors() - 
*set_position(int) - 
*set_goes_cw(bool) - 
*Position get_position() - 
*Int get_position_number() - 
*Bool goes_cw() -
*
**/
class Train{
    
    private:
        Position *position;
        bool going_cw;
        
    public:
        Train(int pos, bool cw){
            
            position = &positions[pos];
            going_cw = cw;
        }
        
        Train(bool cw){ going_cw = cw; }
        
        vector<int> get_next_sensors(){
            
            //Checking direction
            if(going_cw){
                
                return position->get_next_cw();
            }else{
                
                return position->get_next_ccw();
            }            
        }
        
        void set_position(int pos){
            
            position = &positions[pos]; //Taking the new position from the positions vector
        }
        
        void set_goes_cw(bool cw){
            
            going_cw = cw;
        }   
        
        Position get_position(){
            
            return *position;
        }
        
        int get_position_number(){
            
            return position->get_pos();
        }
        
        bool goes_cw(){
            
            return going_cw;
        }
};


//Creation of all the positions. One for every sensor on the table - Position name(mapping)
Position d0(D0);
Position d1(D1);
Position d2(D2);
Position d3(D3);
Position d4(D4);
Position d5(D5);
Position d6(D6);
Position d7(D7);
Position d8(D8);
Position d9(D9);
Position d10(D10);
Position d11(D11);
Position d12(D12);
Position d13(D13);
Position d21(D21);
Position d22(D22);

/**
*Defining areas for train detection and collision logic.
*area_A_arr/area_B_arr - Arrays that hold the Dsensors for each area, used to initialize the vectors.
*area_A/area_B - Vectors that hold the different sensors of the corresponding areas of the track.
**/
int area_A_arr[] = {D21,D2,D22,D1,D0,D13,D12};
int area_B_arr[] = {D6,D7,D8};

const vector<int> area_A(area_A_arr,area_A_arr + sizeof(area_A_arr) / sizeof(int));
const vector<int> area_B(area_B_arr,area_B_arr + sizeof(area_B_arr) / sizeof(int));



//.....DCC TRAIN COMMAND VARS

//typical out of box default engine DCC address is 3 (at least for Bachmann trains)
//Note: A DCC controller can reprogram the address whenever needed
const unsigned int DCCaddressDR = 0x01; //Address for train 1 DARK-RED
const unsigned int DCCaddressLR = 0x03; //Address for train 3 LIGHT-RED

//01DCSSSS for speed, D is direction (fwd=1 and rev=0), C is speed(SSSSC) LSB
const unsigned int DCCinst_forward = 0x68; //forward half speed
const unsigned int DCCinst_forward_slow = 0x66; //forward half speed
const unsigned int DCCinst_reverse = 0x48; //reverse half speed
const unsigned int DCCinst_stop = 0x50;    //stop the train

//100DDDDD for basic headlight functions
const unsigned int DCC_func_lighton = 0x90; //F0 turns on headlight function
const unsigned int DCC_func_dimlight = 0x91; //F0 + F1 dims headlight


//.....SWITCH COMMAND VARS
    
const unsigned int SWBaddress = 0x06; //Address for switch box

//100DDDDD where DDDDD is the switch command and 100 is constant:

//00001(F1 active)-00010(F2 active)-00100(F3 active)-01000(F4 active)
//Example - 111111 0 00000101 0 10000000 0 10000101 1 - idle
const unsigned int SWBidle = 0x80; //IDLE - Flip last activated SW.
const unsigned int SWBflip_1 = 0x81; //Flip SW1
const unsigned int SWBflip_2 = 0x82; //Flip SW2
const unsigned int SWBflip_3 = 0x84; //Flip SW3
const unsigned int SWBflip_4 = 0x88; //Flip SW4


/**
*Creation of 2 Train objects. 
*Using boolean constructor because position initialization will be done after initializing all position vectors.
*DR_train = Dark Red train - LR_train = Light Red Train
**/
Train DR_train(true); //Position and going_cw
Train LR_train(true);

//possibility of an array having {dr_train, lr_train}? for reuse and modularity of functions


/**
*Booleans that will determine if the train should be moving or not. 
*Booleans will switch to false to stop any of the trains and avoid collisions.
*DR_run - Boolean for DR_train / LR_run - Boolean for LR_train
**/
bool DR_run = true;
bool LR_run = true;



//**************** FUNCTIONS FOR DENVER TRAIN ****************//


/**
*
*Activates the buzzer for 0.5 seconds.
*
**/
void doBuzz(){
    
    buzz = 1;
    wait(0.5);
    buzz = 0;    
}


/**
*
*Initializes every position's vectors (prev_cw and prev_ccw) with the corresponding sensors.
*prev_cw - Sensors previous to the current in clockwise sense.
*prev_ccw - Sensors previous to the current in counter-clockwise sense.
*
**/
void init_positions(){
      
    d0.add_prev_cw(D1);
    d0.add_prev_ccw(D13);
    
    d1.add_prev_cw(D22);
    d1.add_prev_ccw(D0);
    
    d22.add_prev_cw(D2);
    d22.add_prev_ccw(D1);
    
    d2.add_prev_cw(D21);
    d2.add_prev_ccw(D22);
    
    d21.add_prev_cw(D3);
    d21.add_prev_cw(D4);
    d21.add_prev_ccw(D2);
    
    d3.add_prev_cw(D9);
    d3.add_prev_ccw(D21);
    
    d4.add_prev_cw(D6);
    d4.add_prev_ccw(D21);
    
    d5.add_prev_cw(D6);
    d5.add_prev_ccw(D11); 
    
    d6.add_prev_cw(D7);
    d6.add_prev_ccw(D4);
    d6.add_prev_ccw(D5);
    
    d7.add_prev_cw(D8);
    d7.add_prev_ccw(D6);
    
    d8.add_prev_cw(D9);
    d8.add_prev_cw(D10);
    d8.add_prev_ccw(D7);
        
    d9.add_prev_cw(D3);
    d9.add_prev_ccw(D8);
    
    d10.add_prev_cw(D12);
    d10.add_prev_ccw(D8);  
    
    d11.add_prev_cw(D12);
    d11.add_prev_ccw(D5);  
    
    d12.add_prev_cw(D13);
    d12.add_prev_ccw(D10); 
    d12.add_prev_ccw(D11);  
    
    d13.add_prev_cw(D0);
    d13.add_prev_ccw(D12);  
    
    //Initialize array with positions
    positions.push_back(d0);
    positions.push_back(d1);
    positions.push_back(d2);
    positions.push_back(d3);
    positions.push_back(d4);
    positions.push_back(d5);
    positions.push_back(d6);
    positions.push_back(d7);
    positions.push_back(d8);
    positions.push_back(d9);
    positions.push_back(d10);
    positions.push_back(d11);    
    positions.push_back(d12);
    positions.push_back(d13);
    positions.push_back(d21);
    positions.push_back(d22);
}


/**
*
*Here we initialize the mcp that will be used to manage the interrupts.
*
**/
void initialize_mcp(){
    mcp = new MCP23017(i2c,0x40); //Connect to SCL - p28 and SDA - p27 and MPC I2C address 0x40 
    
    mcp->_write(IODIRA, (unsigned char )0xff);
    mcp->_write(IODIRB, (unsigned char )0xff);
    mcp->_write(IPOLA, (unsigned char )0x00);
    mcp->_write(IPOLB, (unsigned char )0x00);
    mcp->_write(DEFVALA, (unsigned char )0xff);
    mcp->_write(DEFVALB, (unsigned char )0xff); 
    mcp->_write(INTCONA, (unsigned char )0xff); 
    mcp->_write(INTCONB, (unsigned char )0xff); 
    mcp->_write(IOCONA, (unsigned char )0x2); 
    mcp->_write(IOCONB, (unsigned char )0x2); 
    mcp->_write(GPPUA, (unsigned char )0xff); 
    mcp->_write(GPPUB, (unsigned char )0xff);    
    
}


/**
*
*Returns the number of the sensor where the train was detected.
*
*@number - 
*@interrupt - 
*
**/
int get_sensor(unsigned int number,int interrupt){
    
    int sensor = -1;
    
    for(int i=0; i<8; i++){
        
        if(~number & 1<<i){
                        
            sensor = i; 
        }
    }
    
    if(interrupt == 1){
        
        sensor+= 8; // Sensors caught by interreupt1 are identified from 8 to 15.
    }
    
    return sensor;
}


/**
*
*Checks if the element exists within the vector.
*
*@v - The vector (of ints) the method will go through.
*@element - The element the method will look for.
*
**/
bool in_vector(vector<int>v,int element){
    
    bool exist = false;
    
    for(int i=0; i< v.size(); i++){
        
        if(v[i] == element){
            
            exist = true;
        }
    }   
    return exist;
}


/**
*This method will checks if there is a non-avoidable frontal collision(NAFC).
*A NAFC will happen if:
*
*Both trains in area A or B with different direction
*Trains in (D11 and D5) or (D9 and D3) with same direction 
*
*/
bool check_NAC(bool DR_in_A, bool DR_in_B,bool LR_in_A,bool LR_in_B){
    
    bool NAC = false;
    
    if((DR_in_A && LR_in_A) || (DR_in_B && LR_in_B) ){ //Check if both are in same area
    
        if(DR_train.goes_cw() ^ LR_train.goes_cw()){ //XOR: They must have different values to be true (Different direction)
        
            NAC = true;
        }
    }else if((DR_train.get_position_number() == D11) && (LR_train.get_position_number() == D5 )){ //Check if they are in position D11 and D5
    
        if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction)
        
            NAC = true;
        }
    }else if((DR_train.get_position_number() == D9) && (LR_train.get_position_number() == D3 )){//Check if they are in position D9 and D3
    
        if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction)
        
            NAC = true;
        }   
    }
    return NAC;     
}


/**
*
*CThe function will check if there is an Avoidable Frontal Collision (AFC).
*AFC will occur if:
*
*Train in area A(ccw) and train in D4(cw)
*Train in area A(cw) and train in D10(ccw)
*Train in area B(cw) and train in D4(ccw)
*Train in area B(ccw) and train in D10(ccw) 
*
**/
bool check_AFC(bool DR_in_A, bool DR_in_B,bool LR_in_A,bool LR_in_B){   //TODO - Add same for LR train
    
    if( DR_train.get_position_number() == D4){  
             
            if(DR_train.goes_cw()){
                
                if(LR_in_A && !LR_train.goes_cw()){
                    
                //Activate switch2
                //DR_train has to stop
                //When LR is at D3 DR continues
                }
            }else{ //DR goes ccw
            
                if(LR_in_B && LR_train.goes_cw()){
                    
                    //DR_train stops
                    //Activate switch3
                    //When LR is at D5 DR continues
                }
            }
            
    }else if(DR_train.get_position_number() == D10){
        
        if(DR_train.goes_cw()){
            
            if(LR_in_B && !LR_train.goes_cw()){
                
                //DR train stops
                //Activate switch4
                //When LR is at D9 DR continues
            }
        }else{
            
            if(LR_in_A && LR_train.goes_cw()){
                
                //DR train stops
                //Activate switch1
                //When LR is at D9 DR continues
            }
        }
    }
}


/**
*
*The method check_position will check if any of the trains is in any of the areas.
*It will go through all the area vectors (A,B) and call the function in_vector to check inside the vectors.
*
**/
void check_position(){
    
    bool DR_in_A, DR_in_B, LR_in_A, LR_in_B;
    
    DR_in_A = in_vector(area_A,DR_train.get_position_number()); //Check if DR train is in area A
    DR_in_B = in_vector(area_B,DR_train.get_position_number());
    LR_in_A = in_vector(area_A,LR_train.get_position_number());
    LR_in_B = in_vector(area_B,LR_train.get_position_number());      
    
}


/**
*
*Description
*
*@sensor - 
*
**/
void update_train_pos(int sensor){
    
    bool found_DR = false;
    bool found_LR = false;
    
    string DR_dir,LR_dir;
    
    if(DR_train.goes_cw()){
        DR_dir = "cw";
    }else{
        DR_dir = "ccw";
    }
    
    if(LR_train.goes_cw()){
        LR_dir = "cw";
    }else{
        LR_dir = "ccw";
    }
    
    
    lcd.cls();
    lcd.printf("S:D%d DR(",sensor);
    
    //TODO: Do a for to print all next sensors.
    for(int i=0; i<DR_train.get_next_sensors().size(); i++){ 
    
        lcd.printf("%d,",DR_train.get_next_sensors()[i]);
    }
    
    lcd.printf(")%s LR(",DR_dir);
    
    for(int i=0; i<LR_train.get_next_sensors().size(); i++){ 
       
        lcd.printf("%d,",LR_train.get_next_sensors()[i]);
    }
    
    lcd.printf(")%s",LR_dir);
    wait(0.7);   
    
    //Checking next sensors for DR train
    for(int i=0; i<DR_train.get_next_sensors().size(); i++){         
        
        if(DR_train.get_next_sensors()[i] == sensor){ //If the sensor is one expected to visit by the train we update the position
        
            found_DR = true;
          
            
            if(DR_train.goes_cw()){
                if(DR_train.get_position_number() == D5 || DR_train.get_position_number() == D11){             
                                               
                    DR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation
                }    
            }else{
                
                if(DR_train.get_position_number() == D9 || DR_train.get_position_number() == D3){ 
                    
                    DR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation
                }
            } 
            
            DR_train.set_position(sensor);               
        }
    }
    
    //Checking next sensors for LR train
    for(int i=0; i<LR_train.get_next_sensors().size(); i++){
        
        if(LR_train.get_next_sensors()[i] == sensor){
            
            found_LR = true;
                        
            if(LR_train.goes_cw()){   
                
                if(LR_train.get_position_number() == D5 || LR_train.get_position_number() == D11){    
                    LR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation
                }    
            }else{
               
                if(LR_train.get_position_number() == D9 || LR_train.get_position_number() == D3 ){                  
                    
                    LR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation
                }
            }
            LR_train.set_position(sensor);  
        }
    }
                   
     if(found_DR){
        
        //doBuzz();
        lcd.cls();
        lcd.printf("DR is at D%d",DR_train.get_position_number());
    }
    
    if(found_LR){

        lcd.cls();
        lcd.printf("LR is at D%d",LR_train.get_position_number());   
    }
    
    if(!found_DR && !found_LR){
        
        lcd.cls();
        lcd.printf("No train before :(");
    }
}


/**
*
*Method to catch interrupts 0
*
**/
void on_int0_change(){
     
     wait_us(2000);
     int sensor_data = mcp->_read(INTCAPA);
     int sensor = get_sensor(sensor_data,0);
     lcd.cls();
     lcd.printf("int0 0x%x \n Sensor: %d",sensor_data,sensor);
      
     update_train_pos(sensor);
}


/**
*
*Method to catch interrupts 1
*
**/
void on_int1_change(){
    
    wait_us(2000);
     int sensor_data = mcp->_read(INTCAPB);
     int sensor = get_sensor(sensor_data,1);
     lcd.cls();
     lcd.printf("int1 0x%x \n Sensor: %d",sensor_data,sensor);
     
     update_train_pos(sensor);
}

/**
*
*Clear current interrupts 
*
**/
void init() { 

    mcp->_read(GPIOA); 
    mcp->_read(GPIOB); // Register callbacks 
    int0.fall(&on_int0_change); 
    int1.fall(&on_int1_change); // Enable interrupts on MCP 
    mcp->_write(GPINTENA, (unsigned char )0xff); 
    mcp->_write(GPINTENB, (unsigned char )0xff); // Ready to go! 
  }


/**
*
*Method to send DCC commands to train and switches.
*
*@address - (HEX)Address where the commands will be sent
*@inst - (HEX)Number of instruction that will be commanded
*@repeat_count - Number of times the command will be sent
*
**/
void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count){
    
    unsigned __int64 command = 0x0000000000000000; // __int64 is the 64-bit integer type
    unsigned __int64 temp_command = 0x0000000000000000;
    unsigned __int64 prefix = 0x3FFF; // 14 "1" bits needed at start
    unsigned int error = 0x00; //error byte
    
    //calculate error detection byte with xor
    error = address ^ inst;
    
    //combine packet bits in basic DCC format
    command = (prefix<<28)|(address<<19)|(inst<<10)|((error)<<1)|0x01;
    //printf("\n\r %llx \n\r",command);
    
    int i=0;
    //repeat DCC command lots of times
    while(i < repeat_count) {
        
        temp_command = command;
        //loops through packet bits encoding and sending out digital pulses for a DCC command
        for (int j=0; j<64; j++) {
            
            if((temp_command&0x8000000000000000)==0) { 
            //test packet bit
                //send data for a "0" bit
                Track=0;
                wait_us(100);
                Track=1;
                wait_us(100);
                //printf("0011");
            }else{
                
                //send data for a "1"bit
                Track=0;
                wait_us(58);
                Track=1;
                wait_us(58);
                //printf("01");
            }
            // next bit in packet
            temp_command = temp_command<<1;
        }
        i++;
    }
}


/**
*
*Method to flip the switches
*
*@switchId - (1-4)The ID of the switch we want to flip
*@times - The number of times we want to send the command
*@activate - True if the switch is going to be activated. False if it needs to go back to rest position.
*
**/
void flipSwitch(int switchId, int times, bool activate=true){
    
    unsigned int SWBflip = SWBidle; //IDLE - Flip last activated SW.
    
    switch(switchId){
        
        case 1:
            SWBflip = SWBflip_1;     //FLIP SW1
            break;
            
        case 2:
            SWBflip = SWBflip_2;     //FLIP SW2
            break;
            
        case 3:
            SWBflip = SWBflip_3;     //FLIP SW3
            break;
            
        case 4:
            SWBflip = SWBflip_4;     //FLIP SW4
            break;
            
        default:
            break;    
    }          

    //Security measure not to burn the switch.
    if(times <=5){ 
    
        DCC_send_command(SWBaddress,SWBflip,times); //Activating switch
        if(!activate){
              
              DCC_send_command(SWBaddress,SWBidle,times);  //Sending IDLE to flip back.
        }
     }
}


/**
*
*Checks if any of the switches of the box has been activated. 
*Calls necessary function and displays LCD text.
*
**/
void checkSwitch(){
    
    if(switch1 == 1){
        
        lcd.cls();
        lcd.printf("Switch 1 ON - SW1");
        flipSwitch(1,5);
     }else if(switch2 == 1){
        
            lcd.cls();
            lcd.printf("Switch 2 ON - SW2");
            flipSwitch(2,5);
        }else if(switch3 == 0){
                
                lcd.cls();
                lcd.printf("Switch 3 ON - SW3");
                flipSwitch(3,5); 
            }else if(switch4 == 0){
        
                    lcd.cls();
                    lcd.printf("Switch 4 ON - IDLE");
                    flipSwitch(0,5);         
            }
    }


/**
*
*
*
**/
void send_command(){
    
    if(DR_run){
        
        DCC_send_command(DCCaddressDR,DCCinst_forward,1); // Forward half speed train addres DARK-RED 
    }else{
        
        DCC_send_command(DCCaddressDR,DCCinst_stop,400);
    }
    
    if(LR_run){
        
        DCC_send_command(DCCaddressLR,DCCinst_forward,1); // Forward half speed train addres DARK-RED 
    }else{
        
        DCC_send_command(DCCaddressLR,DCCinst_stop,400);
    }
}



//**************** MAIN PROGRAM FOR DENVER TRAIN ****************//


int main()
{
    //RISE FOR INTERRUPTS?? NOT WORKING ATM
    //int0.rise(&interrupt0);
    //int1.rise(&interrupt1);
    
    //Read and display potentiometer
    //float f = pot.read();
    //float vin = f * 3.3;
    //lcd.printf("vin: %.4f",vin);
    
    //0xFFFC     //1111111111111100
    
    
    //Led routine to start main program
    led1 = 1;
    wait(0.2);
    led1 = 0;
    wait(0.2);
    led1 = 1;
    
    initialize_mcp();   //mcp initialization for interrupts before train running
    init();
    init_positions();
    
    DR_train.set_position(D4);
    LR_train.set_position(D10);
    
    //Train light routine to start running
    /*
    DCC_send_command(DCCaddressDR,DCC_func_lighton,200); // turn light on full
    DCC_send_command(DCCaddressDR,DCC_func_dimlight,400); //dim light
    DCC_send_command(DCCaddressDR,DCC_func_lighton,200);  //light full again
    */

    //LED3 Shows start of route + LCD notif
    led3 = 1; // Entering the while
    lcd.cls();
    lcd.printf("Ready to start");
    
    //Demo for stopping at the station
    while(1) {
        
        checkSwitch();  //Checks for switch commands everytime.  
        
        if(1==0){
        //if(station == 1){      //If train is on the sensor at the middle of the station it stops and displays LCD text.
            
            lcd.cls();
            lcd.printf("All aboard\n mind the gap");
            DCC_send_command(DCCaddressDR,DCCinst_stop,400);  
            lcd.cls();
            
        }else{
            send_command();
        } 
    }
}