Working 24 controls + attribution

user/track_admin.c

@@ -553,8 +553,9 @@ void track_admin() {
 			_print_reservation_table(track_node_reservations, curtime, cur_res_screen_state);
 			break;
 		case TRACK_GET_SWITCH:
-			reply[0] = switch_states[(uint8_t)req->switch_num];
+			reply[0] = switch_states[(int)req->switch_num];
 			Reply(sender, reply, 1);
+
 			break;
 		case TRACK_RESERVE_SEGMENTS:
 			reply[0] = 1;
@@ -581,8 +582,9 @@ void track_admin() {
 		case TRACK_UNPARK:
 			ASSERT(req->node_count == 1);
 			reply[0] = 1;
-			_unpark_train(track_node_reservations, req->track_nodes_encoded[0]);
 			Reply(sender, reply, 1);
+			_unpark_train(track_node_reservations, req->track_nodes_encoded[0]);
+
 			break;
 		case TRACK_PARK:
 			ASSERT(req->node_count == 1);
@@ -774,13 +776,14 @@ void flip_next_switches(struct Ring_Buffer* path) {
 	}
 	sw_count = turn_switches(switches, directions, sw_count);
 	// printi("Flipping ", sw_count, " switches\r\n");
-	Delay(get_tid_by_name(CLOCK_SERVER), 100);
+	// Delay(get_tid_by_name(CLOCK_SERVER), 100);
 }
 
 char get_switch_state(uint8_t switch_num) {
 	int track_admin_tid = get_tid_by_name(TRACK_ADMIN);
 
 	// prints("DEBUG\r\n");
+	debug_printi("switch_num: ", switch_num, "\r\n");
 	struct Track_Request track_req = { .request_type = TRACK_GET_SWITCH, .switch_num = switch_num };
 	char reply[1];
 	Send(track_admin_tid, (char*)&track_req, sizeof(struct Track_Request), reply, 1);
@@ -798,11 +801,9 @@ void switch_worker() {
 	struct Track_Request track_req = { .request_type = TRACK_UPDATE_SWITCH, .sw_count = 0 };
 	int uart_train_tx_tid = get_tid_by_name(UART_SERVER_TRAIN_SEND);
 	char cmd[] = "  ";
-	char switch_flipped = 0;
 	for (int i = 0; i < req->sw_count; i++) {
 		// check if we need to flip it
 		if (req->directions[i] != get_switch_state(req->switch_nums[i])) {
-			switch_flipped = 1;
 			cmd[0] = req->directions[i] == 'S' ? SWITCH_STRAIGHT : SWITCH_CURVED;
 			cmd[1] = req->switch_nums[i];
 
@@ -843,19 +844,16 @@ void switch_worker() {
 	// send solenoid off
 	cmd[0] = SWITCH_SOLENOID_OFF;
 	cmd[1] = '\0';
-	Delay(get_tid_by_name(CLOCK_SERVER), SOLENOID_OFF_DELAY);
-	if (switch_flipped) {
+	if (track_req.sw_count) {
+		Delay(get_tid_by_name(CLOCK_SERVER), SOLENOID_OFF_DELAY);
 		send_switch_command(uart_train_tx_tid, cmd);
+		char reply[1];
+		Send(get_tid_by_name(TRACK_ADMIN), (char*)&track_req, sizeof(struct Track_Request), reply, 1);
 	}
-
-	int track_admin_tid = WhoIs(TRACK_ADMIN);
-	char reply[1];
-	Send(track_admin_tid, (char*)&track_req, sizeof(struct Track_Request), reply, 1);
-
+	debug_prints("Switch worker exiting\r\n");
 	Exit();
 }
 
-// TODO: Have this ask the track admin which switches actually need to be flipped because switch flipping is very slow
 int turn_switches(char* switch_nums, char* directions, uint8_t sw_count) {
 	ASSERT(sw_count < 23);
 	struct Switch_Request req = { .sw_count = 0 };
@@ -872,10 +870,11 @@ int turn_switches(char* switch_nums, char* directions, uint8_t sw_count) {
 			printi("invalid switch direction on switch: ", switch_num, ", must be one of {'S', 'C'}\r\n");
 			return 0;
 		}
-
-		req.switch_nums[i] = switch_num;
-		req.directions[i] = direction;
-		req.sw_count++;
+		if (get_switch_state(switch_num) != direction) {
+			req.switch_nums[i] = switch_num;
+			req.directions[i] = direction;
+			req.sw_count++;
+		}
 	}
 
 	if (req.sw_count == 0) {