source/libmarklin/train.cpp

   1 /* $Id$
   2
   3 This file is part of the MSP Märklin suite
   4 Copyright © 2006-2009 Mikkosoft Productions, Mikko Rasa
   5 Distributed under the GPL
   6 */
   7
   8 #include <cmath>
   9 #include <msp/strings/formatter.h>
  10 #include <msp/time/units.h>
  11 #include <msp/time/utils.h>
  12 #include "control.h"
  13 #include "except.h"
  14 #include "route.h"
  15 #include "tracktype.h"
  16 #include "trafficmanager.h"
  17 #include "train.h"
  18
  19 using namespace std;
  20 using namespace Msp;
  21
  22 namespace Marklin {
  23
  24 Train::Train(TrafficManager &tm, Locomotive &l):
  25         trfc_mgr(tm),
  26         loco(l),
  27         target_speed(0),
  28         status("Unplaced"),
  29         travel_dist(0),
  30         travel_speed(0),
  31         pure_speed(false),
  32         real_speed(15),
  33         cur_track(0)
  34 {
  35         trfc_mgr.add_train(this);
  36
  37         loco.signal_reverse_changed.connect(sigc::mem_fun(this, &Train::locomotive_reverse_changed));
  38
  39         const map<unsigned, Sensor *> &sensors = trfc_mgr.get_control().get_sensors();
  40         for(map<unsigned, Sensor *>::const_iterator i=sensors.begin(); i!=sensors.end(); ++i)
  41                 i->second->signal_state_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::sensor_event), i->second));
  42
  43         const map<unsigned, Turnout *> &turnouts = trfc_mgr.get_control().get_turnouts();
  44         for(map<unsigned, Turnout *>::const_iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
  45         {
  46                 i->second->signal_path_changing.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changing), i->second));
  47                 i->second->signal_path_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changed), i->second));
  48         }
  49 }
  50
  51 void Train::set_name(const string &n)
  52 {
  53         name = n;
  54
  55         signal_name_changed.emit(name);
  56 }
  57
  58 void Train::set_speed(unsigned speed)
  59 {
  60         if(speed==target_speed)
  61                 return;
  62         travel_speed = static_cast<int>(round(get_real_speed(speed)*87*3.6/5))*5;
  63
  64         target_speed = speed;
  65         if(!target_speed)
  66         {
  67                 trfc_mgr.get_control().set_timer(3*Time::sec).signal_timeout.connect(
  68                         sigc::bind_return(sigc::mem_fun(this, &Train::release_reserved_blocks), false));
  69         }
  70         else
  71                 reserve_more();
  72
  73         signal_target_speed_changed.emit(target_speed);
  74
  75         update_speed();
  76         pure_speed = false;
  77 }
  78
  79 void Train::set_reverse(bool rev)
  80 {
  81         loco.set_reverse(rev);
  82 }
  83
  84 void Train::set_route(const Route *r)
  85 {
  86         route = r;
  87         signal_route_changed.emit(route);
  88 }
  89
  90 void Train::place(Block *block, unsigned entry)
  91 {
  92         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end();)
  93         {
  94                 i->block->reserve(0);
  95                 i = rsv_blocks.erase(i);
  96         }
  97
  98         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end();)
  99         {
 100                 i->block->reserve(0);
 101                 i = cur_blocks.erase(i);
 102         }
 103
 104         if(!block->reserve(this))
 105         {
 106                 set_status("Unplaced");
 107                 return;
 108         }
 109
 110         cur_blocks.push_back(BlockRef(block, entry));
 111         set_position(block->get_endpoints()[entry]);
 112
 113         set_status("Stopped");
 114 }
 115
 116 bool Train::free_block(Block *block)
 117 {
 118         unsigned nsens = 0;
 119         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 120         {
 121                 if(i->block==block)
 122                 {
 123                         if(nsens<1)
 124                                 return false;
 125                         while(i!=rsv_blocks.end())
 126                         {
 127                                 i->block->reserve(0);
 128                                 i = rsv_blocks.erase(i);
 129                         }
 130                         update_speed();
 131                         return true;
 132                 }
 133                 else if(i->block->get_sensor_id())
 134                         ++nsens;
 135         }
 136
 137         return false;
 138 }
 139
 140 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 141 {
 142         if(try_reserve && t>try_reserve)
 143         {
 144                 reserve_more();
 145                 update_speed();
 146         }
 147
 148         if(cur_track)
 149         {
 150                 unsigned path = 0;
 151                 if(cur_track->get_turnout_id())
 152                         path = trfc_mgr.get_control().get_turnout(cur_track->get_turnout_id()).get_path();
 153
 154                 offset += get_real_speed(loco.get_speed())*(dt/Time::sec);
 155                 if(offset>cur_track->get_type().get_path_length(path))
 156                 {
 157                         int out = cur_track->traverse(cur_track_ep, path);
 158                         if(out>=0)
 159                         {
 160                                 Track *next = cur_track->get_link(out);
 161                                 if(next)
 162                                         cur_track_ep = next->get_endpoint_by_link(*cur_track);
 163                                 cur_track = next;
 164                                 offset = 0;
 165                         }
 166                         else
 167                                 cur_track = 0;
 168                 }
 169
 170                 if(cur_track)
 171                         pos = cur_track->get_point(cur_track_ep, path, offset);
 172         }
 173 }
 174
 175 void Train::save(list<DataFile::Statement> &st) const
 176 {
 177         st.push_back((DataFile::Statement("name"), name));
 178         for(unsigned i=0; i<=14; ++i)
 179                 if(real_speed[i].weight)
 180                         st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
 181 }
 182
 183 void Train::locomotive_reverse_changed(bool)
 184 {
 185         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 186                 i->block->reserve(0);
 187         rsv_blocks.clear();
 188         cur_blocks.reverse();
 189         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 190                 i->entry = i->block->traverse(i->entry);
 191         reserve_more();
 192         update_speed();
 193
 194         if(cur_track)
 195         {
 196                 unsigned path = 0;
 197                 if(unsigned turnout = cur_track->get_turnout_id())
 198                         path = trfc_mgr.get_control().get_turnout(turnout).get_path();
 199                 cur_track_ep = cur_track->traverse(cur_track_ep, path);
 200                 offset = cur_track->get_type().get_path_length(path)-offset;
 201         }
 202 }
 203
 204 void Train::sensor_event(bool state, Sensor *sensor)
 205 {
 206         unsigned addr = sensor->get_address();
 207
 208         if(state)
 209         {
 210                 list<BlockRef>::iterator i;
 211                 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 212                         if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
 213                                 break;
 214
 215                 if(i!=rsv_blocks.begin())
 216                 {
 217                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 218                         travel_speed = static_cast<int>(round(travel_dist/travel_time_secs*87*3.6/5))*5;
 219
 220                         if(pure_speed)
 221                         {
 222                                 RealSpeed &rs = real_speed[loco.get_speed()];
 223                                 rs.add(travel_dist/travel_time_secs, travel_time_secs);
 224                         }
 225
 226                         travel_dist = 0;
 227                         float block_len;
 228                         for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 229                         {
 230                                 j->block->traverse(j->entry, &block_len);
 231                                 travel_dist += block_len;
 232                         }
 233                         last_entry_time = Time::now();
 234                         pure_speed = true;
 235
 236                         cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 237                 }
 238
 239                 for(i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 240                         if(i->block->get_sensor_id()==addr)
 241                                 set_position(i->block->get_endpoints()[i->entry]);
 242
 243                 if(target_speed)
 244                 {
 245                         reserve_more();
 246                         update_speed();
 247                 }
 248         }
 249         else
 250         {
 251                 for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 252                         if(unsigned b_addr = i->block->get_sensor_id())
 253                         {
 254                                 if(b_addr==addr)
 255                                 {
 256                                         ++i;
 257                                         for(list<BlockRef>::iterator j=cur_blocks.begin(); j!=i; ++j)
 258                                                 j->block->reserve(0);
 259                                         cur_blocks.erase(cur_blocks.begin(), i);
 260                                 }
 261                                 break;
 262                         }
 263
 264                 if(target_speed)
 265                         reserve_more();
 266         }
 267 }
 268
 269 void Train::turnout_path_changing(unsigned, Turnout *turnout)
 270 {
 271         unsigned tid = turnout->get_address();
 272         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 273                 if(i->block->get_turnout_id()==tid)
 274                         throw TurnoutBusy(this);
 275
 276         unsigned nsens = 0;
 277         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 278         {
 279                 if(i->block->get_turnout_id()==tid)
 280                 {
 281                         if(nsens<1)
 282                                 throw TurnoutBusy(this);
 283                         break;
 284                 }
 285                 else if(i->block->get_sensor_id())
 286                         ++nsens;
 287         }
 288 }
 289
 290 void Train::turnout_path_changed(unsigned, Turnout *turnout)
 291 {
 292         unsigned tid = turnout->get_address();
 293         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 294                 if(i->block->get_turnout_id()==tid)
 295                 {
 296                         while(i!=rsv_blocks.end())
 297                         {
 298                                 i->block->reserve(0);
 299                                 i = rsv_blocks.erase(i);
 300                         }
 301                         reserve_more();
 302                         update_speed();
 303                         return;
 304                 }
 305 }
 306
 307 unsigned Train::reserve_more()
 308 {
 309         BlockRef *last = 0;
 310         if(!rsv_blocks.empty())
 311                 last = &rsv_blocks.back();
 312         else if(!cur_blocks.empty())
 313                 last = &cur_blocks.back();
 314         if(!last)
 315                 return 0;
 316
 317         unsigned nsens = 0;
 318         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 319                 if(i->block->get_sensor_id())
 320                         ++nsens;
 321
 322         bool result = false;
 323         while(nsens<2)
 324         {
 325                 int exit = last->block->traverse(last->entry);
 326                 if(exit>=0)
 327                 {
 328                         Block *link = last->block->get_link(exit);
 329                         if(link && link->reserve(this))
 330                         {
 331                                 if(route && link->get_turnout_id())
 332                                 {
 333                                         int path = route->get_turnout(link->get_turnout_id());
 334                                         if(path>=0)
 335                                                 trfc_mgr.get_control().get_turnout(link->get_turnout_id()).set_path(path);
 336                                 }
 337                                 rsv_blocks.push_back(BlockRef(link, link->get_endpoint_by_link(*last->block)));
 338                                 last = &rsv_blocks.back();
 339                                 if(last->block->get_sensor_id())
 340                                 {
 341                                         ++nsens;
 342                                         result = true;
 343                                 }
 344                         }
 345                         else
 346                                 break;
 347                 }
 348                 else
 349                         break;
 350         }
 351
 352         while(last && !last->block->get_sensor_id())
 353         {
 354                 last->block->reserve(0);
 355                 rsv_blocks.erase(--rsv_blocks.end());
 356                 if(!rsv_blocks.empty())
 357                         last = &rsv_blocks.back();
 358                 else
 359                         last = 0;
 360         }
 361
 362         return nsens;
 363 }
 364
 365 void Train::update_speed()
 366 {
 367         if(!target_speed)
 368         {
 369                 loco.set_speed(0);
 370                 try_reserve = Time::TimeStamp();
 371                 set_status("Stopped");
 372         }
 373         else
 374         {
 375                 unsigned nsens = 0;
 376                 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 377                         if(i->block->get_sensor_id())
 378                                 ++nsens;
 379
 380                 unsigned slow_speed = find_speed(0.1);  // 31.3 km/h
 381                 if(nsens==0)
 382                 {
 383                         loco.set_speed(0);
 384                         pure_speed = false;
 385                         try_reserve = Time::now()+2*Time::sec;
 386                         set_status("Blocked");
 387                 }
 388                 else if(nsens==1 && target_speed>slow_speed)
 389                 {
 390                         loco.set_speed(slow_speed);
 391                         pure_speed = false;
 392                         try_reserve = Time::now()+2*Time::sec;
 393                         set_status("Slow");
 394                 }
 395                 else
 396                 {
 397                         loco.set_speed(target_speed);
 398                         try_reserve = Time::TimeStamp();
 399                         set_status(format("Traveling %d kmh", travel_speed));
 400                 }
 401         }
 402 }
 403
 404 float Train::get_real_speed(unsigned i) const
 405 {
 406         if(real_speed[i].weight)
 407                 return real_speed[i].speed;
 408
 409         unsigned low;
 410         unsigned high;
 411         for(low=i; low>0; --low)
 412                 if(real_speed[low].weight)
 413                         break;
 414         for(high=i; high<14; ++high)
 415                 if(real_speed[high].weight)
 416                         break;
 417
 418         if(real_speed[high].weight)
 419         {
 420                 if(real_speed[low].weight)
 421                 {
 422                         float f = float(i-low)/(high-low);
 423                         return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
 424                 }
 425                 else
 426                         return real_speed[high].speed*float(i)/high;
 427         }
 428         else if(real_speed[low].weight)
 429                 return real_speed[low].speed*float(i)/low;
 430         else
 431                 return 0;
 432 }
 433
 434 unsigned Train::find_speed(float real) const
 435 {
 436         if(real<=real_speed[0].speed)
 437                 return 0;
 438
 439         unsigned low = 0;
 440         unsigned high = 0;
 441         for(unsigned i=0; (!high && i<=14); ++i)
 442                 if(real_speed[i].weight)
 443                 {
 444                         if(real_speed[i].speed<real)
 445                                 low = i;
 446                         else
 447                                 high = i;
 448                 }
 449         if(!high)
 450         {
 451                 if(!low)
 452                         return 0;
 453                 return min(static_cast<unsigned>(low*real/real_speed[low].speed), 14U);
 454         }
 455
 456         float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
 457         return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 458 }
 459
 460 void Train::set_status(const string &s)
 461 {
 462         status = s;
 463         signal_status_changed.emit(s);
 464 }
 465
 466 void Train::set_position(const Block::Endpoint &bep)
 467 {
 468         cur_track = bep.track;
 469         cur_track_ep = bep.track_ep;
 470         offset = 0;
 471         pos = cur_track->get_endpoint_position(cur_track_ep);
 472 }
 473
 474 void Train::release_reserved_blocks()
 475 {
 476         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 477                 i->block->reserve(0);
 478         rsv_blocks.clear();
 479 }
 480
 481
 482 Train::RealSpeed::RealSpeed():
 483         speed(0),
 484         weight(0)
 485 { }
 486
 487 void Train::RealSpeed::add(float s, float w)
 488 {
 489         speed = (speed*weight+s*w)/(weight+w);
 490         weight = min(weight+w, 300.0f);
 491 }
 492
 493
 494 Train::Loader::Loader(Train &t):
 495         DataFile::BasicLoader<Train>(t)
 496 {
 497         add("name",        &Train::name);
 498         add("real_speed",  &Loader::real_speed);
 499 }
 500
 501 void Train::Loader::real_speed(unsigned i, float speed, float weight)
 502 {
 503         obj.real_speed[i].speed = speed;
 504         obj.real_speed[i].weight = weight;
 505 }
 506
 507 } // namespace Marklin