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         pending_block(0),
  28         target_speed(0),
  29         route(0),
  30         status("Unplaced"),
  31         travel_dist(0),
  32         travel_speed(0),
  33         pure_speed(false),
  34         real_speed(15),
  35         cur_track(0)
  36 {
  37         trfc_mgr.add_train(this);
  38
  39         loco.signal_reverse_changed.connect(sigc::mem_fun(this, &Train::locomotive_reverse_changed));
  40
  41         const map<unsigned, Sensor *> &sensors = trfc_mgr.get_control().get_sensors();
  42         for(map<unsigned, Sensor *>::const_iterator i=sensors.begin(); i!=sensors.end(); ++i)
  43                 i->second->signal_state_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::sensor_event), i->second));
  44
  45         const map<unsigned, Turnout *> &turnouts = trfc_mgr.get_control().get_turnouts();
  46         for(map<unsigned, Turnout *>::const_iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
  47         {
  48                 i->second->signal_path_changing.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changing), i->second));
  49                 i->second->signal_path_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changed), i->second));
  50         }
  51 }
  52
  53 void Train::set_name(const string &n)
  54 {
  55         name = n;
  56
  57         signal_name_changed.emit(name);
  58 }
  59
  60 void Train::set_speed(unsigned speed)
  61 {
  62         if(speed==target_speed)
  63                 return;
  64         travel_speed = static_cast<int>(round(get_real_speed(speed)*87*3.6/5))*5;
  65
  66         target_speed = speed;
  67         if(!target_speed)
  68         {
  69                 trfc_mgr.get_control().set_timer(3*Time::sec).signal_timeout.connect(
  70                         sigc::bind_return(sigc::bind(sigc::mem_fun(this, &Train::release_blocks), sigc::ref(rsv_blocks)), false));
  71         }
  72         else
  73                 reserve_more();
  74
  75         signal_target_speed_changed.emit(target_speed);
  76
  77         update_speed();
  78         pure_speed = false;
  79 }
  80
  81 void Train::set_reverse(bool rev)
  82 {
  83         loco.set_reverse(rev);
  84 }
  85
  86 void Train::set_route(const Route *r)
  87 {
  88         route = r;
  89         signal_route_changed.emit(route);
  90 }
  91
  92 void Train::place(Block &block, unsigned entry)
  93 {
  94         if(target_speed)
  95                 set_speed(0);
  96
  97         release_blocks(rsv_blocks);
  98         release_blocks(cur_blocks);
  99
 100         if(!block.reserve(this))
 101         {
 102                 set_status("Unplaced");
 103                 return;
 104         }
 105
 106         cur_blocks.push_back(BlockRef(&block, entry));
 107         set_position(block.get_endpoints()[entry]);
 108
 109         set_status("Stopped");
 110 }
 111
 112 bool Train::free_block(Block &block)
 113 {
 114         unsigned nsens = 0;
 115         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 116         {
 117                 if(i->block==&block)
 118                 {
 119                         if(nsens<1)
 120                                 return false;
 121                         for(list<BlockRef>::iterator j=i; j!=rsv_blocks.end(); ++j)
 122                                 j->block->reserve(0);
 123                         rsv_blocks.erase(i, rsv_blocks.end());
 124                         update_speed();
 125                         return true;
 126                 }
 127                 else if(i->block->get_sensor_id())
 128                         ++nsens;
 129         }
 130
 131         return false;
 132 }
 133
 134 int Train::get_entry_to_block(Block &block) const
 135 {
 136         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 137                 if(i->block==&block)
 138                         return i->entry;
 139         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 140                 if(i->block==&block)
 141                         return i->entry;
 142         return -1;
 143 }
 144
 145 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 146 {
 147         if(try_reserve && t>try_reserve)
 148                 reserve_more();
 149
 150         if(cur_track)
 151         {
 152                 unsigned path = 0;
 153                 if(cur_track->get_turnout_id())
 154                         path = trfc_mgr.get_control().get_turnout(cur_track->get_turnout_id()).get_path();
 155
 156                 offset += get_real_speed(loco.get_speed())*(dt/Time::sec);
 157                 if(offset>cur_track->get_type().get_path_length(path))
 158                 {
 159                         int out = cur_track->traverse(cur_track_ep, path);
 160                         if(out>=0)
 161                         {
 162                                 Track *next = cur_track->get_link(out);
 163                                 if(next)
 164                                         cur_track_ep = next->get_endpoint_by_link(*cur_track);
 165                                 cur_track = next;
 166                                 offset = 0;
 167                         }
 168                         else
 169                                 cur_track = 0;
 170                 }
 171
 172                 if(cur_track)
 173                         pos = cur_track->get_point(cur_track_ep, path, offset);
 174         }
 175 }
 176
 177 void Train::save(list<DataFile::Statement> &st) const
 178 {
 179         st.push_back((DataFile::Statement("name"), name));
 180         for(unsigned i=0; i<=14; ++i)
 181                 if(real_speed[i].weight)
 182                         st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
 183 }
 184
 185 void Train::locomotive_reverse_changed(bool)
 186 {
 187         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 188                 i->block->reserve(0);
 189         rsv_blocks.clear();
 190         cur_blocks.reverse();
 191         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 192                 i->entry = i->block->traverse(i->entry);
 193         reserve_more();
 194
 195         if(cur_track)
 196         {
 197                 unsigned path = 0;
 198                 if(unsigned turnout = cur_track->get_turnout_id())
 199                         path = trfc_mgr.get_control().get_turnout(turnout).get_path();
 200                 cur_track_ep = cur_track->traverse(cur_track_ep, path);
 201                 offset = cur_track->get_type().get_path_length(path)-offset;
 202         }
 203 }
 204
 205 void Train::sensor_event(bool state, Sensor *sensor)
 206 {
 207         unsigned addr = sensor->get_address();
 208
 209         if(state)
 210         {
 211                 list<BlockRef>::iterator i;
 212                 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 213                         if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
 214                                 break;
 215
 216                 if(i!=rsv_blocks.begin())
 217                 {
 218                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 219                         travel_speed = static_cast<int>(round(travel_dist/travel_time_secs*87*3.6/5))*5;
 220
 221                         if(pure_speed)
 222                         {
 223                                 RealSpeed &rs = real_speed[loco.get_speed()];
 224                                 rs.add(travel_dist/travel_time_secs, travel_time_secs);
 225                         }
 226
 227                         travel_dist = 0;
 228                         float block_len;
 229                         for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 230                         {
 231                                 j->block->traverse(j->entry, &block_len);
 232                                 travel_dist += block_len;
 233                         }
 234                         last_entry_time = Time::now();
 235                         pure_speed = true;
 236
 237                         cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 238                 }
 239
 240                 for(i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 241                         if(i->block->get_sensor_id()==addr)
 242                                 set_position(i->block->get_endpoints()[i->entry]);
 243
 244                 if(target_speed && reserve_more()<2)
 245                         update_speed();
 246         }
 247         else
 248         {
 249                 for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 250                         if(unsigned b_addr = i->block->get_sensor_id())
 251                         {
 252                                 if(b_addr==addr)
 253                                 {
 254                                         ++i;
 255                                         for(list<BlockRef>::iterator j=cur_blocks.begin(); j!=i; ++j)
 256                                                 j->block->reserve(0);
 257                                         cur_blocks.erase(cur_blocks.begin(), i);
 258                                 }
 259                                 break;
 260                         }
 261
 262                 if(target_speed && pending_block && addr==pending_block->get_sensor_id())
 263                         reserve_more();
 264         }
 265 }
 266
 267 void Train::turnout_path_changing(unsigned, Turnout *turnout)
 268 {
 269         unsigned tid = turnout->get_address();
 270         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 271                 if(i->block->get_turnout_id()==tid)
 272                         throw TurnoutBusy(this);
 273
 274         unsigned nsens = 0;
 275         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 276         {
 277                 if(i->block->get_turnout_id()==tid)
 278                 {
 279                         if(nsens<1)
 280                                 throw TurnoutBusy(this);
 281                         break;
 282                 }
 283                 else if(i->block->get_sensor_id())
 284                         ++nsens;
 285         }
 286 }
 287
 288 void Train::turnout_path_changed(unsigned, Turnout *turnout)
 289 {
 290         unsigned tid = turnout->get_address();
 291         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 292                 if(i->block->get_turnout_id()==tid)
 293                 {
 294                         while(i!=rsv_blocks.end())
 295                         {
 296                                 i->block->reserve(0);
 297                                 i = rsv_blocks.erase(i);
 298                         }
 299                         reserve_more();
 300                         return;
 301                 }
 302
 303         if(pending_block && tid==pending_block->get_turnout_id())
 304                 reserve_more();
 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         pending_block = 0;
 318
 319         // See how many blocks we already have
 320         unsigned nsens = 0;
 321         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 322                 if(i->block->get_sensor_id())
 323                         ++nsens;
 324
 325         bool got_more = false;
 326         BlockRef *good = last;
 327         unsigned good_sens = nsens;
 328         while(good_sens<3)
 329         {
 330                 // Traverse to the next block
 331                 unsigned exit = last->block->traverse(last->entry);
 332                 Block *link = last->block->get_link(exit);
 333                 if(!link)
 334                         break;
 335
 336                 int entry = link->get_endpoint_by_link(*last->block);
 337                 if(!link->reserve(this))
 338                 {
 339                         // If we found another train going in the same direction as us, we can keep the blocks we got
 340                         int other_entry = link->get_train()->get_entry_to_block(*link);
 341                         if(other_entry==entry || link->traverse(entry)==link->traverse(other_entry))
 342                         {
 343                                 good = last;
 344                                 good_sens = nsens;
 345                         }
 346                         pending_block = link;
 347                         break;
 348                 }
 349
 350                 if(link->get_turnout_id())
 351                 {
 352                         const Block::Endpoint &ep = link->get_endpoints()[entry];
 353                         const Endpoint &track_ep = ep.track->get_type().get_endpoints()[ep.track_ep];
 354
 355                         if(track_ep.paths&(track_ep.paths-1))
 356                         {
 357                                 // We're facing the points - keep the blocks reserved so far
 358                                 good = last;
 359                                 good_sens = nsens;
 360                         }
 361
 362                         Turnout &turnout = trfc_mgr.get_control().get_turnout(link->get_turnout_id());
 363
 364                         // Figure out what path we'd like to take on the turnout
 365                         int path = -1;
 366                         if(route)
 367                                 path = route->get_turnout(link->get_turnout_id());
 368                         if(path<0)
 369                                 path = turnout.get_path();
 370                         if(!((track_ep.paths>>path)&1))
 371                         {
 372                                 for(unsigned i=0; track_ep.paths>>i; ++i)
 373                                         if((track_ep.paths>>i)&1)
 374                                                 path = i;
 375                         }
 376
 377                         if(path!=turnout.get_path())
 378                         {
 379                                 // The turnout is set to wrong path - switch and wait for it
 380                                 link->reserve(0);
 381                                 pending_block = link;
 382                                 turnout.set_path(path);
 383                                 break;
 384                         }
 385                 }
 386
 387                 rsv_blocks.push_back(BlockRef(link, entry));
 388                 last = &rsv_blocks.back();
 389                 if(last->block->get_sensor_id())
 390                 {
 391                         ++nsens;
 392                         got_more = true;
 393                 }
 394         }
 395
 396         // Unreserve blocks that were not good
 397         while(!rsv_blocks.empty() && last!=good)
 398         {
 399                 last->block->reserve(0);
 400                 rsv_blocks.erase(--rsv_blocks.end());
 401                 if(!rsv_blocks.empty())
 402                         last = &rsv_blocks.back();
 403         }
 404
 405         if(got_more)
 406                 update_speed();
 407
 408         return nsens;
 409 }
 410
 411 void Train::update_speed()
 412 {
 413         if(!target_speed)
 414         {
 415                 loco.set_speed(0);
 416                 try_reserve = Time::TimeStamp();
 417                 set_status("Stopped");
 418         }
 419         else
 420         {
 421                 unsigned nsens = 0;
 422                 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 423                         if(i->block->get_sensor_id())
 424                                 ++nsens;
 425
 426                 unsigned slow_speed = find_speed(0.1);  // 31.3 km/h
 427                 if(nsens==0)
 428                 {
 429                         loco.set_speed(0);
 430                         pure_speed = false;
 431                         try_reserve = Time::now()+2*Time::sec;
 432                         set_status("Blocked");
 433                 }
 434                 else if(nsens==1 && target_speed>slow_speed)
 435                 {
 436                         loco.set_speed(slow_speed);
 437                         pure_speed = false;
 438                         try_reserve = Time::now()+2*Time::sec;
 439                         set_status("Slow");
 440                 }
 441                 else
 442                 {
 443                         loco.set_speed(target_speed);
 444                         try_reserve = Time::TimeStamp();
 445                         set_status(format("Traveling %d kmh", travel_speed));
 446                 }
 447         }
 448 }
 449
 450 float Train::get_real_speed(unsigned i) const
 451 {
 452         if(real_speed[i].weight)
 453                 return real_speed[i].speed;
 454
 455         unsigned low;
 456         unsigned high;
 457         for(low=i; low>0; --low)
 458                 if(real_speed[low].weight)
 459                         break;
 460         for(high=i; high<14; ++high)
 461                 if(real_speed[high].weight)
 462                         break;
 463
 464         if(real_speed[high].weight)
 465         {
 466                 if(real_speed[low].weight)
 467                 {
 468                         float f = float(i-low)/(high-low);
 469                         return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
 470                 }
 471                 else
 472                         return real_speed[high].speed*float(i)/high;
 473         }
 474         else if(real_speed[low].weight)
 475                 return real_speed[low].speed*float(i)/low;
 476         else
 477                 return 0;
 478 }
 479
 480 unsigned Train::find_speed(float real) const
 481 {
 482         if(real<=real_speed[0].speed)
 483                 return 0;
 484
 485         unsigned low = 0;
 486         unsigned high = 0;
 487         for(unsigned i=0; (!high && i<=14); ++i)
 488                 if(real_speed[i].weight)
 489                 {
 490                         if(real_speed[i].speed<real)
 491                                 low = i;
 492                         else
 493                                 high = i;
 494                 }
 495         if(!high)
 496         {
 497                 if(!low)
 498                         return 0;
 499                 return min(static_cast<unsigned>(low*real/real_speed[low].speed), 14U);
 500         }
 501
 502         float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
 503         return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 504 }
 505
 506 void Train::set_status(const string &s)
 507 {
 508         status = s;
 509         signal_status_changed.emit(s);
 510 }
 511
 512 void Train::set_position(const Block::Endpoint &bep)
 513 {
 514         cur_track = bep.track;
 515         cur_track_ep = bep.track_ep;
 516         offset = 0;
 517         pos = cur_track->get_endpoint_position(cur_track_ep);
 518 }
 519
 520 void Train::release_blocks(list<BlockRef> &blocks)
 521 {
 522         for(list<BlockRef>::iterator i=blocks.begin(); i!=blocks.end(); ++i)
 523                 i->block->reserve(0);
 524         blocks.clear();
 525 }
 526
 527
 528 Train::RealSpeed::RealSpeed():
 529         speed(0),
 530         weight(0)
 531 { }
 532
 533 void Train::RealSpeed::add(float s, float w)
 534 {
 535         speed = (speed*weight+s*w)/(weight+w);
 536         weight = min(weight+w, 300.0f);
 537 }
 538
 539
 540 Train::Loader::Loader(Train &t):
 541         DataFile::BasicLoader<Train>(t)
 542 {
 543         add("name",        &Train::name);
 544         add("real_speed",  &Loader::real_speed);
 545 }
 546
 547 void Train::Loader::real_speed(unsigned i, float speed, float weight)
 548 {
 549         obj.real_speed[i].speed = speed;
 550         obj.real_speed[i].weight = weight;
 551 }
 552
 553 } // namespace Marklin