source/libmarklin/train.cpp

   1 /* $Id$
   2
   3 This file is part of the MSP Märklin suite
   4 Copyright © 2006-2010  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 "driver.h"
  13 #include "layout.h"
  14 #include "locotype.h"
  15 #include "route.h"
  16 #include "tracktype.h"
  17 #include "train.h"
  18
  19 using namespace std;
  20 using namespace Msp;
  21
  22 namespace Marklin {
  23
  24 Train::Train(Layout &l, const LocoType &t, unsigned a):
  25         layout(l),
  26         loco_type(t),
  27         address(a),
  28         pending_block(0),
  29         target_speed(0),
  30         current_speed(0),
  31         reverse(false),
  32         functions(0),
  33         route(0),
  34         end_of_route(false),
  35         status("Unplaced"),
  36         travel_dist(0),
  37         travel_speed(0),
  38         pure_speed(false),
  39         real_speed(15),
  40         cur_track(0)
  41 {
  42         layout.add_train(*this);
  43
  44         layout.get_driver().add_loco(address);
  45         layout.get_driver().signal_loco_speed.connect(sigc::mem_fun(this, &Train::loco_speed_event));
  46         layout.get_driver().signal_loco_function.connect(sigc::mem_fun(this, &Train::loco_func_event));
  47
  48         layout.signal_block_reserved.connect(sigc::mem_fun(this, &Train::block_reserved));
  49         layout.get_driver().signal_sensor.connect(sigc::mem_fun(this, &Train::sensor_event));
  50         layout.get_driver().signal_turnout.connect(sigc::mem_fun(this, &Train::turnout_event));
  51 }
  52
  53 Train::~Train()
  54 {
  55         layout.remove_train(*this);
  56 }
  57
  58 void Train::set_name(const string &n)
  59 {
  60         name = n;
  61
  62         signal_name_changed.emit(name);
  63 }
  64
  65 void Train::set_speed(unsigned speed)
  66 {
  67         if(speed==target_speed)
  68                 return;
  69         travel_speed = static_cast<int>(round(get_real_speed(speed)*87*3.6/5))*5;
  70
  71         target_speed = speed;
  72         if(!target_speed)
  73         {
  74                 pending_block = 0;
  75                 stop_timeout = Time::now()+(800+current_speed*150)*Time::msec;
  76         }
  77         else
  78                 reserve_more();
  79
  80         signal_target_speed_changed.emit(target_speed);
  81
  82         update_speed();
  83         pure_speed = false;
  84 }
  85
  86 void Train::set_reverse(bool rev)
  87 {
  88         if(rev==reverse)
  89                 return;
  90
  91         if(target_speed)
  92         {
  93                 set_speed(0);
  94                 return;
  95         }
  96         else if(stop_timeout)
  97                 return;
  98
  99         layout.get_driver().set_loco_reverse(address, rev);
 100
 101         release_blocks(rsv_blocks);
 102         reverse_blocks(cur_blocks);
 103
 104         if(cur_track)
 105         {
 106                 unsigned path = cur_track->get_active_path();
 107                 cur_track_ep = cur_track->traverse(cur_track_ep, path);
 108                 offset = cur_track->get_type().get_path_length(path)-offset;
 109         }
 110 }
 111
 112 void Train::set_function(unsigned func, bool state)
 113 {
 114         if(!loco_type.get_functions().count(func))
 115                 throw InvalidParameterValue("Invalid function");
 116         if(func<5)
 117                 layout.get_driver().set_loco_function(address, func, state);
 118         else
 119                 layout.get_driver().set_loco_function(address+1, func-4, state);
 120 }
 121
 122 bool Train::get_function(unsigned func) const
 123 {
 124         return (functions>>func)&1;
 125 }
 126
 127 void Train::set_route(const Route *r)
 128 {
 129         if(!rsv_blocks.empty())
 130         {
 131                 for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 132                         if(i->block->get_sensor_id())
 133                         {
 134                                 release_blocks(rsv_blocks, ++i, rsv_blocks.end());
 135                                 break;
 136                         }
 137         }
 138
 139         route = r;
 140         end_of_route = false;
 141
 142         if(target_speed && reserve_more()<2)
 143                 update_speed();
 144
 145         signal_route_changed.emit(route);
 146 }
 147
 148 void Train::go_to(const Track &to)
 149 {
 150         BlockRef *last = 0;
 151         if(rsv_blocks.empty())
 152                 last = &cur_blocks.back();
 153         else
 154         {
 155                 for(list<BlockRef>::iterator i=rsv_blocks.begin(); (i!=rsv_blocks.end() && !last); ++i)
 156                         if(i->block->get_sensor_id())
 157                                 last = &*i;
 158         }
 159
 160         Block *next = last->block->get_endpoints()[last->block->traverse(last->entry)].link;
 161         if(!next)
 162                 throw InvalidState("At end of line");
 163
 164         int entry = next->get_endpoint_by_link(*last->block);
 165         if(entry<0)
 166                 throw LogicError("Block links are inconsistent");
 167
 168         const Block::Endpoint &ep = next->get_endpoints()[entry];
 169
 170         set_route(Route::find(*ep.track, ep.track_ep, to));
 171 }
 172
 173 void Train::place(Block &block, unsigned entry)
 174 {
 175         if(target_speed)
 176                 set_speed(0);
 177
 178         release_blocks(rsv_blocks);
 179         release_blocks(cur_blocks);
 180
 181         if(!block.reserve(this))
 182         {
 183                 set_status("Unplaced");
 184                 return;
 185         }
 186
 187         cur_blocks.push_back(BlockRef(&block, entry));
 188         set_position(block.get_endpoints()[entry]);
 189
 190         set_status("Stopped");
 191 }
 192
 193 bool Train::free_block(Block &block)
 194 {
 195         unsigned nsens = 0;
 196         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 197         {
 198                 if(i->block==&block)
 199                 {
 200                         if(nsens<1)
 201                                 return false;
 202                         release_blocks(rsv_blocks, i, rsv_blocks.end());
 203                         update_speed();
 204                         return true;
 205                 }
 206                 else if(i->block->get_sensor_id())
 207                         ++nsens;
 208         }
 209
 210         return false;
 211 }
 212
 213 int Train::get_entry_to_block(Block &block) const
 214 {
 215         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 216                 if(i->block==&block)
 217                         return i->entry;
 218         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 219                 if(i->block==&block)
 220                         return i->entry;
 221         return -1;
 222 }
 223
 224 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 225 {
 226         if(stop_timeout && t>=stop_timeout)
 227         {
 228                 release_blocks(rsv_blocks);
 229                 end_of_route = false;
 230                 stop_timeout = Time::TimeStamp();
 231         }
 232
 233         if(cur_track)
 234         {
 235                 unsigned path = cur_track->get_active_path();
 236
 237                 offset += get_real_speed(current_speed)*(dt/Time::sec);
 238                 float path_len = cur_track->get_type().get_path_length(path);
 239                 if(offset>path_len)
 240                 {
 241                         unsigned out = cur_track->traverse(cur_track_ep, path);
 242                         Track *next = cur_track->get_link(out);
 243
 244                         bool ok = false;
 245                         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); (!ok && i!=cur_blocks.end()); ++i)
 246                                 ok = i->block->get_tracks().count(next);
 247
 248                         if(ok)
 249                         {
 250                                 if(next)
 251                                         cur_track_ep = next->get_endpoint_by_link(*cur_track);
 252                                 cur_track = next;
 253                                 offset = 0;
 254                         }
 255                         else
 256                                 offset = path_len-0.001;
 257                 }
 258
 259                 if(cur_track)
 260                         pos = cur_track->get_point(cur_track_ep, path, offset).pos;
 261         }
 262 }
 263
 264 void Train::save(list<DataFile::Statement> &st) const
 265 {
 266         st.push_back((DataFile::Statement("name"), name));
 267         for(unsigned i=0; i<=14; ++i)
 268                 if(real_speed[i].weight)
 269                         st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
 270         if(route)
 271                 st.push_back((DataFile::Statement("route"), route->get_name()));
 272
 273         if(!cur_blocks.empty())
 274         {
 275                 list<BlockRef> blocks = cur_blocks;
 276                 if(reverse)
 277                         reverse_blocks(blocks);
 278
 279                 Block *prev = blocks.front().block->get_endpoints()[blocks.front().entry].link;
 280                 st.push_back((DataFile::Statement("block_hint"), prev->get_id()));
 281
 282                 for(list<BlockRef>::const_iterator i=blocks.begin(); i!=blocks.end(); ++i)
 283                         st.push_back((DataFile::Statement("block"), i->block->get_id()));
 284         }
 285 }
 286
 287 void Train::loco_speed_event(unsigned addr, unsigned speed, bool rev)
 288 {
 289         if(addr==address)
 290         {
 291                 current_speed = speed;
 292                 reverse = rev;
 293
 294                 signal_speed_changed.emit(current_speed);
 295                 signal_reverse_changed.emit(reverse);
 296         }
 297 }
 298
 299 void Train::loco_func_event(unsigned addr, unsigned func, bool state)
 300 {
 301         if(addr==address || (addr==address+1 && loco_type.get_max_function()>4))
 302         {
 303                 if(addr==address+1)
 304                         func += 4;
 305                 if(state)
 306                         functions |= 1<<func;
 307                 else
 308                         functions &= ~(1<<func);
 309
 310                 signal_function_changed.emit(func, state);
 311         }
 312 }
 313
 314 void Train::sensor_event(unsigned addr, bool state)
 315 {
 316         if(state)
 317         {
 318                 // Find the first sensor block from our reserved blocks that isn't this sensor
 319                 list<BlockRef>::iterator i;
 320                 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 321                         if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
 322                                 break;
 323
 324                 if(i!=rsv_blocks.begin())
 325                 {
 326                         // Compute speed and update related state
 327                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 328                         travel_speed = static_cast<int>(round(travel_dist/travel_time_secs*87*3.6/5))*5;
 329
 330                         if(pure_speed)
 331                         {
 332                                 RealSpeed &rs = real_speed[current_speed];
 333                                 rs.add(travel_dist/travel_time_secs, travel_time_secs);
 334                         }
 335
 336                         travel_dist = 0;
 337                         float block_len;
 338                         for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 339                         {
 340                                 j->block->traverse(j->entry, &block_len);
 341                                 travel_dist += block_len;
 342
 343                                 if(j->block->get_sensor_id()==addr)
 344                                         set_position(j->block->get_endpoints()[j->entry]);
 345                         }
 346                         last_entry_time = Time::now();
 347                         pure_speed = true;
 348
 349                         // Move blocks up to the next sensor to our current blocks
 350                         cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 351
 352                         // Try to get more blocks if we're moving
 353                         if(target_speed)
 354                         {
 355                                 unsigned nsens = reserve_more();
 356                                 if(!nsens && end_of_route)
 357                                 {
 358                                         set_speed(0);
 359                                         set_route(0);
 360                                 }
 361                                 else if(nsens<2)
 362                                         update_speed();
 363                         }
 364                 }
 365         }
 366         else
 367         {
 368                 // Find the first sensor in our current blocks that's still active
 369                 list<BlockRef>::iterator end = cur_blocks.begin();
 370                 for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 371                         if(i->block->get_sensor_id())
 372                         {
 373                                 if(layout.get_driver().get_sensor(i->block->get_sensor_id()))
 374                                         break;
 375                                 else
 376                                         end = i;
 377                         }
 378
 379                 if(end!=cur_blocks.begin())
 380                 {
 381                         // Free blocks up to the last inactive sensor
 382                         ++end;
 383                         release_blocks(cur_blocks, cur_blocks.begin(), end);
 384                 }
 385         }
 386 }
 387
 388 void Train::turnout_event(unsigned addr, bool)
 389 {
 390         if(pending_block)
 391         {
 392                 unsigned pending_addr = pending_block->get_turnout_id();
 393                 bool double_addr = (*pending_block->get_tracks().begin())->get_type().is_double_address();
 394                 if(addr==pending_addr || (double_addr && addr==pending_addr+1))
 395                         reserve_more();
 396         }
 397 }
 398
 399 void Train::block_reserved(const Block &block, const Train *train)
 400 {
 401         if(&block==pending_block && !train)
 402                 reserve_more();
 403 }
 404
 405 unsigned Train::reserve_more()
 406 {
 407         BlockRef *last = 0;
 408         if(!rsv_blocks.empty())
 409                 last = &rsv_blocks.back();
 410         else if(!cur_blocks.empty())
 411                 last = &cur_blocks.back();
 412         if(!last)
 413                 return 0;
 414
 415         pending_block = 0;
 416
 417         // See how many sensor blocks we already have
 418         unsigned nsens = 0;
 419         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 420                 if(i->block->get_sensor_id())
 421                         ++nsens;
 422
 423         bool on_route = (route && route->get_tracks().count(last->block->get_endpoints()[last->entry].track));
 424         bool got_more = false;
 425         BlockRef *good = last;
 426         unsigned good_sens = nsens;
 427         while(good_sens<3)
 428         {
 429                 // Traverse to the next block
 430                 unsigned exit = last->block->traverse(last->entry);
 431                 Block *link = last->block->get_link(exit);
 432                 if(!link)
 433                         break;
 434
 435                 int entry = link->get_endpoint_by_link(*last->block);
 436                 if(entry<0)
 437                         throw LogicError("Block links are inconsistent!");
 438
 439                 if(on_route && !route->get_tracks().count(link->get_endpoints()[entry].track))
 440                 {
 441                         // Keep the blocks if we arrived at the end of the route
 442                         good = last;
 443                         good_sens = nsens;
 444                         end_of_route = true;
 445                         break;
 446                 }
 447
 448                 if(!link->reserve(this))
 449                 {
 450                         // If we found another train and it's not headed straight for us, we can keep the blocks we got
 451                         int other_entry = link->get_train()->get_entry_to_block(*link);
 452                         if(other_entry<0)
 453                                 throw LogicError("Block reservation inconsistency");
 454                         if(static_cast<unsigned>(entry)!=link->traverse(other_entry))
 455                         {
 456                                 good = last;
 457                                 good_sens = nsens;
 458                         }
 459                         pending_block = link;
 460                         break;
 461                 }
 462
 463                 if(link->get_turnout_id())
 464                 {
 465                         const Block::Endpoint &ep = link->get_endpoints()[entry];
 466                         const Endpoint &track_ep = ep.track->get_type().get_endpoints()[ep.track_ep];
 467
 468                         // Keep the blocks reserved so far, as either us or the other train can diverge
 469                         good = last;
 470                         good_sens = nsens;
 471
 472                         // Figure out what path we'd like to take on the turnout
 473                         int path = -1;
 474                         if(route)
 475                                 path = route->get_turnout(link->get_turnout_id());
 476                         if(path<0)
 477                                 path = ep.track->get_active_path();
 478                         if(!((track_ep.paths>>path)&1))
 479                         {
 480                                 for(unsigned i=0; track_ep.paths>>i; ++i)
 481                                         if((track_ep.paths>>i)&1)
 482                                                 path = i;
 483                         }
 484
 485                         if(path!=static_cast<int>(ep.track->get_active_path()))
 486                         {
 487                                 // The turnout is set to wrong path - switch and wait for it
 488                                 link->reserve(0);
 489                                 pending_block = link;
 490                                 ep.track->set_active_path(path);
 491                                 break;
 492                         }
 493                 }
 494
 495                 rsv_blocks.push_back(BlockRef(link, entry));
 496                 last = &rsv_blocks.back();
 497                 if(last->block->get_sensor_id())
 498                 {
 499                         ++nsens;
 500                         got_more = true;
 501                 }
 502
 503                 if(route && !on_route)
 504                         on_route = route->get_tracks().count(link->get_endpoints()[entry].track);
 505         }
 506
 507         // Unreserve blocks that were not good
 508         while(!rsv_blocks.empty() && last!=good)
 509         {
 510                 last->block->reserve(0);
 511                 rsv_blocks.erase(--rsv_blocks.end());
 512                 if(!rsv_blocks.empty())
 513                         last = &rsv_blocks.back();
 514         }
 515
 516         if(got_more)
 517                 update_speed();
 518
 519         return good_sens;
 520 }
 521
 522 void Train::update_speed()
 523 {
 524         Driver &driver = layout.get_driver();
 525
 526         unsigned speed;
 527         if(!target_speed)
 528         {
 529                 speed = 0;
 530                 set_status("Stopped");
 531         }
 532         else
 533         {
 534                 unsigned nsens = 0;
 535                 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 536                         if(i->block->get_sensor_id())
 537                                 ++nsens;
 538
 539                 unsigned slow_speed = find_speed(0.1);  // 31.3 km/h
 540                 if(nsens==0)
 541                 {
 542                         speed = 0;
 543                         pure_speed = false;
 544                         set_status("Blocked");
 545                 }
 546                 else if(nsens==1 && target_speed>slow_speed)
 547                 {
 548                         speed = slow_speed;
 549                         pure_speed = false;
 550                         set_status("Slow");
 551                 }
 552                 else
 553                 {
 554                         speed = target_speed;
 555                         set_status(format("Traveling %d kmh", travel_speed));
 556                 }
 557         }
 558
 559         driver.set_loco_speed(address, speed);
 560 }
 561
 562 float Train::get_real_speed(unsigned i) const
 563 {
 564         if(real_speed[i].weight)
 565                 return real_speed[i].speed;
 566
 567         unsigned low;
 568         unsigned high;
 569         for(low=i; low>0; --low)
 570                 if(real_speed[low].weight)
 571                         break;
 572         for(high=i; high<14; ++high)
 573                 if(real_speed[high].weight)
 574                         break;
 575
 576         if(real_speed[high].weight)
 577         {
 578                 if(real_speed[low].weight)
 579                 {
 580                         float f = float(i-low)/(high-low);
 581                         return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
 582                 }
 583                 else
 584                         return real_speed[high].speed*float(i)/high;
 585         }
 586         else if(real_speed[low].weight)
 587                 return real_speed[low].speed*float(i)/low;
 588         else
 589                 return 0;
 590 }
 591
 592 unsigned Train::find_speed(float real) const
 593 {
 594         if(real<=real_speed[0].speed)
 595                 return 0;
 596
 597         unsigned low = 0;
 598         unsigned high = 0;
 599         for(unsigned i=0; (!high && i<=14); ++i)
 600                 if(real_speed[i].weight)
 601                 {
 602                         if(real_speed[i].speed<real)
 603                                 low = i;
 604                         else
 605                                 high = i;
 606                 }
 607         if(!high)
 608         {
 609                 if(!low)
 610                         return 0;
 611                 return min(static_cast<unsigned>(low*real/real_speed[low].speed), 14U);
 612         }
 613
 614         float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
 615         return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 616 }
 617
 618 void Train::set_status(const string &s)
 619 {
 620         status = s;
 621         signal_status_changed.emit(s);
 622 }
 623
 624 void Train::set_position(const Block::Endpoint &bep)
 625 {
 626         cur_track = bep.track;
 627         cur_track_ep = bep.track_ep;
 628         offset = 0;
 629         pos = cur_track->get_endpoint_position(cur_track_ep);
 630 }
 631
 632 void Train::release_blocks(list<BlockRef> &blocks)
 633 {
 634         release_blocks(blocks, blocks.begin(), blocks.end());
 635 }
 636
 637 void Train::release_blocks(list<BlockRef> &blocks, list<BlockRef>::iterator begin, list<BlockRef>::iterator end)
 638 {
 639         while(begin!=end)
 640         {
 641                 Block *block = begin->block;
 642                 blocks.erase(begin++);
 643                 block->reserve(0);
 644         }
 645 }
 646
 647 void Train::reverse_blocks(list<BlockRef> &blocks) const
 648 {
 649         blocks.reverse();
 650         for(list<BlockRef>::iterator i=blocks.begin(); i!=blocks.end(); ++i)
 651                 i->entry = i->block->traverse(i->entry);
 652 }
 653
 654
 655 Train::RealSpeed::RealSpeed():
 656         speed(0),
 657         weight(0)
 658 { }
 659
 660 void Train::RealSpeed::add(float s, float w)
 661 {
 662         speed = (speed*weight+s*w)/(weight+w);
 663         weight = min(weight+w, 300.0f);
 664 }
 665
 666
 667 Train::Loader::Loader(Train &t):
 668         DataFile::BasicLoader<Train>(t),
 669         prev_block(0)
 670 {
 671         add("block",       &Loader::block);
 672         add("block_hint",  &Loader::block_hint);
 673         add("name",        &Loader::name);
 674         add("real_speed",  &Loader::real_speed);
 675         add("route",       &Loader::route);
 676 }
 677
 678 void Train::Loader::block(unsigned id)
 679 {
 680         Block &blk = obj.layout.get_block(id);
 681         int entry = -1;
 682         if(prev_block)
 683                 entry = blk.get_endpoint_by_link(*prev_block);
 684         if(entry<0)
 685                 entry = 0;
 686
 687         blk.reserve(&obj);
 688         obj.cur_blocks.push_back(BlockRef(&blk, entry));
 689         obj.set_status("Stopped");
 690         obj.set_position(blk.get_endpoints()[entry]);
 691
 692         prev_block = &blk;
 693 }
 694
 695 void Train::Loader::block_hint(unsigned id)
 696 {
 697         prev_block = &obj.layout.get_block(id);
 698 }
 699
 700 void Train::Loader::name(const string &n)
 701 {
 702         obj.set_name(n);
 703 }
 704
 705 void Train::Loader::real_speed(unsigned i, float speed, float weight)
 706 {
 707         obj.real_speed[i].speed = speed;
 708         obj.real_speed[i].weight = weight;
 709 }
 710
 711 void Train::Loader::route(const string &n)
 712 {
 713         obj.set_route(&obj.layout.get_route(n));
 714 }
 715
 716 } // namespace Marklin