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