3 This file is part of the MSP Märklin suite
4 Copyright © 2006-2010 Mikkosoft Productions, Mikko Rasa
5 Distributed under the GPL
9 #include <msp/strings/formatter.h>
10 #include <msp/time/units.h>
11 #include <msp/time/utils.h>
12 #include "aicontrol.h"
13 #include "catalogue.h"
18 #include "simplephysics.h"
19 #include "timetable.h"
20 #include "tracktype.h"
29 Train::Train(Layout &l, const LocoType &t, unsigned a):
34 control(new AIControl(*this, new SimplePhysics)),
38 speed_changing(false),
48 accurate_position(false),
51 vehicles.push_back(new Vehicle(layout, loco_type));
53 layout.add_train(*this);
55 layout.get_driver().add_loco(address);
56 layout.get_driver().signal_loco_speed.connect(sigc::mem_fun(this, &Train::loco_speed_event));
57 layout.get_driver().signal_loco_function.connect(sigc::mem_fun(this, &Train::loco_func_event));
59 layout.signal_block_reserved.connect(sigc::mem_fun(this, &Train::block_reserved));
60 layout.get_driver().signal_sensor.connect(sigc::mem_fun(this, &Train::sensor_event));
61 layout.get_driver().signal_turnout.connect(sigc::mem_fun(this, &Train::turnout_event));
63 control->signal_control_changed.connect(signal_control_changed);
70 for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
72 layout.remove_train(*this);
75 void Train::set_name(const string &n)
79 signal_name_changed.emit(name);
82 Vehicle &Train::get_vehicle(unsigned i)
84 if(i>=vehicles.size())
85 throw InvalidParameterValue("Vehicle index out of range");
89 const Vehicle &Train::get_vehicle(unsigned i) const
91 if(i>=vehicles.size())
92 throw InvalidParameterValue("Vehicle index out of range");
96 void Train::set_control(const string &n, float v)
98 control->set_control(n, v);
101 void Train::set_active(bool a)
105 if(!a && control->get_speed())
106 throw InvalidState("Can't deactivate while moving");
111 stop_timeout = Time::TimeStamp();
116 stop_timeout = Time::now()+2*Time::sec;
117 set_status("Stopped");
121 void Train::set_function(unsigned func, bool state)
123 if(!loco_type.get_functions().count(func))
124 throw InvalidParameterValue("Invalid function");
126 layout.get_driver().set_loco_function(address, func, state);
128 layout.get_driver().set_loco_function(address+1, func-4, state);
131 bool Train::get_function(unsigned func) const
133 return (functions>>func)&1;
136 void Train::set_route(const Route *r)
138 if(!rsv_blocks.empty())
140 for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
141 if(i->block->get_sensor_id())
143 release_blocks(rsv_blocks, ++i, rsv_blocks.end());
150 end_of_route = false;
154 BlockRef &last = (rsv_blocks.empty() ? cur_blocks.back() : rsv_blocks.back());
155 BlockRef next = last.next();
156 const Block::Endpoint &ep = next.block->get_endpoints()[next.entry];
157 if(!route->get_tracks().count(ep.track))
160 route = Route::find(*ep.track, ep.track_ep, *next_route);
167 signal_route_changed.emit(route);
170 void Train::go_to(const Track &to)
172 for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
173 if(i->block->get_tracks().count(const_cast<Track *>(&to)))
175 signal_arrived.emit();
181 if(rsv_blocks.empty())
182 last = &cur_blocks.back();
185 for(list<BlockRef>::iterator i=rsv_blocks.begin(); (i!=rsv_blocks.end() && !last); ++i)
186 if(i->block->get_sensor_id())
190 BlockRef next = last->next();
191 const Block::Endpoint &ep = next.block->get_endpoints()[next.entry];
193 set_route(Route::find(*ep.track, ep.track_ep, to));
196 void Train::place(Block &block, unsigned entry)
198 if(control->get_speed())
199 throw InvalidState("Must be stopped before placing");
201 release_blocks(rsv_blocks);
202 release_blocks(cur_blocks);
205 accurate_position = false;
207 if(!block.reserve(this))
209 set_status("Unplaced");
213 cur_blocks.push_back(BlockRef(&block, entry));
216 unsigned exit = block.traverse(entry);
217 const Block::Endpoint &bep = block.get_endpoints()[exit];
218 Track *track = bep.track->get_link(bep.track_ep);
219 unsigned ep = track->get_endpoint_by_link(*bep.track);
220 vehicles.front()->place(track, ep, 0, Vehicle::FRONT_BUFFER);
224 const Block::Endpoint &bep = block.get_endpoints()[entry];
225 vehicles.front()->place(bep.track, bep.track_ep, 0, Vehicle::BACK_BUFFER);
229 bool Train::free_block(Block &block)
232 for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
238 release_blocks(rsv_blocks, i, rsv_blocks.end());
241 else if(i->block->get_sensor_id())
248 int Train::get_entry_to_block(Block &block) const
250 for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
253 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
259 float Train::get_reserved_distance() const
261 Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
262 const VehicleType &vtype = veh.get_type();
264 Track *track = veh.get_track();
267 unsigned entry = veh.get_entry();
269 float result = -vtype.get_length()/2;
272 entry = track->traverse(entry);
273 result += veh.get_offset();
276 result -= veh.get_offset();
279 list<BlockRef>::const_iterator block = cur_blocks.begin();
282 if(!first || !reverse)
283 result += track->get_type().get_path_length(track->get_active_path());
286 if(track->get_type().get_endpoints().size()<2)
289 unsigned exit = track->traverse(entry);
290 Track *next = track->get_link(exit);
292 while(!block->block->get_tracks().count(next))
295 if(block==cur_blocks.end())
296 block = rsv_blocks.begin();
297 if(block==rsv_blocks.end())
301 entry = next->get_endpoint_by_link(*track);
306 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
308 if(!active && stop_timeout && t>=stop_timeout)
310 release_blocks(rsv_blocks);
311 end_of_route = false;
312 stop_timeout = Time::TimeStamp();
315 Driver &driver = layout.get_driver();
320 float speed = control->get_speed();
321 unsigned speed_notch = find_speed(abs(speed));
323 if(speed && (speed<0)!=reverse)
325 driver.set_loco_reverse(address, speed<0);
328 release_blocks(rsv_blocks);
329 reverse_blocks(cur_blocks);
333 if(speed_notch!=current_speed && !speed_changing && !driver.is_halted() && driver.get_power())
335 speed_changing = true;
336 driver.set_loco_speed(address, speed_notch);
341 set_status(format("Traveling %d kmh", get_travel_speed()));
343 set_status("Waiting");
351 Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
352 Track *track = vehicle.get_track();
355 for(list<BlockRef>::const_iterator i=cur_blocks.begin(); (!ok && i!=cur_blocks.end()); ++i)
356 ok = i->block->get_tracks().count(track);
358 float d = get_real_speed(current_speed)*(dt/Time::sec);
360 vehicle.advance(reverse ? -d : d);
361 else if(accurate_position)
364 if(overshoot_dist>40*layout.get_catalogue().get_scale())
365 layout.emergency(name+" has not arrived at sensor");
368 else if(end_of_route)
372 void Train::save(list<DataFile::Statement> &st) const
374 st.push_back((DataFile::Statement("name"), name));
376 for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
377 if(i!=vehicles.begin())
378 st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
380 for(unsigned i=0; i<=14; ++i)
381 if(real_speed[i].weight)
382 st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
384 if(!cur_blocks.empty())
386 list<BlockRef> blocks = cur_blocks;
388 reverse_blocks(blocks);
390 Block *prev = blocks.front().block->get_endpoints()[blocks.front().entry].link;
391 st.push_back((DataFile::Statement("block_hint"), prev->get_id()));
393 for(list<BlockRef>::const_iterator i=blocks.begin(); i!=blocks.end(); ++i)
394 st.push_back((DataFile::Statement("block"), i->block->get_id()));
399 if(!route->is_temporary())
400 st.push_back((DataFile::Statement("route"), route->get_name()));
401 else if(next_route && !next_route->is_temporary())
402 st.push_back((DataFile::Statement("route"), next_route->get_name()));
407 DataFile::Statement ss("timetable");
408 timetable->save(ss.sub);
413 void Train::loco_speed_event(unsigned addr, unsigned speed, bool)
417 current_speed = speed;
418 speed_changing = false;
423 void Train::loco_func_event(unsigned addr, unsigned func, bool state)
425 if(addr==address || (addr==address+1 && loco_type.get_max_function()>4))
430 functions |= 1<<func;
432 functions &= ~(1<<func);
434 signal_function_changed.emit(func, state);
438 void Train::sensor_event(unsigned addr, bool state)
442 // Find the first sensor block from our reserved blocks that isn't this sensor
443 list<BlockRef>::iterator i;
445 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
446 if(i->block->get_sensor_id())
448 if(i->block->get_sensor_id()!=addr)
461 if(result==1 && i!=rsv_blocks.begin())
463 // Compute speed and update related state
464 float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
468 RealSpeed &rs = real_speed[current_speed];
469 rs.add(travel_dist/travel_time_secs, travel_time_secs);
470 set_status(format("Traveling %d kmh", get_travel_speed()));
475 for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
477 j->block->traverse(j->entry, &block_len);
478 travel_dist += block_len;
480 if(j->block->get_sensor_id()==addr)
482 const Block::Endpoint &bep = j->block->get_endpoints()[j->entry];
485 Track *track = bep.track->get_link(bep.track_ep);
486 unsigned ep = track->get_endpoint_by_link(*bep.track);
487 vehicles.back()->place(track, ep, 0, Vehicle::BACK_AXLE);
490 vehicles.front()->place(bep.track, bep.track_ep, 0, Vehicle::FRONT_AXLE);
493 last_entry_time = Time::now();
495 accurate_position = true;
498 // Check if we've reached the next route
501 const set<const Track *> &rtracks = next_route->get_tracks();
502 for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
503 if(rtracks.count(j->block->get_endpoints()[j->entry].track))
508 signal_route_changed.emit(route);
513 // Move blocks up to the next sensor to our current blocks
514 cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
516 // Try to get more blocks if we're moving
519 unsigned nsens = reserve_more();
520 if(!nsens && end_of_route)
521 signal_arrived.emit();
525 layout.emergency("Sensor for "+name+" triggered out of order");
529 // Find the first sensor in our current blocks that's still active
530 list<BlockRef>::iterator end = cur_blocks.begin();
531 for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
532 if(i->block->get_sensor_id())
534 if(layout.get_driver().get_sensor(i->block->get_sensor_id()))
540 if(end!=cur_blocks.begin())
542 // Free blocks up to the last inactive sensor
544 release_blocks(cur_blocks, cur_blocks.begin(), end);
549 void Train::turnout_event(unsigned addr, bool)
553 unsigned pending_addr = pending_block->get_turnout_id();
554 bool double_addr = (*pending_block->get_tracks().begin())->get_type().is_double_address();
555 if(addr==pending_addr || (double_addr && addr==pending_addr+1))
560 void Train::block_reserved(const Block &block, const Train *train)
562 if(&block==pending_block && !train)
566 unsigned Train::reserve_more()
569 if(!rsv_blocks.empty())
570 last = &rsv_blocks.back();
571 else if(!cur_blocks.empty())
572 last = &cur_blocks.back();
578 // See how many sensor blocks we already have
580 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
581 if(i->block->get_sensor_id())
587 const Route *cur_route = 0;
590 const set<Track *> &tracks = last->block->get_tracks();
591 for(set<Track *>::const_iterator i=tracks.begin(); (cur_route!=route && i!=tracks.end()); ++i)
593 if(route->get_tracks().count(*i))
595 else if(next_route && next_route->get_tracks().count(*i))
596 cur_route = next_route;
600 bool got_more = false;
601 BlockRef *good = last;
602 unsigned good_sens = nsens;
605 if(last->block->get_endpoints().size()<2)
612 // Traverse to the next block
613 unsigned exit = last->block->traverse(last->entry);
614 Block *link = last->block->get_link(exit);
618 int entry = link->get_endpoint_by_link(*last->block);
620 throw LogicError("Block links are inconsistent!");
622 const Block::Endpoint &entry_ep = link->get_endpoints()[entry];
626 if(cur_route!=next_route && next_route && next_route->get_tracks().count(entry_ep.track))
627 cur_route = next_route;
628 else if(!cur_route->get_tracks().count(entry_ep.track))
630 // Keep the blocks if we arrived at the end of the route
637 else if(route && route->get_tracks().count(entry_ep.track))
640 if(!link->reserve(this))
642 // If we found another train and it's not headed straight for us, we can keep the blocks we got
643 int other_entry = link->get_train()->get_entry_to_block(*link);
645 throw LogicError("Block reservation inconsistency");
646 if(static_cast<unsigned>(entry)!=link->traverse(other_entry))
651 pending_block = link;
655 if(link->get_turnout_id())
657 const Endpoint &track_ep = entry_ep.track->get_type().get_endpoints()[entry_ep.track_ep];
659 // Keep the blocks reserved so far, as either us or the other train can diverge
663 // Figure out what path we'd like to take on the turnout
666 path = cur_route->get_turnout(link->get_turnout_id());
668 path = entry_ep.track->get_active_path();
669 if(!((track_ep.paths>>path)&1))
671 for(unsigned i=0; track_ep.paths>>i; ++i)
672 if((track_ep.paths>>i)&1)
676 if(path!=static_cast<int>(entry_ep.track->get_active_path()))
678 // The turnout is set to wrong path - switch and wait for it
680 pending_block = link;
681 entry_ep.track->set_active_path(path);
686 rsv_blocks.push_back(BlockRef(link, entry));
687 last = &rsv_blocks.back();
688 if(last->block->get_sensor_id())
695 // Unreserve blocks that were not good
696 while(!rsv_blocks.empty() && last!=good)
698 last->block->reserve(0);
699 rsv_blocks.erase(--rsv_blocks.end());
700 if(!rsv_blocks.empty())
701 last = &rsv_blocks.back();
704 // Make any sensorless blocks at the beginning immediately current
705 list<BlockRef>::iterator i;
706 for(i=rsv_blocks.begin(); (i!=rsv_blocks.end() && !i->block->get_sensor_id()); ++i) ;
707 if(i!=rsv_blocks.begin())
708 cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
713 float Train::get_real_speed(unsigned i) const
715 if(real_speed[i].weight)
716 return real_speed[i].speed;
720 for(low=i; low>0; --low)
721 if(real_speed[low].weight)
723 for(high=i; high<14; ++high)
724 if(real_speed[high].weight)
727 if(real_speed[high].weight)
729 if(real_speed[low].weight)
731 float f = float(i-low)/(high-low);
732 return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
735 return real_speed[high].speed*float(i)/high;
737 else if(real_speed[low].weight)
738 return real_speed[low].speed*float(i)/low;
743 unsigned Train::find_speed(float real) const
745 if(real<=real_speed[0].speed)
750 for(unsigned i=0; (!high && i<=14); ++i)
751 if(real_speed[i].weight)
753 if(real_speed[i].speed<real)
762 return min(static_cast<unsigned>(low*real/real_speed[low].speed), 14U);
765 float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
766 return static_cast<unsigned>(low*(1-f)+high*f+0.5);
769 float Train::get_travel_speed() const
771 float speed = get_real_speed(current_speed);
772 float scale = layout.get_catalogue().get_scale();
773 return static_cast<int>(round(speed/scale*3.6/5))*5;
776 void Train::set_status(const string &s)
779 signal_status_changed.emit(s);
782 void Train::release_blocks(list<BlockRef> &blocks)
784 release_blocks(blocks, blocks.begin(), blocks.end());
787 void Train::release_blocks(list<BlockRef> &blocks, list<BlockRef>::iterator begin, list<BlockRef>::iterator end)
791 Block *block = begin->block;
792 blocks.erase(begin++);
797 void Train::reverse_blocks(list<BlockRef> &blocks) const
800 for(list<BlockRef>::iterator i=blocks.begin(); i!=blocks.end(); ++i)
801 i->entry = i->block->traverse(i->entry);
805 Train::BlockRef::BlockRef(Block *b, unsigned e):
810 Train::BlockRef Train::BlockRef::next() const
812 Block *blk = block->get_endpoints()[block->traverse(entry)].link;
814 throw InvalidState("At end of line");
816 int ep = blk->get_endpoint_by_link(*block);
818 throw LogicError("Block links are inconsistent");
820 return BlockRef(blk, ep);
824 Train::RealSpeed::RealSpeed():
829 void Train::RealSpeed::add(float s, float w)
831 speed = (speed*weight+s*w)/(weight+w);
832 weight = min(weight+w, 300.0f);
836 Train::Loader::Loader(Train &t):
837 DataFile::BasicLoader<Train>(t),
840 add("block", &Loader::block);
841 add("block_hint", &Loader::block_hint);
842 add("name", &Loader::name);
843 add("real_speed", &Loader::real_speed);
844 add("route", &Loader::route);
845 add("timetable", &Loader::timetable);
846 add("vehicle", &Loader::vehicle);
849 void Train::Loader::block(unsigned id)
851 Block &blk = obj.layout.get_block(id);
854 entry = blk.get_endpoint_by_link(*prev_block);
859 obj.cur_blocks.push_back(BlockRef(&blk, entry));
860 obj.set_status("Stopped");
861 const Block::Endpoint &bep = blk.get_endpoints()[entry];
862 obj.vehicles.front()->place(bep.track, bep.track_ep, 0, Vehicle::BACK_BUFFER);
864 if(blk.get_sensor_id())
865 obj.layout.get_driver().set_sensor(blk.get_sensor_id(), true);
870 void Train::Loader::block_hint(unsigned id)
872 prev_block = &obj.layout.get_block(id);
875 void Train::Loader::name(const string &n)
880 void Train::Loader::real_speed(unsigned i, float speed, float weight)
882 obj.real_speed[i].speed = speed;
883 obj.real_speed[i].weight = weight;
886 void Train::Loader::route(const string &n)
888 obj.set_route(&obj.layout.get_route(n));
891 void Train::Loader::timetable()
894 throw InvalidState("A timetable has already been loaded");
896 obj.timetable = new Timetable(obj);
897 load_sub(*obj.timetable);
900 void Train::Loader::vehicle(unsigned n)
902 const VehicleType &vtype = obj.layout.get_catalogue().get_vehicle(n);
903 Vehicle *veh = new Vehicle(obj.layout, vtype);
904 obj.vehicles.back()->attach_back(*veh);
905 obj.vehicles.push_back(veh);
908 } // namespace Marklin