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::mem_fun(this, &Train::release_reserved_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         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end();)
  95         {
  96                 i->block->reserve(0);
  97                 i = rsv_blocks.erase(i);
  98         }
  99
 100         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end();)
 101         {
 102                 i->block->reserve(0);
 103                 i = cur_blocks.erase(i);
 104         }
 105
 106         if(!block->reserve(this))
 107         {
 108                 set_status("Unplaced");
 109                 return;
 110         }
 111
 112         cur_blocks.push_back(BlockRef(block, entry));
 113         set_position(block->get_endpoints()[entry]);
 114
 115         set_status("Stopped");
 116 }
 117
 118 bool Train::free_block(Block *block)
 119 {
 120         unsigned nsens = 0;
 121         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 122         {
 123                 if(i->block==block)
 124                 {
 125                         if(nsens<1)
 126                                 return false;
 127                         while(i!=rsv_blocks.end())
 128                         {
 129                                 i->block->reserve(0);
 130                                 i = rsv_blocks.erase(i);
 131                         }
 132                         update_speed();
 133                         return true;
 134                 }
 135                 else if(i->block->get_sensor_id())
 136                         ++nsens;
 137         }
 138
 139         return false;
 140 }
 141
 142 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 143 {
 144         if(try_reserve && t>try_reserve)
 145                 reserve_more();
 146
 147         if(cur_track)
 148         {
 149                 unsigned path = 0;
 150                 if(cur_track->get_turnout_id())
 151                         path = trfc_mgr.get_control().get_turnout(cur_track->get_turnout_id()).get_path();
 152
 153                 offset += get_real_speed(loco.get_speed())*(dt/Time::sec);
 154                 if(offset>cur_track->get_type().get_path_length(path))
 155                 {
 156                         int out = cur_track->traverse(cur_track_ep, path);
 157                         if(out>=0)
 158                         {
 159                                 Track *next = cur_track->get_link(out);
 160                                 if(next)
 161                                         cur_track_ep = next->get_endpoint_by_link(*cur_track);
 162                                 cur_track = next;
 163                                 offset = 0;
 164                         }
 165                         else
 166                                 cur_track = 0;
 167                 }
 168
 169                 if(cur_track)
 170                         pos = cur_track->get_point(cur_track_ep, path, offset);
 171         }
 172 }
 173
 174 void Train::save(list<DataFile::Statement> &st) const
 175 {
 176         st.push_back((DataFile::Statement("name"), name));
 177         for(unsigned i=0; i<=14; ++i)
 178                 if(real_speed[i].weight)
 179                         st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
 180 }
 181
 182 void Train::locomotive_reverse_changed(bool)
 183 {
 184         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 185                 i->block->reserve(0);
 186         rsv_blocks.clear();
 187         cur_blocks.reverse();
 188         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 189                 i->entry = i->block->traverse(i->entry);
 190         reserve_more();
 191
 192         if(cur_track)
 193         {
 194                 unsigned path = 0;
 195                 if(unsigned turnout = cur_track->get_turnout_id())
 196                         path = trfc_mgr.get_control().get_turnout(turnout).get_path();
 197                 cur_track_ep = cur_track->traverse(cur_track_ep, path);
 198                 offset = cur_track->get_type().get_path_length(path)-offset;
 199         }
 200 }
 201
 202 void Train::sensor_event(bool state, Sensor *sensor)
 203 {
 204         unsigned addr = sensor->get_address();
 205
 206         if(state)
 207         {
 208                 list<BlockRef>::iterator i;
 209                 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 210                         if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
 211                                 break;
 212
 213                 if(i!=rsv_blocks.begin())
 214                 {
 215                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 216                         travel_speed = static_cast<int>(round(travel_dist/travel_time_secs*87*3.6/5))*5;
 217
 218                         if(pure_speed)
 219                         {
 220                                 RealSpeed &rs = real_speed[loco.get_speed()];
 221                                 rs.add(travel_dist/travel_time_secs, travel_time_secs);
 222                         }
 223
 224                         travel_dist = 0;
 225                         float block_len;
 226                         for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 227                         {
 228                                 j->block->traverse(j->entry, &block_len);
 229                                 travel_dist += block_len;
 230                         }
 231                         last_entry_time = Time::now();
 232                         pure_speed = true;
 233
 234                         cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 235                 }
 236
 237                 for(i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 238                         if(i->block->get_sensor_id()==addr)
 239                                 set_position(i->block->get_endpoints()[i->entry]);
 240
 241                 if(target_speed && reserve_more()<2)
 242                         update_speed();
 243         }
 244         else
 245         {
 246                 for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 247                         if(unsigned b_addr = i->block->get_sensor_id())
 248                         {
 249                                 if(b_addr==addr)
 250                                 {
 251                                         ++i;
 252                                         for(list<BlockRef>::iterator j=cur_blocks.begin(); j!=i; ++j)
 253                                                 j->block->reserve(0);
 254                                         cur_blocks.erase(cur_blocks.begin(), i);
 255                                 }
 256                                 break;
 257                         }
 258
 259                 if(target_speed && pending_block && addr==pending_block->get_sensor_id())
 260                         reserve_more();
 261         }
 262 }
 263
 264 void Train::turnout_path_changing(unsigned, Turnout *turnout)
 265 {
 266         unsigned tid = turnout->get_address();
 267         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 268                 if(i->block->get_turnout_id()==tid)
 269                         throw TurnoutBusy(this);
 270
 271         unsigned nsens = 0;
 272         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 273         {
 274                 if(i->block->get_turnout_id()==tid)
 275                 {
 276                         if(nsens<1)
 277                                 throw TurnoutBusy(this);
 278                         break;
 279                 }
 280                 else if(i->block->get_sensor_id())
 281                         ++nsens;
 282         }
 283 }
 284
 285 void Train::turnout_path_changed(unsigned, Turnout *turnout)
 286 {
 287         unsigned tid = turnout->get_address();
 288         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 289                 if(i->block->get_turnout_id()==tid)
 290                 {
 291                         while(i!=rsv_blocks.end())
 292                         {
 293                                 i->block->reserve(0);
 294                                 i = rsv_blocks.erase(i);
 295                         }
 296                         reserve_more();
 297                         return;
 298                 }
 299
 300         if(pending_block && tid==pending_block->get_turnout_id())
 301                 reserve_more();
 302 }
 303
 304 unsigned Train::reserve_more()
 305 {
 306         BlockRef *last = 0;
 307         if(!rsv_blocks.empty())
 308                 last = &rsv_blocks.back();
 309         else if(!cur_blocks.empty())
 310                 last = &cur_blocks.back();
 311         if(!last)
 312                 return 0;
 313
 314         pending_block = 0;
 315
 316         unsigned nsens = 0;
 317         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 318                 if(i->block->get_sensor_id())
 319                         ++nsens;
 320
 321         bool got_more = false;
 322         while(nsens<3)
 323         {
 324                 int exit = last->block->traverse(last->entry);
 325                 if(exit<0)
 326                         break;
 327
 328                 Block *link = last->block->get_link(exit);
 329                 if(!link || !link->reserve(this))
 330                 {
 331                         pending_block = link;
 332                         break;
 333                 }
 334
 335                 if(route && link->get_turnout_id())
 336                 {
 337                         int path = route->get_turnout(link->get_turnout_id());
 338                         Turnout &turnout = trfc_mgr.get_control().get_turnout(link->get_turnout_id());
 339                         if(path>=0 && path!=turnout.get_path())
 340                         {
 341                                 link->reserve(0);
 342                                 pending_block = link;
 343                                 turnout.set_path(path);
 344                                 break;
 345                         }
 346                 }
 347
 348                 rsv_blocks.push_back(BlockRef(link, link->get_endpoint_by_link(*last->block)));
 349                 last = &rsv_blocks.back();
 350                 if(last->block->get_sensor_id())
 351                 {
 352                         ++nsens;
 353                         got_more = true;
 354                 }
 355         }
 356
 357         while(!rsv_blocks.empty() && !last->block->get_sensor_id())
 358         {
 359                 last->block->reserve(0);
 360                 rsv_blocks.erase(--rsv_blocks.end());
 361                 if(!rsv_blocks.empty())
 362                         last = &rsv_blocks.back();
 363                 else
 364                         last = 0;
 365         }
 366
 367         if(got_more)
 368                 update_speed();
 369
 370         return nsens;
 371 }
 372
 373 void Train::update_speed()
 374 {
 375         if(!target_speed)
 376         {
 377                 loco.set_speed(0);
 378                 try_reserve = Time::TimeStamp();
 379                 set_status("Stopped");
 380         }
 381         else
 382         {
 383                 unsigned nsens = 0;
 384                 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 385                         if(i->block->get_sensor_id())
 386                                 ++nsens;
 387
 388                 unsigned slow_speed = find_speed(0.1);  // 31.3 km/h
 389                 if(nsens==0)
 390                 {
 391                         loco.set_speed(0);
 392                         pure_speed = false;
 393                         try_reserve = Time::now()+2*Time::sec;
 394                         set_status("Blocked");
 395                 }
 396                 else if(nsens==1 && target_speed>slow_speed)
 397                 {
 398                         loco.set_speed(slow_speed);
 399                         pure_speed = false;
 400                         try_reserve = Time::now()+2*Time::sec;
 401                         set_status("Slow");
 402                 }
 403                 else
 404                 {
 405                         loco.set_speed(target_speed);
 406                         try_reserve = Time::TimeStamp();
 407                         set_status(format("Traveling %d kmh", travel_speed));
 408                 }
 409         }
 410 }
 411
 412 float Train::get_real_speed(unsigned i) const
 413 {
 414         if(real_speed[i].weight)
 415                 return real_speed[i].speed;
 416
 417         unsigned low;
 418         unsigned high;
 419         for(low=i; low>0; --low)
 420                 if(real_speed[low].weight)
 421                         break;
 422         for(high=i; high<14; ++high)
 423                 if(real_speed[high].weight)
 424                         break;
 425
 426         if(real_speed[high].weight)
 427         {
 428                 if(real_speed[low].weight)
 429                 {
 430                         float f = float(i-low)/(high-low);
 431                         return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
 432                 }
 433                 else
 434                         return real_speed[high].speed*float(i)/high;
 435         }
 436         else if(real_speed[low].weight)
 437                 return real_speed[low].speed*float(i)/low;
 438         else
 439                 return 0;
 440 }
 441
 442 unsigned Train::find_speed(float real) const
 443 {
 444         if(real<=real_speed[0].speed)
 445                 return 0;
 446
 447         unsigned low = 0;
 448         unsigned high = 0;
 449         for(unsigned i=0; (!high && i<=14); ++i)
 450                 if(real_speed[i].weight)
 451                 {
 452                         if(real_speed[i].speed<real)
 453                                 low = i;
 454                         else
 455                                 high = i;
 456                 }
 457         if(!high)
 458         {
 459                 if(!low)
 460                         return 0;
 461                 return min(static_cast<unsigned>(low*real/real_speed[low].speed), 14U);
 462         }
 463
 464         float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
 465         return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 466 }
 467
 468 void Train::set_status(const string &s)
 469 {
 470         status = s;
 471         signal_status_changed.emit(s);
 472 }
 473
 474 void Train::set_position(const Block::Endpoint &bep)
 475 {
 476         cur_track = bep.track;
 477         cur_track_ep = bep.track_ep;
 478         offset = 0;
 479         pos = cur_track->get_endpoint_position(cur_track_ep);
 480 }
 481
 482 void Train::release_reserved_blocks()
 483 {
 484         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 485                 i->block->reserve(0);
 486         rsv_blocks.clear();
 487 }
 488
 489
 490 Train::RealSpeed::RealSpeed():
 491         speed(0),
 492         weight(0)
 493 { }
 494
 495 void Train::RealSpeed::add(float s, float w)
 496 {
 497         speed = (speed*weight+s*w)/(weight+w);
 498         weight = min(weight+w, 300.0f);
 499 }
 500
 501
 502 Train::Loader::Loader(Train &t):
 503         DataFile::BasicLoader<Train>(t)
 504 {
 505         add("name",        &Train::name);
 506         add("real_speed",  &Loader::real_speed);
 507 }
 508
 509 void Train::Loader::real_speed(unsigned i, float speed, float weight)
 510 {
 511         obj.real_speed[i].speed = speed;
 512         obj.real_speed[i].weight = weight;
 513 }
 514
 515 } // namespace Marklin