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                         unsigned out = cur_track->traverse(cur_track_ep, path);
 160                         Track *next = cur_track->get_link(out);
 161                         if(next)
 162                                 cur_track_ep = next->get_endpoint_by_link(*cur_track);
 163                         cur_track = next;
 164                         offset = 0;
 165                 }
 166
 167                 if(cur_track)
 168                         pos = cur_track->get_point(cur_track_ep, path, offset);
 169         }
 170 }
 171
 172 void Train::save(list<DataFile::Statement> &st) const
 173 {
 174         st.push_back((DataFile::Statement("name"), name));
 175         for(unsigned i=0; i<=14; ++i)
 176                 if(real_speed[i].weight)
 177                         st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
 178 }
 179
 180 void Train::locomotive_reverse_changed(bool)
 181 {
 182         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 183                 i->block->reserve(0);
 184         rsv_blocks.clear();
 185         cur_blocks.reverse();
 186         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 187                 i->entry = i->block->traverse(i->entry);
 188         reserve_more();
 189
 190         if(cur_track)
 191         {
 192                 unsigned path = 0;
 193                 if(unsigned turnout = cur_track->get_turnout_id())
 194                         path = trfc_mgr.get_control().get_turnout(turnout).get_path();
 195                 cur_track_ep = cur_track->traverse(cur_track_ep, path);
 196                 offset = cur_track->get_type().get_path_length(path)-offset;
 197         }
 198 }
 199
 200 void Train::sensor_event(bool state, Sensor *sensor)
 201 {
 202         unsigned addr = sensor->get_address();
 203
 204         if(state)
 205         {
 206                 list<BlockRef>::iterator i;
 207                 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 208                         if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
 209                                 break;
 210
 211                 if(i!=rsv_blocks.begin())
 212                 {
 213                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 214                         travel_speed = static_cast<int>(round(travel_dist/travel_time_secs*87*3.6/5))*5;
 215
 216                         if(pure_speed)
 217                         {
 218                                 RealSpeed &rs = real_speed[loco.get_speed()];
 219                                 rs.add(travel_dist/travel_time_secs, travel_time_secs);
 220                         }
 221
 222                         travel_dist = 0;
 223                         float block_len;
 224                         for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 225                         {
 226                                 j->block->traverse(j->entry, &block_len);
 227                                 travel_dist += block_len;
 228                         }
 229                         last_entry_time = Time::now();
 230                         pure_speed = true;
 231
 232                         cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 233                 }
 234
 235                 for(i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 236                         if(i->block->get_sensor_id()==addr)
 237                                 set_position(i->block->get_endpoints()[i->entry]);
 238
 239                 if(target_speed && reserve_more()<2)
 240                         update_speed();
 241         }
 242         else
 243         {
 244                 for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 245                         if(unsigned b_addr = i->block->get_sensor_id())
 246                         {
 247                                 if(b_addr==addr)
 248                                 {
 249                                         ++i;
 250                                         for(list<BlockRef>::iterator j=cur_blocks.begin(); j!=i; ++j)
 251                                                 j->block->reserve(0);
 252                                         cur_blocks.erase(cur_blocks.begin(), i);
 253                                 }
 254                                 break;
 255                         }
 256
 257                 if(target_speed && pending_block && addr==pending_block->get_sensor_id())
 258                         reserve_more();
 259         }
 260 }
 261
 262 void Train::turnout_path_changing(unsigned, Turnout *turnout)
 263 {
 264         unsigned tid = turnout->get_address();
 265         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 266                 if(i->block->get_turnout_id()==tid)
 267                         throw TurnoutBusy(this);
 268
 269         unsigned nsens = 0;
 270         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 271         {
 272                 if(i->block->get_turnout_id()==tid)
 273                 {
 274                         if(nsens<1)
 275                                 throw TurnoutBusy(this);
 276                         break;
 277                 }
 278                 else if(i->block->get_sensor_id())
 279                         ++nsens;
 280         }
 281 }
 282
 283 void Train::turnout_path_changed(unsigned, Turnout *turnout)
 284 {
 285         unsigned tid = turnout->get_address();
 286         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 287                 if(i->block->get_turnout_id()==tid)
 288                 {
 289                         while(i!=rsv_blocks.end())
 290                         {
 291                                 i->block->reserve(0);
 292                                 i = rsv_blocks.erase(i);
 293                         }
 294                         reserve_more();
 295                         return;
 296                 }
 297
 298         if(pending_block && tid==pending_block->get_turnout_id())
 299                 reserve_more();
 300 }
 301
 302 unsigned Train::reserve_more()
 303 {
 304         BlockRef *last = 0;
 305         if(!rsv_blocks.empty())
 306                 last = &rsv_blocks.back();
 307         else if(!cur_blocks.empty())
 308                 last = &cur_blocks.back();
 309         if(!last)
 310                 return 0;
 311
 312         pending_block = 0;
 313
 314         // See how many blocks we already have
 315         unsigned nsens = 0;
 316         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 317                 if(i->block->get_sensor_id())
 318                         ++nsens;
 319
 320         bool got_more = false;
 321         BlockRef *good = last;
 322         unsigned good_sens = nsens;
 323         while(good_sens<3)
 324         {
 325                 // Traverse to the next block
 326                 unsigned exit = last->block->traverse(last->entry);
 327                 Block *link = last->block->get_link(exit);
 328                 if(!link)
 329                         break;
 330
 331                 int entry = link->get_endpoint_by_link(*last->block);
 332                 if(!link->reserve(this))
 333                 {
 334                         // If we found another train going in the same direction as us, we can keep the blocks we got
 335                         int other_entry = link->get_train()->get_entry_to_block(*link);
 336                         if(other_entry==entry || link->traverse(entry)==link->traverse(other_entry))
 337                         {
 338                                 good = last;
 339                                 good_sens = nsens;
 340                         }
 341                         pending_block = link;
 342                         break;
 343                 }
 344
 345                 if(link->get_turnout_id())
 346                 {
 347                         const Block::Endpoint &ep = link->get_endpoints()[entry];
 348                         const Endpoint &track_ep = ep.track->get_type().get_endpoints()[ep.track_ep];
 349
 350                         if(track_ep.paths&(track_ep.paths-1))
 351                         {
 352                                 // We're facing the points - keep the blocks reserved so far
 353                                 good = last;
 354                                 good_sens = nsens;
 355                         }
 356
 357                         Turnout &turnout = trfc_mgr.get_control().get_turnout(link->get_turnout_id());
 358
 359                         // Figure out what path we'd like to take on the turnout
 360                         int path = -1;
 361                         if(route)
 362                                 path = route->get_turnout(link->get_turnout_id());
 363                         if(path<0)
 364                                 path = turnout.get_path();
 365                         if(!((track_ep.paths>>path)&1))
 366                         {
 367                                 for(unsigned i=0; track_ep.paths>>i; ++i)
 368                                         if((track_ep.paths>>i)&1)
 369                                                 path = i;
 370                         }
 371
 372                         if(path!=turnout.get_path())
 373                         {
 374                                 // The turnout is set to wrong path - switch and wait for it
 375                                 link->reserve(0);
 376                                 pending_block = link;
 377                                 turnout.set_path(path);
 378                                 break;
 379                         }
 380                 }
 381
 382                 rsv_blocks.push_back(BlockRef(link, entry));
 383                 last = &rsv_blocks.back();
 384                 if(last->block->get_sensor_id())
 385                 {
 386                         ++nsens;
 387                         got_more = true;
 388                 }
 389         }
 390
 391         // Unreserve blocks that were not good
 392         while(!rsv_blocks.empty() && last!=good)
 393         {
 394                 last->block->reserve(0);
 395                 rsv_blocks.erase(--rsv_blocks.end());
 396                 if(!rsv_blocks.empty())
 397                         last = &rsv_blocks.back();
 398         }
 399
 400         if(got_more)
 401                 update_speed();
 402
 403         return nsens;
 404 }
 405
 406 void Train::update_speed()
 407 {
 408         if(!target_speed)
 409         {
 410                 loco.set_speed(0);
 411                 try_reserve = Time::TimeStamp();
 412                 set_status("Stopped");
 413         }
 414         else
 415         {
 416                 unsigned nsens = 0;
 417                 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 418                         if(i->block->get_sensor_id())
 419                                 ++nsens;
 420
 421                 unsigned slow_speed = find_speed(0.1);  // 31.3 km/h
 422                 if(nsens==0)
 423                 {
 424                         loco.set_speed(0);
 425                         pure_speed = false;
 426                         try_reserve = Time::now()+2*Time::sec;
 427                         set_status("Blocked");
 428                 }
 429                 else if(nsens==1 && target_speed>slow_speed)
 430                 {
 431                         loco.set_speed(slow_speed);
 432                         pure_speed = false;
 433                         try_reserve = Time::now()+2*Time::sec;
 434                         set_status("Slow");
 435                 }
 436                 else
 437                 {
 438                         loco.set_speed(target_speed);
 439                         try_reserve = Time::TimeStamp();
 440                         set_status(format("Traveling %d kmh", travel_speed));
 441                 }
 442         }
 443 }
 444
 445 float Train::get_real_speed(unsigned i) const
 446 {
 447         if(real_speed[i].weight)
 448                 return real_speed[i].speed;
 449
 450         unsigned low;
 451         unsigned high;
 452         for(low=i; low>0; --low)
 453                 if(real_speed[low].weight)
 454                         break;
 455         for(high=i; high<14; ++high)
 456                 if(real_speed[high].weight)
 457                         break;
 458
 459         if(real_speed[high].weight)
 460         {
 461                 if(real_speed[low].weight)
 462                 {
 463                         float f = float(i-low)/(high-low);
 464                         return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
 465                 }
 466                 else
 467                         return real_speed[high].speed*float(i)/high;
 468         }
 469         else if(real_speed[low].weight)
 470                 return real_speed[low].speed*float(i)/low;
 471         else
 472                 return 0;
 473 }
 474
 475 unsigned Train::find_speed(float real) const
 476 {
 477         if(real<=real_speed[0].speed)
 478                 return 0;
 479
 480         unsigned low = 0;
 481         unsigned high = 0;
 482         for(unsigned i=0; (!high && i<=14); ++i)
 483                 if(real_speed[i].weight)
 484                 {
 485                         if(real_speed[i].speed<real)
 486                                 low = i;
 487                         else
 488                                 high = i;
 489                 }
 490         if(!high)
 491         {
 492                 if(!low)
 493                         return 0;
 494                 return min(static_cast<unsigned>(low*real/real_speed[low].speed), 14U);
 495         }
 496
 497         float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
 498         return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 499 }
 500
 501 void Train::set_status(const string &s)
 502 {
 503         status = s;
 504         signal_status_changed.emit(s);
 505 }
 506
 507 void Train::set_position(const Block::Endpoint &bep)
 508 {
 509         cur_track = bep.track;
 510         cur_track_ep = bep.track_ep;
 511         offset = 0;
 512         pos = cur_track->get_endpoint_position(cur_track_ep);
 513 }
 514
 515 void Train::release_blocks(list<BlockRef> &blocks)
 516 {
 517         for(list<BlockRef>::iterator i=blocks.begin(); i!=blocks.end(); ++i)
 518                 i->block->reserve(0);
 519         blocks.clear();
 520 }
 521
 522
 523 Train::RealSpeed::RealSpeed():
 524         speed(0),
 525         weight(0)
 526 { }
 527
 528 void Train::RealSpeed::add(float s, float w)
 529 {
 530         speed = (speed*weight+s*w)/(weight+w);
 531         weight = min(weight+w, 300.0f);
 532 }
 533
 534
 535 Train::Loader::Loader(Train &t):
 536         DataFile::BasicLoader<Train>(t)
 537 {
 538         add("name",        &Train::name);
 539         add("real_speed",  &Loader::real_speed);
 540 }
 541
 542 void Train::Loader::real_speed(unsigned i, float speed, float weight)
 543 {
 544         obj.real_speed[i].speed = speed;
 545         obj.real_speed[i].weight = weight;
 546 }
 547
 548 } // namespace Marklin