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                 float path_len = cur_track->get_type().get_path_length(path);
 158                 if(offset>path_len)
 159                 {
 160                         unsigned out = cur_track->traverse(cur_track_ep, path);
 161                         Track *next = cur_track->get_link(out);
 162
 163                         bool ok = false;
 164                         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); (!ok && i!=cur_blocks.end()); ++i)
 165                                 ok = i->block->get_tracks().count(next);
 166
 167                         if(ok)
 168                         {
 169                                 if(next)
 170                                         cur_track_ep = next->get_endpoint_by_link(*cur_track);
 171                                 cur_track = next;
 172                                 offset = 0;
 173                         }
 174                         else
 175                                 offset = path_len-0.001;
 176                 }
 177
 178                 if(cur_track)
 179                         pos = cur_track->get_point(cur_track_ep, path, offset);
 180         }
 181 }
 182
 183 void Train::save(list<DataFile::Statement> &st) const
 184 {
 185         st.push_back((DataFile::Statement("name"), name));
 186         for(unsigned i=0; i<=14; ++i)
 187                 if(real_speed[i].weight)
 188                         st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
 189 }
 190
 191 void Train::locomotive_reverse_changed(bool)
 192 {
 193         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 194                 i->block->reserve(0);
 195         rsv_blocks.clear();
 196         cur_blocks.reverse();
 197         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 198                 i->entry = i->block->traverse(i->entry);
 199         reserve_more();
 200
 201         if(cur_track)
 202         {
 203                 unsigned path = 0;
 204                 if(unsigned turnout = cur_track->get_turnout_id())
 205                         path = trfc_mgr.get_control().get_turnout(turnout).get_path();
 206                 cur_track_ep = cur_track->traverse(cur_track_ep, path);
 207                 offset = cur_track->get_type().get_path_length(path)-offset;
 208         }
 209 }
 210
 211 void Train::sensor_event(bool state, Sensor *sensor)
 212 {
 213         unsigned addr = sensor->get_address();
 214
 215         if(state)
 216         {
 217                 list<BlockRef>::iterator i;
 218                 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 219                         if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
 220                                 break;
 221
 222                 if(i!=rsv_blocks.begin())
 223                 {
 224                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 225                         travel_speed = static_cast<int>(round(travel_dist/travel_time_secs*87*3.6/5))*5;
 226
 227                         if(pure_speed)
 228                         {
 229                                 RealSpeed &rs = real_speed[loco.get_speed()];
 230                                 rs.add(travel_dist/travel_time_secs, travel_time_secs);
 231                         }
 232
 233                         travel_dist = 0;
 234                         float block_len;
 235                         for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 236                         {
 237                                 j->block->traverse(j->entry, &block_len);
 238                                 travel_dist += block_len;
 239                         }
 240                         last_entry_time = Time::now();
 241                         pure_speed = true;
 242
 243                         cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 244                 }
 245
 246                 for(i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 247                         if(i->block->get_sensor_id()==addr)
 248                                 set_position(i->block->get_endpoints()[i->entry]);
 249
 250                 if(target_speed && reserve_more()<2)
 251                         update_speed();
 252         }
 253         else
 254         {
 255                 for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 256                         if(unsigned b_addr = i->block->get_sensor_id())
 257                         {
 258                                 if(b_addr==addr)
 259                                 {
 260                                         ++i;
 261                                         for(list<BlockRef>::iterator j=cur_blocks.begin(); j!=i; ++j)
 262                                                 j->block->reserve(0);
 263                                         cur_blocks.erase(cur_blocks.begin(), i);
 264                                 }
 265                                 break;
 266                         }
 267
 268                 if(target_speed && pending_block && addr==pending_block->get_sensor_id())
 269                         reserve_more();
 270         }
 271 }
 272
 273 void Train::turnout_path_changing(unsigned, Turnout *turnout)
 274 {
 275         unsigned tid = turnout->get_address();
 276         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 277                 if(i->block->get_turnout_id()==tid)
 278                         throw TurnoutBusy(this);
 279
 280         unsigned nsens = 0;
 281         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 282         {
 283                 if(i->block->get_turnout_id()==tid)
 284                 {
 285                         if(nsens<1)
 286                                 throw TurnoutBusy(this);
 287                         break;
 288                 }
 289                 else if(i->block->get_sensor_id())
 290                         ++nsens;
 291         }
 292 }
 293
 294 void Train::turnout_path_changed(unsigned, Turnout *turnout)
 295 {
 296         unsigned tid = turnout->get_address();
 297         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 298                 if(i->block->get_turnout_id()==tid)
 299                 {
 300                         while(i!=rsv_blocks.end())
 301                         {
 302                                 i->block->reserve(0);
 303                                 i = rsv_blocks.erase(i);
 304                         }
 305                         reserve_more();
 306                         return;
 307                 }
 308
 309         if(pending_block && tid==pending_block->get_turnout_id())
 310                 reserve_more();
 311 }
 312
 313 unsigned Train::reserve_more()
 314 {
 315         BlockRef *last = 0;
 316         if(!rsv_blocks.empty())
 317                 last = &rsv_blocks.back();
 318         else if(!cur_blocks.empty())
 319                 last = &cur_blocks.back();
 320         if(!last)
 321                 return 0;
 322
 323         pending_block = 0;
 324
 325         // See how many blocks we already have
 326         unsigned nsens = 0;
 327         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 328                 if(i->block->get_sensor_id())
 329                         ++nsens;
 330
 331         bool got_more = false;
 332         BlockRef *good = last;
 333         unsigned good_sens = nsens;
 334         while(good_sens<3)
 335         {
 336                 // Traverse to the next block
 337                 unsigned exit = last->block->traverse(last->entry);
 338                 Block *link = last->block->get_link(exit);
 339                 if(!link)
 340                         break;
 341
 342                 int entry = link->get_endpoint_by_link(*last->block);
 343                 if(!link->reserve(this))
 344                 {
 345                         // If we found another train going in the same direction as us, we can keep the blocks we got
 346                         int other_entry = link->get_train()->get_entry_to_block(*link);
 347                         if(other_entry==entry || link->traverse(entry)==link->traverse(other_entry))
 348                         {
 349                                 good = last;
 350                                 good_sens = nsens;
 351                         }
 352                         pending_block = link;
 353                         break;
 354                 }
 355
 356                 if(link->get_turnout_id())
 357                 {
 358                         const Block::Endpoint &ep = link->get_endpoints()[entry];
 359                         const Endpoint &track_ep = ep.track->get_type().get_endpoints()[ep.track_ep];
 360
 361                         if(track_ep.paths&(track_ep.paths-1))
 362                         {
 363                                 // We're facing the points - keep the blocks reserved so far
 364                                 good = last;
 365                                 good_sens = nsens;
 366                         }
 367
 368                         Turnout &turnout = trfc_mgr.get_control().get_turnout(link->get_turnout_id());
 369
 370                         // Figure out what path we'd like to take on the turnout
 371                         int path = -1;
 372                         if(route)
 373                                 path = route->get_turnout(link->get_turnout_id());
 374                         if(path<0)
 375                                 path = turnout.get_path();
 376                         if(!((track_ep.paths>>path)&1))
 377                         {
 378                                 for(unsigned i=0; track_ep.paths>>i; ++i)
 379                                         if((track_ep.paths>>i)&1)
 380                                                 path = i;
 381                         }
 382
 383                         if(path!=turnout.get_path())
 384                         {
 385                                 // The turnout is set to wrong path - switch and wait for it
 386                                 link->reserve(0);
 387                                 pending_block = link;
 388                                 turnout.set_path(path);
 389                                 break;
 390                         }
 391                 }
 392
 393                 rsv_blocks.push_back(BlockRef(link, entry));
 394                 last = &rsv_blocks.back();
 395                 if(last->block->get_sensor_id())
 396                 {
 397                         ++nsens;
 398                         got_more = true;
 399                 }
 400         }
 401
 402         // Unreserve blocks that were not good
 403         while(!rsv_blocks.empty() && last!=good)
 404         {
 405                 last->block->reserve(0);
 406                 rsv_blocks.erase(--rsv_blocks.end());
 407                 if(!rsv_blocks.empty())
 408                         last = &rsv_blocks.back();
 409         }
 410
 411         if(got_more)
 412                 update_speed();
 413
 414         return nsens;
 415 }
 416
 417 void Train::update_speed()
 418 {
 419         if(!target_speed)
 420         {
 421                 loco.set_speed(0);
 422                 try_reserve = Time::TimeStamp();
 423                 set_status("Stopped");
 424         }
 425         else
 426         {
 427                 unsigned nsens = 0;
 428                 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 429                         if(i->block->get_sensor_id())
 430                                 ++nsens;
 431
 432                 unsigned slow_speed = find_speed(0.1);  // 31.3 km/h
 433                 if(nsens==0)
 434                 {
 435                         loco.set_speed(0);
 436                         pure_speed = false;
 437                         try_reserve = Time::now()+2*Time::sec;
 438                         set_status("Blocked");
 439                 }
 440                 else if(nsens==1 && target_speed>slow_speed)
 441                 {
 442                         loco.set_speed(slow_speed);
 443                         pure_speed = false;
 444                         try_reserve = Time::now()+2*Time::sec;
 445                         set_status("Slow");
 446                 }
 447                 else
 448                 {
 449                         loco.set_speed(target_speed);
 450                         try_reserve = Time::TimeStamp();
 451                         set_status(format("Traveling %d kmh", travel_speed));
 452                 }
 453         }
 454 }
 455
 456 float Train::get_real_speed(unsigned i) const
 457 {
 458         if(real_speed[i].weight)
 459                 return real_speed[i].speed;
 460
 461         unsigned low;
 462         unsigned high;
 463         for(low=i; low>0; --low)
 464                 if(real_speed[low].weight)
 465                         break;
 466         for(high=i; high<14; ++high)
 467                 if(real_speed[high].weight)
 468                         break;
 469
 470         if(real_speed[high].weight)
 471         {
 472                 if(real_speed[low].weight)
 473                 {
 474                         float f = float(i-low)/(high-low);
 475                         return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
 476                 }
 477                 else
 478                         return real_speed[high].speed*float(i)/high;
 479         }
 480         else if(real_speed[low].weight)
 481                 return real_speed[low].speed*float(i)/low;
 482         else
 483                 return 0;
 484 }
 485
 486 unsigned Train::find_speed(float real) const
 487 {
 488         if(real<=real_speed[0].speed)
 489                 return 0;
 490
 491         unsigned low = 0;
 492         unsigned high = 0;
 493         for(unsigned i=0; (!high && i<=14); ++i)
 494                 if(real_speed[i].weight)
 495                 {
 496                         if(real_speed[i].speed<real)
 497                                 low = i;
 498                         else
 499                                 high = i;
 500                 }
 501         if(!high)
 502         {
 503                 if(!low)
 504                         return 0;
 505                 return min(static_cast<unsigned>(low*real/real_speed[low].speed), 14U);
 506         }
 507
 508         float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
 509         return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 510 }
 511
 512 void Train::set_status(const string &s)
 513 {
 514         status = s;
 515         signal_status_changed.emit(s);
 516 }
 517
 518 void Train::set_position(const Block::Endpoint &bep)
 519 {
 520         cur_track = bep.track;
 521         cur_track_ep = bep.track_ep;
 522         offset = 0;
 523         pos = cur_track->get_endpoint_position(cur_track_ep);
 524 }
 525
 526 void Train::release_blocks(list<BlockRef> &blocks)
 527 {
 528         for(list<BlockRef>::iterator i=blocks.begin(); i!=blocks.end(); ++i)
 529                 i->block->reserve(0);
 530         blocks.clear();
 531 }
 532
 533
 534 Train::RealSpeed::RealSpeed():
 535         speed(0),
 536         weight(0)
 537 { }
 538
 539 void Train::RealSpeed::add(float s, float w)
 540 {
 541         speed = (speed*weight+s*w)/(weight+w);
 542         weight = min(weight+w, 300.0f);
 543 }
 544
 545
 546 Train::Loader::Loader(Train &t):
 547         DataFile::BasicLoader<Train>(t)
 548 {
 549         add("name",        &Train::name);
 550         add("real_speed",  &Loader::real_speed);
 551 }
 552
 553 void Train::Loader::real_speed(unsigned i, float speed, float weight)
 554 {
 555         obj.real_speed[i].speed = speed;
 556         obj.real_speed[i].weight = weight;
 557 }
 558
 559 } // namespace Marklin