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 "tracktype.h"
  15 #include "trafficmanager.h"
  16 #include "train.h"
  17
  18 using namespace std;
  19 using namespace Msp;
  20
  21 namespace Marklin {
  22
  23 Train::Train(TrafficManager &tm, Locomotive &l):
  24         trfc_mgr(tm),
  25         loco(l),
  26         target_speed(0),
  27         status("Unplaced"),
  28         travel_dist(0),
  29         travel_speed(0),
  30         pure_speed(false),
  31         real_speed(15),
  32         cur_track(0)
  33 {
  34         trfc_mgr.add_train(this);
  35
  36         loco.signal_reverse_changed.connect(sigc::mem_fun(this, &Train::locomotive_reverse_changed));
  37
  38         const map<unsigned, Sensor *> &sensors = trfc_mgr.get_control().get_sensors();
  39         for(map<unsigned, Sensor *>::const_iterator i=sensors.begin(); i!=sensors.end(); ++i)
  40                 i->second->signal_state_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::sensor_event), i->second));
  41
  42         const map<unsigned, Turnout *> &turnouts = trfc_mgr.get_control().get_turnouts();
  43         for(map<unsigned, Turnout *>::const_iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
  44         {
  45                 i->second->signal_path_changing.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changing), i->second));
  46                 i->second->signal_path_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changed), i->second));
  47         }
  48 }
  49
  50 void Train::set_name(const string &n)
  51 {
  52         name = n;
  53
  54         signal_name_changed.emit(name);
  55 }
  56
  57 void Train::set_speed(unsigned speed)
  58 {
  59         if(speed==target_speed)
  60                 return;
  61         travel_speed = static_cast<int>(round(get_real_speed(speed)*87*3.6/5))*5;
  62
  63         target_speed = speed;
  64         if(!target_speed)
  65         {
  66                 trfc_mgr.get_control().set_timer(3*Time::sec).signal_timeout.connect(
  67                         sigc::bind_return(sigc::mem_fun(this, &Train::release_reserved_blocks), false));
  68         }
  69         else
  70                 reserve_more();
  71
  72         signal_target_speed_changed.emit(target_speed);
  73
  74         update_speed();
  75         pure_speed = false;
  76 }
  77
  78 void Train::set_reverse(bool rev)
  79 {
  80         loco.set_reverse(rev);
  81 }
  82
  83 void Train::place(Block *block, unsigned entry)
  84 {
  85         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end();)
  86         {
  87                 i->block->reserve(0);
  88                 i = rsv_blocks.erase(i);
  89         }
  90
  91         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end();)
  92         {
  93                 i->block->reserve(0);
  94                 i = cur_blocks.erase(i);
  95         }
  96
  97         if(!block->reserve(this))
  98         {
  99                 set_status("Unplaced");
 100                 return;
 101         }
 102
 103         cur_blocks.push_back(BlockRef(block, entry));
 104         set_position(block->get_endpoints()[entry]);
 105
 106         set_status("Stopped");
 107 }
 108
 109 bool Train::free_block(Block *block)
 110 {
 111         unsigned nsens = 0;
 112         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 113         {
 114                 if(i->block==block)
 115                 {
 116                         if(nsens<1)
 117                                 return false;
 118                         while(i!=rsv_blocks.end())
 119                         {
 120                                 i->block->reserve(0);
 121                                 i = rsv_blocks.erase(i);
 122                         }
 123                         update_speed();
 124                         return true;
 125                 }
 126                 else if(i->block->get_sensor_id())
 127                         ++nsens;
 128         }
 129
 130         return false;
 131 }
 132
 133 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 134 {
 135         if(try_reserve && t>try_reserve)
 136         {
 137                 reserve_more();
 138                 update_speed();
 139         }
 140
 141         if(cur_track)
 142         {
 143                 unsigned path = 0;
 144                 if(cur_track->get_turnout_id())
 145                         path = trfc_mgr.get_control().get_turnout(cur_track->get_turnout_id()).get_path();
 146
 147                 offset += get_real_speed(loco.get_speed())*(dt/Time::sec);
 148                 if(offset>cur_track->get_type().get_path_length(path))
 149                 {
 150                         int out = cur_track->traverse(cur_track_ep, path);
 151                         if(out>=0)
 152                         {
 153                                 Track *next = cur_track->get_link(out);
 154                                 if(next)
 155                                         cur_track_ep = next->get_endpoint_by_link(*cur_track);
 156                                 cur_track = next;
 157                                 offset = 0;
 158                         }
 159                         else
 160                                 cur_track = 0;
 161                 }
 162
 163                 if(cur_track)
 164                         pos = cur_track->get_point(cur_track_ep, path, offset);
 165         }
 166 }
 167
 168 void Train::save(list<DataFile::Statement> &st) const
 169 {
 170         st.push_back((DataFile::Statement("name"), name));
 171         for(unsigned i=0; i<=14; ++i)
 172                 if(real_speed[i].weight)
 173                         st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
 174 }
 175
 176 void Train::locomotive_reverse_changed(bool)
 177 {
 178         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 179                 i->block->reserve(0);
 180         rsv_blocks.clear();
 181         cur_blocks.reverse();
 182         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 183                 i->entry = i->block->traverse(i->entry);
 184         reserve_more();
 185         update_speed();
 186
 187         if(cur_track)
 188         {
 189                 unsigned path = 0;
 190                 if(unsigned turnout = cur_track->get_turnout_id())
 191                         path = trfc_mgr.get_control().get_turnout(turnout).get_path();
 192                 cur_track_ep = cur_track->traverse(cur_track_ep, path);
 193                 offset = cur_track->get_type().get_path_length(path)-offset;
 194         }
 195 }
 196
 197 void Train::sensor_event(bool state, Sensor *sensor)
 198 {
 199         unsigned addr = sensor->get_address();
 200
 201         if(state)
 202         {
 203                 list<BlockRef>::iterator i;
 204                 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 205                         if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
 206                                 break;
 207
 208                 if(i!=rsv_blocks.begin())
 209                 {
 210                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 211                         travel_speed = static_cast<int>(round(travel_dist/travel_time_secs*87*3.6/5))*5;
 212
 213                         if(pure_speed)
 214                         {
 215                                 RealSpeed &rs = real_speed[loco.get_speed()];
 216                                 rs.add(travel_dist/travel_time_secs, travel_time_secs);
 217                         }
 218
 219                         travel_dist = 0;
 220                         float block_len;
 221                         for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 222                         {
 223                                 j->block->traverse(j->entry, &block_len);
 224                                 travel_dist += block_len;
 225                         }
 226                         last_entry_time = Time::now();
 227                         pure_speed = true;
 228
 229                         cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 230                 }
 231
 232                 for(i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 233                         if(i->block->get_sensor_id()==addr)
 234                                 set_position(i->block->get_endpoints()[i->entry]);
 235
 236                 if(target_speed)
 237                 {
 238                         reserve_more();
 239                         update_speed();
 240                 }
 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)
 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                         update_speed();
 296                         return;
 297                 }
 298 }
 299
 300 unsigned Train::reserve_more()
 301 {
 302         BlockRef *last = 0;
 303         if(!rsv_blocks.empty())
 304                 last = &rsv_blocks.back();
 305         else if(!cur_blocks.empty())
 306                 last = &cur_blocks.back();
 307         if(!last)
 308                 return 0;
 309
 310         unsigned nsens = 0;
 311         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 312                 if(i->block->get_sensor_id())
 313                         ++nsens;
 314
 315         bool result = false;
 316         while(nsens<2)
 317         {
 318                 int exit = last->block->traverse(last->entry);
 319                 if(exit>=0)
 320                 {
 321                         Block *link = last->block->get_link(exit);
 322                         if(link && link->reserve(this))
 323                         {
 324                                 rsv_blocks.push_back(BlockRef(link, link->get_endpoint_by_link(*last->block)));
 325                                 last = &rsv_blocks.back();
 326                                 if(last->block->get_sensor_id())
 327                                 {
 328                                         ++nsens;
 329                                         result = true;
 330                                 }
 331                         }
 332                         else
 333                                 break;
 334                 }
 335                 else
 336                         break;
 337         }
 338
 339         while(last && !last->block->get_sensor_id())
 340         {
 341                 last->block->reserve(0);
 342                 rsv_blocks.erase(--rsv_blocks.end());
 343                 if(!rsv_blocks.empty())
 344                         last = &rsv_blocks.back();
 345                 else
 346                         last = 0;
 347         }
 348
 349         return nsens;
 350 }
 351
 352 void Train::update_speed()
 353 {
 354         if(!target_speed)
 355         {
 356                 loco.set_speed(0);
 357                 try_reserve = Time::TimeStamp();
 358                 set_status("Stopped");
 359         }
 360         else
 361         {
 362                 unsigned nsens = 0;
 363                 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 364                         if(i->block->get_sensor_id())
 365                                 ++nsens;
 366
 367                 unsigned slow_speed = find_speed(0.1);  // 31.3 km/h
 368                 if(nsens==0)
 369                 {
 370                         loco.set_speed(0);
 371                         pure_speed = false;
 372                         try_reserve = Time::now()+2*Time::sec;
 373                         set_status("Blocked");
 374                 }
 375                 else if(nsens==1 && target_speed>slow_speed)
 376                 {
 377                         loco.set_speed(slow_speed);
 378                         pure_speed = false;
 379                         try_reserve = Time::now()+2*Time::sec;
 380                         set_status("Slow");
 381                 }
 382                 else
 383                 {
 384                         loco.set_speed(target_speed);
 385                         try_reserve = Time::TimeStamp();
 386                         set_status(format("Traveling %d kmh", travel_speed));
 387                 }
 388         }
 389 }
 390
 391 float Train::get_real_speed(unsigned i) const
 392 {
 393         if(real_speed[i].weight)
 394                 return real_speed[i].speed;
 395
 396         unsigned low;
 397         unsigned high;
 398         for(low=i; low>0; --low)
 399                 if(real_speed[low].weight)
 400                         break;
 401         for(high=i; high<14; ++high)
 402                 if(real_speed[high].weight)
 403                         break;
 404
 405         if(real_speed[high].weight)
 406         {
 407                 if(real_speed[low].weight)
 408                 {
 409                         float f = float(i-low)/(high-low);
 410                         return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
 411                 }
 412                 else
 413                         return real_speed[high].speed*float(i)/high;
 414         }
 415         else if(real_speed[low].weight)
 416                 return real_speed[low].speed*float(i)/low;
 417         else
 418                 return 0;
 419 }
 420
 421 unsigned Train::find_speed(float real) const
 422 {
 423         if(real<=real_speed[0].speed)
 424                 return 0;
 425         if(real>=real_speed[14].speed)
 426                 return 14;
 427
 428         unsigned low = 0;
 429         unsigned high = 0;
 430         for(high=0; real_speed[high].speed<real; ++high)
 431                 if(real_speed[high].weight)
 432                         low = high;
 433
 434         float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
 435         return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 436 }
 437
 438 void Train::set_status(const string &s)
 439 {
 440         status = s;
 441         signal_status_changed.emit(s);
 442 }
 443
 444 void Train::set_position(const Block::Endpoint &bep)
 445 {
 446         cur_track = bep.track;
 447         cur_track_ep = bep.track_ep;
 448         offset = 0;
 449         pos = cur_track->get_endpoint_position(cur_track_ep);
 450 }
 451
 452 void Train::release_reserved_blocks()
 453 {
 454         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 455                 i->block->reserve(0);
 456         rsv_blocks.clear();
 457 }
 458
 459
 460 Train::RealSpeed::RealSpeed():
 461         speed(0),
 462         weight(0)
 463 { }
 464
 465 void Train::RealSpeed::add(float s, float w)
 466 {
 467         speed = (speed*weight+s*w)/(weight+w);
 468         weight = min(weight+w, 300.0f);
 469 }
 470
 471
 472 Train::Loader::Loader(Train &t):
 473         DataFile::BasicLoader<Train>(t)
 474 {
 475         add("name",        &Train::name);
 476         add("real_speed",  &Loader::real_speed);
 477 }
 478
 479 void Train::Loader::real_speed(unsigned i, float speed, float weight)
 480 {
 481         obj.real_speed[i].speed = speed;
 482         obj.real_speed[i].weight = weight;
 483 }
 484
 485 } // namespace Marklin