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 "layout.h"
  15 #include "route.h"
  16 #include "tracktype.h"
  17 #include "trafficmanager.h"
  18 #include "train.h"
  19
  20 using namespace std;
  21 using namespace Msp;
  22
  23 namespace Marklin {
  24
  25 Train::Train(TrafficManager &tm, Locomotive &l):
  26         trfc_mgr(tm),
  27         loco(l),
  28         pending_block(0),
  29         target_speed(0),
  30         route(0),
  31         status("Unplaced"),
  32         travel_dist(0),
  33         travel_speed(0),
  34         pure_speed(false),
  35         real_speed(15),
  36         cur_track(0)
  37 {
  38         trfc_mgr.add_train(this);
  39
  40         loco.signal_reverse_changed.connect(sigc::mem_fun(this, &Train::locomotive_reverse_changed));
  41
  42         const map<unsigned, Sensor *> &sensors = trfc_mgr.get_control().get_sensors();
  43         for(map<unsigned, Sensor *>::const_iterator i=sensors.begin(); i!=sensors.end(); ++i)
  44                 i->second->signal_state_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::sensor_event), i->second));
  45
  46         const map<unsigned, Turnout *> &turnouts = trfc_mgr.get_control().get_turnouts();
  47         for(map<unsigned, Turnout *>::const_iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
  48         {
  49                 i->second->signal_path_changing.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changing), i->second));
  50                 i->second->signal_path_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changed), i->second));
  51         }
  52 }
  53
  54 void Train::set_name(const string &n)
  55 {
  56         name = n;
  57
  58         signal_name_changed.emit(name);
  59 }
  60
  61 void Train::set_speed(unsigned speed)
  62 {
  63         if(speed==target_speed)
  64                 return;
  65         travel_speed = static_cast<int>(round(get_real_speed(speed)*87*3.6/5))*5;
  66
  67         target_speed = speed;
  68         if(!target_speed)
  69         {
  70                 trfc_mgr.get_control().set_timer(3*Time::sec).signal_timeout.connect(
  71                         sigc::bind_return(sigc::bind(sigc::mem_fun(this, &Train::release_blocks), sigc::ref(rsv_blocks)), false));
  72         }
  73         else
  74                 reserve_more();
  75
  76         signal_target_speed_changed.emit(target_speed);
  77
  78         update_speed();
  79         pure_speed = false;
  80 }
  81
  82 void Train::set_reverse(bool rev)
  83 {
  84         loco.set_reverse(rev);
  85 }
  86
  87 void Train::set_route(const Route *r)
  88 {
  89         route = r;
  90         signal_route_changed.emit(route);
  91 }
  92
  93 void Train::place(Block &block, unsigned entry)
  94 {
  95         if(target_speed)
  96                 set_speed(0);
  97
  98         release_blocks(rsv_blocks);
  99         release_blocks(cur_blocks);
 100
 101         if(!block.reserve(this))
 102         {
 103                 set_status("Unplaced");
 104                 return;
 105         }
 106
 107         cur_blocks.push_back(BlockRef(&block, entry));
 108         set_position(block.get_endpoints()[entry]);
 109
 110         set_status("Stopped");
 111 }
 112
 113 bool Train::free_block(Block &block)
 114 {
 115         unsigned nsens = 0;
 116         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 117         {
 118                 if(i->block==&block)
 119                 {
 120                         if(nsens<1)
 121                                 return false;
 122                         for(list<BlockRef>::iterator j=i; j!=rsv_blocks.end(); ++j)
 123                                 j->block->reserve(0);
 124                         rsv_blocks.erase(i, rsv_blocks.end());
 125                         update_speed();
 126                         return true;
 127                 }
 128                 else if(i->block->get_sensor_id())
 129                         ++nsens;
 130         }
 131
 132         return false;
 133 }
 134
 135 int Train::get_entry_to_block(Block &block) const
 136 {
 137         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 138                 if(i->block==&block)
 139                         return i->entry;
 140         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 141                 if(i->block==&block)
 142                         return i->entry;
 143         return -1;
 144 }
 145
 146 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 147 {
 148         if(try_reserve && t>try_reserve)
 149                 reserve_more();
 150
 151         if(cur_track)
 152         {
 153                 unsigned path = 0;
 154                 if(cur_track->get_turnout_id())
 155                         path = trfc_mgr.get_control().get_turnout(cur_track->get_turnout_id()).get_path();
 156
 157                 offset += get_real_speed(loco.get_speed())*(dt/Time::sec);
 158                 float path_len = cur_track->get_type().get_path_length(path);
 159                 if(offset>path_len)
 160                 {
 161                         unsigned out = cur_track->traverse(cur_track_ep, path);
 162                         Track *next = cur_track->get_link(out);
 163
 164                         bool ok = false;
 165                         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); (!ok && i!=cur_blocks.end()); ++i)
 166                                 ok = i->block->get_tracks().count(next);
 167
 168                         if(ok)
 169                         {
 170                                 if(next)
 171                                         cur_track_ep = next->get_endpoint_by_link(*cur_track);
 172                                 cur_track = next;
 173                                 offset = 0;
 174                         }
 175                         else
 176                                 offset = path_len-0.001;
 177                 }
 178
 179                 if(cur_track)
 180                         pos = cur_track->get_point(cur_track_ep, path, offset);
 181         }
 182 }
 183
 184 void Train::save(list<DataFile::Statement> &st) const
 185 {
 186         st.push_back((DataFile::Statement("name"), name));
 187         for(unsigned i=0; i<=14; ++i)
 188                 if(real_speed[i].weight)
 189                         st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
 190         if(route)
 191                 st.push_back((DataFile::Statement("route"), route->get_name()));
 192
 193         if(!cur_blocks.empty())
 194         {
 195                 list<BlockRef> blocks = cur_blocks;
 196                 if(loco.get_reverse())
 197                         reverse_blocks(blocks);
 198
 199                 Block *prev = blocks.front().block->get_endpoints()[blocks.front().entry].link;
 200                 st.push_back((DataFile::Statement("block_hint"), prev->get_id()));
 201
 202                 for(list<BlockRef>::const_iterator i=blocks.begin(); i!=blocks.end(); ++i)
 203                         st.push_back((DataFile::Statement("block"), i->block->get_id()));
 204         }
 205 }
 206
 207 void Train::locomotive_reverse_changed(bool)
 208 {
 209         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 210                 i->block->reserve(0);
 211         rsv_blocks.clear();
 212         reverse_blocks(cur_blocks);
 213         reserve_more();
 214
 215         if(cur_track)
 216         {
 217                 unsigned path = 0;
 218                 if(unsigned turnout = cur_track->get_turnout_id())
 219                         path = trfc_mgr.get_control().get_turnout(turnout).get_path();
 220                 cur_track_ep = cur_track->traverse(cur_track_ep, path);
 221                 offset = cur_track->get_type().get_path_length(path)-offset;
 222         }
 223 }
 224
 225 void Train::sensor_event(bool state, Sensor *sensor)
 226 {
 227         unsigned addr = sensor->get_address();
 228
 229         if(state)
 230         {
 231                 // Find the first sensor block from our reserved blocks that isn't this sensor
 232                 list<BlockRef>::iterator i;
 233                 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 234                         if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
 235                                 break;
 236
 237                 if(i!=rsv_blocks.begin())
 238                 {
 239                         // Compute speed and update related state
 240                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 241                         travel_speed = static_cast<int>(round(travel_dist/travel_time_secs*87*3.6/5))*5;
 242
 243                         if(pure_speed)
 244                         {
 245                                 RealSpeed &rs = real_speed[loco.get_speed()];
 246                                 rs.add(travel_dist/travel_time_secs, travel_time_secs);
 247                         }
 248
 249                         travel_dist = 0;
 250                         float block_len;
 251                         for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 252                         {
 253                                 j->block->traverse(j->entry, &block_len);
 254                                 travel_dist += block_len;
 255
 256                                 if(j->block->get_sensor_id()==addr)
 257                                         set_position(j->block->get_endpoints()[j->entry]);
 258                         }
 259                         last_entry_time = Time::now();
 260                         pure_speed = true;
 261
 262                         // Move blocks up to the next sensor to our current blocks
 263                         cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 264
 265                         // Try to get more blocks if we're moving
 266                         if(target_speed && reserve_more()<2)
 267                                 update_speed();
 268                 }
 269         }
 270         else
 271         {
 272                 // Find the first sensor in our current blocks that's still active
 273                 list<BlockRef>::iterator end = cur_blocks.begin();
 274                 for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 275                         if(i->block->get_sensor_id())
 276                         {
 277                                 if(trfc_mgr.get_control().get_sensor(i->block->get_sensor_id()).get_state())
 278                                         break;
 279                                 else
 280                                         end = i;
 281                         }
 282
 283                 if(end!=cur_blocks.begin())
 284                 {
 285                         // Free blocks up to the last inactive sensor
 286                         ++end;
 287                         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=end; ++i)
 288                                 i->block->reserve(0);
 289                         cur_blocks.erase(cur_blocks.begin(), end);
 290                 }
 291
 292                 // XXX Should watch for trfc_mgr.signal_block_reserved rather than sensors
 293                 if(target_speed && pending_block && addr==pending_block->get_sensor_id())
 294                         reserve_more();
 295         }
 296 }
 297
 298 void Train::turnout_path_changing(unsigned, Turnout *turnout)
 299 {
 300         unsigned tid = turnout->get_address();
 301         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 302                 if(i->block->get_turnout_id()==tid)
 303                         throw TurnoutBusy(this);
 304
 305         unsigned nsens = 0;
 306         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 307         {
 308                 if(i->block->get_turnout_id()==tid)
 309                 {
 310                         if(nsens<1)
 311                                 throw TurnoutBusy(this);
 312                         break;
 313                 }
 314                 else if(i->block->get_sensor_id())
 315                         ++nsens;
 316         }
 317 }
 318
 319 void Train::turnout_path_changed(unsigned, Turnout *turnout)
 320 {
 321         unsigned tid = turnout->get_address();
 322         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 323                 if(i->block->get_turnout_id()==tid)
 324                 {
 325                         while(i!=rsv_blocks.end())
 326                         {
 327                                 i->block->reserve(0);
 328                                 i = rsv_blocks.erase(i);
 329                         }
 330                         reserve_more();
 331                         return;
 332                 }
 333
 334         if(pending_block && tid==pending_block->get_turnout_id())
 335                 reserve_more();
 336 }
 337
 338 unsigned Train::reserve_more()
 339 {
 340         BlockRef *last = 0;
 341         if(!rsv_blocks.empty())
 342                 last = &rsv_blocks.back();
 343         else if(!cur_blocks.empty())
 344                 last = &cur_blocks.back();
 345         if(!last)
 346                 return 0;
 347
 348         pending_block = 0;
 349
 350         // See how many blocks we already have
 351         unsigned nsens = 0;
 352         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 353                 if(i->block->get_sensor_id())
 354                         ++nsens;
 355
 356         bool got_more = false;
 357         BlockRef *good = last;
 358         unsigned good_sens = nsens;
 359         while(good_sens<3)
 360         {
 361                 // Traverse to the next block
 362                 unsigned exit = last->block->traverse(last->entry);
 363                 Block *link = last->block->get_link(exit);
 364                 if(!link)
 365                         break;
 366
 367                 int entry = link->get_endpoint_by_link(*last->block);
 368                 if(!link->reserve(this))
 369                 {
 370                         // If we found another train going in the same direction as us, we can keep the blocks we got
 371                         int other_entry = link->get_train()->get_entry_to_block(*link);
 372                         if(other_entry==entry || link->traverse(entry)==link->traverse(other_entry))
 373                         {
 374                                 good = last;
 375                                 good_sens = nsens;
 376                         }
 377                         pending_block = link;
 378                         break;
 379                 }
 380
 381                 if(link->get_turnout_id())
 382                 {
 383                         const Block::Endpoint &ep = link->get_endpoints()[entry];
 384                         const Endpoint &track_ep = ep.track->get_type().get_endpoints()[ep.track_ep];
 385
 386                         if(track_ep.paths&(track_ep.paths-1))
 387                         {
 388                                 // We're facing the points - keep the blocks reserved so far
 389                                 good = last;
 390                                 good_sens = nsens;
 391                         }
 392
 393                         Turnout &turnout = trfc_mgr.get_control().get_turnout(link->get_turnout_id());
 394
 395                         // Figure out what path we'd like to take on the turnout
 396                         int path = -1;
 397                         if(route)
 398                                 path = route->get_turnout(link->get_turnout_id());
 399                         if(path<0)
 400                                 path = turnout.get_path();
 401                         if(!((track_ep.paths>>path)&1))
 402                         {
 403                                 for(unsigned i=0; track_ep.paths>>i; ++i)
 404                                         if((track_ep.paths>>i)&1)
 405                                                 path = i;
 406                         }
 407
 408                         if(path!=turnout.get_path())
 409                         {
 410                                 // The turnout is set to wrong path - switch and wait for it
 411                                 link->reserve(0);
 412                                 pending_block = link;
 413                                 turnout.set_path(path);
 414                                 break;
 415                         }
 416                 }
 417
 418                 rsv_blocks.push_back(BlockRef(link, entry));
 419                 last = &rsv_blocks.back();
 420                 if(last->block->get_sensor_id())
 421                 {
 422                         ++nsens;
 423                         got_more = true;
 424                 }
 425         }
 426
 427         // Unreserve blocks that were not good
 428         while(!rsv_blocks.empty() && last!=good)
 429         {
 430                 last->block->reserve(0);
 431                 rsv_blocks.erase(--rsv_blocks.end());
 432                 if(!rsv_blocks.empty())
 433                         last = &rsv_blocks.back();
 434         }
 435
 436         if(got_more)
 437                 update_speed();
 438
 439         return nsens;
 440 }
 441
 442 void Train::update_speed()
 443 {
 444         if(!target_speed)
 445         {
 446                 loco.set_speed(0);
 447                 try_reserve = Time::TimeStamp();
 448                 set_status("Stopped");
 449         }
 450         else
 451         {
 452                 unsigned nsens = 0;
 453                 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 454                         if(i->block->get_sensor_id())
 455                                 ++nsens;
 456
 457                 unsigned slow_speed = find_speed(0.1);  // 31.3 km/h
 458                 if(nsens==0)
 459                 {
 460                         loco.set_speed(0);
 461                         pure_speed = false;
 462                         try_reserve = Time::now()+2*Time::sec;
 463                         set_status("Blocked");
 464                 }
 465                 else if(nsens==1 && target_speed>slow_speed)
 466                 {
 467                         loco.set_speed(slow_speed);
 468                         pure_speed = false;
 469                         try_reserve = Time::now()+2*Time::sec;
 470                         set_status("Slow");
 471                 }
 472                 else
 473                 {
 474                         loco.set_speed(target_speed);
 475                         try_reserve = Time::TimeStamp();
 476                         set_status(format("Traveling %d kmh", travel_speed));
 477                 }
 478         }
 479 }
 480
 481 float Train::get_real_speed(unsigned i) const
 482 {
 483         if(real_speed[i].weight)
 484                 return real_speed[i].speed;
 485
 486         unsigned low;
 487         unsigned high;
 488         for(low=i; low>0; --low)
 489                 if(real_speed[low].weight)
 490                         break;
 491         for(high=i; high<14; ++high)
 492                 if(real_speed[high].weight)
 493                         break;
 494
 495         if(real_speed[high].weight)
 496         {
 497                 if(real_speed[low].weight)
 498                 {
 499                         float f = float(i-low)/(high-low);
 500                         return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
 501                 }
 502                 else
 503                         return real_speed[high].speed*float(i)/high;
 504         }
 505         else if(real_speed[low].weight)
 506                 return real_speed[low].speed*float(i)/low;
 507         else
 508                 return 0;
 509 }
 510
 511 unsigned Train::find_speed(float real) const
 512 {
 513         if(real<=real_speed[0].speed)
 514                 return 0;
 515
 516         unsigned low = 0;
 517         unsigned high = 0;
 518         for(unsigned i=0; (!high && i<=14); ++i)
 519                 if(real_speed[i].weight)
 520                 {
 521                         if(real_speed[i].speed<real)
 522                                 low = i;
 523                         else
 524                                 high = i;
 525                 }
 526         if(!high)
 527         {
 528                 if(!low)
 529                         return 0;
 530                 return min(static_cast<unsigned>(low*real/real_speed[low].speed), 14U);
 531         }
 532
 533         float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
 534         return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 535 }
 536
 537 void Train::set_status(const string &s)
 538 {
 539         status = s;
 540         signal_status_changed.emit(s);
 541 }
 542
 543 void Train::set_position(const Block::Endpoint &bep)
 544 {
 545         cur_track = bep.track;
 546         cur_track_ep = bep.track_ep;
 547         offset = 0;
 548         pos = cur_track->get_endpoint_position(cur_track_ep);
 549 }
 550
 551 void Train::release_blocks(list<BlockRef> &blocks)
 552 {
 553         for(list<BlockRef>::iterator i=blocks.begin(); i!=blocks.end(); ++i)
 554                 i->block->reserve(0);
 555         blocks.clear();
 556 }
 557
 558 void Train::reverse_blocks(list<BlockRef> &blocks) const
 559 {
 560         blocks.reverse();
 561         for(list<BlockRef>::iterator i=blocks.begin(); i!=blocks.end(); ++i)
 562                 i->entry = i->block->traverse(i->entry);
 563 }
 564
 565
 566 Train::RealSpeed::RealSpeed():
 567         speed(0),
 568         weight(0)
 569 { }
 570
 571 void Train::RealSpeed::add(float s, float w)
 572 {
 573         speed = (speed*weight+s*w)/(weight+w);
 574         weight = min(weight+w, 300.0f);
 575 }
 576
 577
 578 Train::Loader::Loader(Train &t):
 579         DataFile::BasicLoader<Train>(t),
 580         prev_block(0)
 581 {
 582         add("block",       &Loader::block);
 583         add("block_hint",  &Loader::block_hint);
 584         add("name",        &Train::name);
 585         add("real_speed",  &Loader::real_speed);
 586         add("route",       &Loader::route);
 587 }
 588
 589 void Train::Loader::block(unsigned id)
 590 {
 591         Block &blk = obj.trfc_mgr.get_block(id);
 592         int entry = -1;
 593         if(prev_block)
 594                 entry = blk.get_endpoint_by_link(*prev_block);
 595         if(entry<0)
 596                 entry = 0;
 597
 598         blk.reserve(&obj);
 599         obj.cur_blocks.push_back(BlockRef(&blk, entry));
 600         obj.status = "Stopped";
 601         obj.set_position(blk.get_endpoints()[entry]);
 602
 603         prev_block = &blk;
 604 }
 605
 606 void Train::Loader::block_hint(unsigned id)
 607 {
 608         prev_block = &obj.trfc_mgr.get_block(id);
 609 }
 610
 611 void Train::Loader::real_speed(unsigned i, float speed, float weight)
 612 {
 613         obj.real_speed[i].speed = speed;
 614         obj.real_speed[i].weight = weight;
 615 }
 616
 617 void Train::Loader::route(const string &n)
 618 {
 619         obj.route = &obj.trfc_mgr.get_layout().get_route(n);
 620 }
 621
 622 } // namespace Marklin