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 int Train::get_entry_to_block(Block *block) const
 143 {
 144         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 145                 if(i->block==block)
 146                         return i->entry;
 147         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 148                 if(i->block==block)
 149                         return i->entry;
 150         return -1;
 151 }
 152
 153 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 154 {
 155         if(try_reserve && t>try_reserve)
 156                 reserve_more();
 157
 158         if(cur_track)
 159         {
 160                 unsigned path = 0;
 161                 if(cur_track->get_turnout_id())
 162                         path = trfc_mgr.get_control().get_turnout(cur_track->get_turnout_id()).get_path();
 163
 164                 offset += get_real_speed(loco.get_speed())*(dt/Time::sec);
 165                 if(offset>cur_track->get_type().get_path_length(path))
 166                 {
 167                         int out = cur_track->traverse(cur_track_ep, path);
 168                         if(out>=0)
 169                         {
 170                                 Track *next = cur_track->get_link(out);
 171                                 if(next)
 172                                         cur_track_ep = next->get_endpoint_by_link(*cur_track);
 173                                 cur_track = next;
 174                                 offset = 0;
 175                         }
 176                         else
 177                                 cur_track = 0;
 178                 }
 179
 180                 if(cur_track)
 181                         pos = cur_track->get_point(cur_track_ep, path, offset);
 182         }
 183 }
 184
 185 void Train::save(list<DataFile::Statement> &st) const
 186 {
 187         st.push_back((DataFile::Statement("name"), name));
 188         for(unsigned i=0; i<=14; ++i)
 189                 if(real_speed[i].weight)
 190                         st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
 191 }
 192
 193 void Train::locomotive_reverse_changed(bool)
 194 {
 195         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 196                 i->block->reserve(0);
 197         rsv_blocks.clear();
 198         cur_blocks.reverse();
 199         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 200                 i->entry = i->block->traverse(i->entry);
 201         reserve_more();
 202
 203         if(cur_track)
 204         {
 205                 unsigned path = 0;
 206                 if(unsigned turnout = cur_track->get_turnout_id())
 207                         path = trfc_mgr.get_control().get_turnout(turnout).get_path();
 208                 cur_track_ep = cur_track->traverse(cur_track_ep, path);
 209                 offset = cur_track->get_type().get_path_length(path)-offset;
 210         }
 211 }
 212
 213 void Train::sensor_event(bool state, Sensor *sensor)
 214 {
 215         unsigned addr = sensor->get_address();
 216
 217         if(state)
 218         {
 219                 list<BlockRef>::iterator i;
 220                 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 221                         if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
 222                                 break;
 223
 224                 if(i!=rsv_blocks.begin())
 225                 {
 226                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 227                         travel_speed = static_cast<int>(round(travel_dist/travel_time_secs*87*3.6/5))*5;
 228
 229                         if(pure_speed)
 230                         {
 231                                 RealSpeed &rs = real_speed[loco.get_speed()];
 232                                 rs.add(travel_dist/travel_time_secs, travel_time_secs);
 233                         }
 234
 235                         travel_dist = 0;
 236                         float block_len;
 237                         for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 238                         {
 239                                 j->block->traverse(j->entry, &block_len);
 240                                 travel_dist += block_len;
 241                         }
 242                         last_entry_time = Time::now();
 243                         pure_speed = true;
 244
 245                         cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 246                 }
 247
 248                 for(i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 249                         if(i->block->get_sensor_id()==addr)
 250                                 set_position(i->block->get_endpoints()[i->entry]);
 251
 252                 if(target_speed && reserve_more()<2)
 253                         update_speed();
 254         }
 255         else
 256         {
 257                 for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 258                         if(unsigned b_addr = i->block->get_sensor_id())
 259                         {
 260                                 if(b_addr==addr)
 261                                 {
 262                                         ++i;
 263                                         for(list<BlockRef>::iterator j=cur_blocks.begin(); j!=i; ++j)
 264                                                 j->block->reserve(0);
 265                                         cur_blocks.erase(cur_blocks.begin(), i);
 266                                 }
 267                                 break;
 268                         }
 269
 270                 if(target_speed && pending_block && addr==pending_block->get_sensor_id())
 271                         reserve_more();
 272         }
 273 }
 274
 275 void Train::turnout_path_changing(unsigned, Turnout *turnout)
 276 {
 277         unsigned tid = turnout->get_address();
 278         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 279                 if(i->block->get_turnout_id()==tid)
 280                         throw TurnoutBusy(this);
 281
 282         unsigned nsens = 0;
 283         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 284         {
 285                 if(i->block->get_turnout_id()==tid)
 286                 {
 287                         if(nsens<1)
 288                                 throw TurnoutBusy(this);
 289                         break;
 290                 }
 291                 else if(i->block->get_sensor_id())
 292                         ++nsens;
 293         }
 294 }
 295
 296 void Train::turnout_path_changed(unsigned, Turnout *turnout)
 297 {
 298         unsigned tid = turnout->get_address();
 299         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 300                 if(i->block->get_turnout_id()==tid)
 301                 {
 302                         while(i!=rsv_blocks.end())
 303                         {
 304                                 i->block->reserve(0);
 305                                 i = rsv_blocks.erase(i);
 306                         }
 307                         reserve_more();
 308                         return;
 309                 }
 310
 311         if(pending_block && tid==pending_block->get_turnout_id())
 312                 reserve_more();
 313 }
 314
 315 unsigned Train::reserve_more()
 316 {
 317         BlockRef *last = 0;
 318         if(!rsv_blocks.empty())
 319                 last = &rsv_blocks.back();
 320         else if(!cur_blocks.empty())
 321                 last = &cur_blocks.back();
 322         if(!last)
 323                 return 0;
 324
 325         pending_block = 0;
 326
 327         // See how many blocks we already have
 328         unsigned nsens = 0;
 329         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 330                 if(i->block->get_sensor_id())
 331                         ++nsens;
 332
 333         bool got_more = false;
 334         BlockRef *good = last;
 335         unsigned good_sens = nsens;
 336         while(good_sens<3)
 337         {
 338                 // Traverse to the next block
 339                 unsigned exit = last->block->traverse(last->entry);
 340                 Block *link = last->block->get_link(exit);
 341                 if(!link)
 342                         break;
 343
 344                 int entry = link->get_endpoint_by_link(*last->block);
 345                 if(!link->reserve(this))
 346                 {
 347                         // If we found another train going in the same direction as us, we can keep the blocks we got
 348                         int other_entry = link->get_train()->get_entry_to_block(link);
 349                         if(other_entry==entry || link->traverse(entry)==link->traverse(other_entry))
 350                         {
 351                                 good = last;
 352                                 good_sens = nsens;
 353                         }
 354                         pending_block = link;
 355                         break;
 356                 }
 357
 358                 if(link->get_turnout_id())
 359                 {
 360                         const Block::Endpoint &ep = link->get_endpoints()[entry];
 361                         const Endpoint &track_ep = ep.track->get_type().get_endpoints()[ep.track_ep];
 362
 363                         if(track_ep.paths&(track_ep.paths-1))
 364                         {
 365                                 // We're facing the points - keep the blocks reserved so far
 366                                 good = last;
 367                                 good_sens = nsens;
 368                         }
 369
 370                         Turnout &turnout = trfc_mgr.get_control().get_turnout(link->get_turnout_id());
 371
 372                         // Figure out what path we'd like to take on the turnout
 373                         int path = -1;
 374                         if(route)
 375                                 path = route->get_turnout(link->get_turnout_id());
 376                         if(path<0)
 377                                 path = turnout.get_path();
 378                         if(!((track_ep.paths>>path)&1))
 379                         {
 380                                 for(unsigned i=0; track_ep.paths>>i; ++i)
 381                                         if((track_ep.paths>>i)&1)
 382                                                 path = i;
 383                         }
 384
 385                         if(path!=turnout.get_path())
 386                         {
 387                                 // The turnout is set to wrong path - switch and wait for it
 388                                 link->reserve(0);
 389                                 pending_block = link;
 390                                 turnout.set_path(path);
 391                                 break;
 392                         }
 393                 }
 394
 395                 rsv_blocks.push_back(BlockRef(link, entry));
 396                 last = &rsv_blocks.back();
 397                 if(last->block->get_sensor_id())
 398                 {
 399                         ++nsens;
 400                         got_more = true;
 401                 }
 402         }
 403
 404         // Unreserve blocks that were not good
 405         while(!rsv_blocks.empty() && last!=good)
 406         {
 407                 last->block->reserve(0);
 408                 rsv_blocks.erase(--rsv_blocks.end());
 409                 if(!rsv_blocks.empty())
 410                         last = &rsv_blocks.back();
 411         }
 412
 413         if(got_more)
 414                 update_speed();
 415
 416         return nsens;
 417 }
 418
 419 void Train::update_speed()
 420 {
 421         if(!target_speed)
 422         {
 423                 loco.set_speed(0);
 424                 try_reserve = Time::TimeStamp();
 425                 set_status("Stopped");
 426         }
 427         else
 428         {
 429                 unsigned nsens = 0;
 430                 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 431                         if(i->block->get_sensor_id())
 432                                 ++nsens;
 433
 434                 unsigned slow_speed = find_speed(0.1);  // 31.3 km/h
 435                 if(nsens==0)
 436                 {
 437                         loco.set_speed(0);
 438                         pure_speed = false;
 439                         try_reserve = Time::now()+2*Time::sec;
 440                         set_status("Blocked");
 441                 }
 442                 else if(nsens==1 && target_speed>slow_speed)
 443                 {
 444                         loco.set_speed(slow_speed);
 445                         pure_speed = false;
 446                         try_reserve = Time::now()+2*Time::sec;
 447                         set_status("Slow");
 448                 }
 449                 else
 450                 {
 451                         loco.set_speed(target_speed);
 452                         try_reserve = Time::TimeStamp();
 453                         set_status(format("Traveling %d kmh", travel_speed));
 454                 }
 455         }
 456 }
 457
 458 float Train::get_real_speed(unsigned i) const
 459 {
 460         if(real_speed[i].weight)
 461                 return real_speed[i].speed;
 462
 463         unsigned low;
 464         unsigned high;
 465         for(low=i; low>0; --low)
 466                 if(real_speed[low].weight)
 467                         break;
 468         for(high=i; high<14; ++high)
 469                 if(real_speed[high].weight)
 470                         break;
 471
 472         if(real_speed[high].weight)
 473         {
 474                 if(real_speed[low].weight)
 475                 {
 476                         float f = float(i-low)/(high-low);
 477                         return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
 478                 }
 479                 else
 480                         return real_speed[high].speed*float(i)/high;
 481         }
 482         else if(real_speed[low].weight)
 483                 return real_speed[low].speed*float(i)/low;
 484         else
 485                 return 0;
 486 }
 487
 488 unsigned Train::find_speed(float real) const
 489 {
 490         if(real<=real_speed[0].speed)
 491                 return 0;
 492
 493         unsigned low = 0;
 494         unsigned high = 0;
 495         for(unsigned i=0; (!high && i<=14); ++i)
 496                 if(real_speed[i].weight)
 497                 {
 498                         if(real_speed[i].speed<real)
 499                                 low = i;
 500                         else
 501                                 high = i;
 502                 }
 503         if(!high)
 504         {
 505                 if(!low)
 506                         return 0;
 507                 return min(static_cast<unsigned>(low*real/real_speed[low].speed), 14U);
 508         }
 509
 510         float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
 511         return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 512 }
 513
 514 void Train::set_status(const string &s)
 515 {
 516         status = s;
 517         signal_status_changed.emit(s);
 518 }
 519
 520 void Train::set_position(const Block::Endpoint &bep)
 521 {
 522         cur_track = bep.track;
 523         cur_track_ep = bep.track_ep;
 524         offset = 0;
 525         pos = cur_track->get_endpoint_position(cur_track_ep);
 526 }
 527
 528 void Train::release_reserved_blocks()
 529 {
 530         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 531                 i->block->reserve(0);
 532         rsv_blocks.clear();
 533 }
 534
 535
 536 Train::RealSpeed::RealSpeed():
 537         speed(0),
 538         weight(0)
 539 { }
 540
 541 void Train::RealSpeed::add(float s, float w)
 542 {
 543         speed = (speed*weight+s*w)/(weight+w);
 544         weight = min(weight+w, 300.0f);
 545 }
 546
 547
 548 Train::Loader::Loader(Train &t):
 549         DataFile::BasicLoader<Train>(t)
 550 {
 551         add("name",        &Train::name);
 552         add("real_speed",  &Loader::real_speed);
 553 }
 554
 555 void Train::Loader::real_speed(unsigned i, float speed, float weight)
 556 {
 557         obj.real_speed[i].speed = speed;
 558         obj.real_speed[i].weight = weight;
 559 }
 560
 561 } // namespace Marklin