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         status("Unplaced"),
  30         travel_dist(0),
  31         travel_speed(0),
  32         pure_speed(false),
  33         real_speed(15),
  34         cur_track(0)
  35 {
  36         trfc_mgr.add_train(this);
  37
  38         loco.signal_reverse_changed.connect(sigc::mem_fun(this, &Train::locomotive_reverse_changed));
  39
  40         const map<unsigned, Sensor *> &sensors = trfc_mgr.get_control().get_sensors();
  41         for(map<unsigned, Sensor *>::const_iterator i=sensors.begin(); i!=sensors.end(); ++i)
  42                 i->second->signal_state_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::sensor_event), i->second));
  43
  44         const map<unsigned, Turnout *> &turnouts = trfc_mgr.get_control().get_turnouts();
  45         for(map<unsigned, Turnout *>::const_iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
  46         {
  47                 i->second->signal_path_changing.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changing), i->second));
  48                 i->second->signal_path_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changed), i->second));
  49         }
  50 }
  51
  52 void Train::set_name(const string &n)
  53 {
  54         name = n;
  55
  56         signal_name_changed.emit(name);
  57 }
  58
  59 void Train::set_speed(unsigned speed)
  60 {
  61         if(speed==target_speed)
  62                 return;
  63         travel_speed = static_cast<int>(round(get_real_speed(speed)*87*3.6/5))*5;
  64
  65         target_speed = speed;
  66         if(!target_speed)
  67         {
  68                 trfc_mgr.get_control().set_timer(3*Time::sec).signal_timeout.connect(
  69                         sigc::bind_return(sigc::mem_fun(this, &Train::release_reserved_blocks), false));
  70         }
  71         else
  72                 reserve_more();
  73
  74         signal_target_speed_changed.emit(target_speed);
  75
  76         update_speed();
  77         pure_speed = false;
  78 }
  79
  80 void Train::set_reverse(bool rev)
  81 {
  82         loco.set_reverse(rev);
  83 }
  84
  85 void Train::set_route(const Route *r)
  86 {
  87         route = r;
  88         signal_route_changed.emit(route);
  89 }
  90
  91 void Train::place(Block *block, unsigned entry)
  92 {
  93         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end();)
  94         {
  95                 i->block->reserve(0);
  96                 i = rsv_blocks.erase(i);
  97         }
  98
  99         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end();)
 100         {
 101                 i->block->reserve(0);
 102                 i = cur_blocks.erase(i);
 103         }
 104
 105         if(!block->reserve(this))
 106         {
 107                 set_status("Unplaced");
 108                 return;
 109         }
 110
 111         cur_blocks.push_back(BlockRef(block, entry));
 112         set_position(block->get_endpoints()[entry]);
 113
 114         set_status("Stopped");
 115 }
 116
 117 bool Train::free_block(Block *block)
 118 {
 119         unsigned nsens = 0;
 120         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 121         {
 122                 if(i->block==block)
 123                 {
 124                         if(nsens<1)
 125                                 return false;
 126                         while(i!=rsv_blocks.end())
 127                         {
 128                                 i->block->reserve(0);
 129                                 i = rsv_blocks.erase(i);
 130                         }
 131                         update_speed();
 132                         return true;
 133                 }
 134                 else if(i->block->get_sensor_id())
 135                         ++nsens;
 136         }
 137
 138         return false;
 139 }
 140
 141 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 142 {
 143         if(try_reserve && t>try_reserve)
 144                 reserve_more();
 145
 146         if(cur_track)
 147         {
 148                 unsigned path = 0;
 149                 if(cur_track->get_turnout_id())
 150                         path = trfc_mgr.get_control().get_turnout(cur_track->get_turnout_id()).get_path();
 151
 152                 offset += get_real_speed(loco.get_speed())*(dt/Time::sec);
 153                 if(offset>cur_track->get_type().get_path_length(path))
 154                 {
 155                         int out = cur_track->traverse(cur_track_ep, path);
 156                         if(out>=0)
 157                         {
 158                                 Track *next = cur_track->get_link(out);
 159                                 if(next)
 160                                         cur_track_ep = next->get_endpoint_by_link(*cur_track);
 161                                 cur_track = next;
 162                                 offset = 0;
 163                         }
 164                         else
 165                                 cur_track = 0;
 166                 }
 167
 168                 if(cur_track)
 169                         pos = cur_track->get_point(cur_track_ep, path, offset);
 170         }
 171 }
 172
 173 void Train::save(list<DataFile::Statement> &st) const
 174 {
 175         st.push_back((DataFile::Statement("name"), name));
 176         for(unsigned i=0; i<=14; ++i)
 177                 if(real_speed[i].weight)
 178                         st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
 179 }
 180
 181 void Train::locomotive_reverse_changed(bool)
 182 {
 183         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 184                 i->block->reserve(0);
 185         rsv_blocks.clear();
 186         cur_blocks.reverse();
 187         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 188                 i->entry = i->block->traverse(i->entry);
 189         reserve_more();
 190
 191         if(cur_track)
 192         {
 193                 unsigned path = 0;
 194                 if(unsigned turnout = cur_track->get_turnout_id())
 195                         path = trfc_mgr.get_control().get_turnout(turnout).get_path();
 196                 cur_track_ep = cur_track->traverse(cur_track_ep, path);
 197                 offset = cur_track->get_type().get_path_length(path)-offset;
 198         }
 199 }
 200
 201 void Train::sensor_event(bool state, Sensor *sensor)
 202 {
 203         unsigned addr = sensor->get_address();
 204
 205         if(state)
 206         {
 207                 list<BlockRef>::iterator i;
 208                 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 209                         if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
 210                                 break;
 211
 212                 if(i!=rsv_blocks.begin())
 213                 {
 214                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 215                         travel_speed = static_cast<int>(round(travel_dist/travel_time_secs*87*3.6/5))*5;
 216
 217                         if(pure_speed)
 218                         {
 219                                 RealSpeed &rs = real_speed[loco.get_speed()];
 220                                 rs.add(travel_dist/travel_time_secs, travel_time_secs);
 221                         }
 222
 223                         travel_dist = 0;
 224                         float block_len;
 225                         for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 226                         {
 227                                 j->block->traverse(j->entry, &block_len);
 228                                 travel_dist += block_len;
 229                         }
 230                         last_entry_time = Time::now();
 231                         pure_speed = true;
 232
 233                         cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 234                 }
 235
 236                 for(i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 237                         if(i->block->get_sensor_id()==addr)
 238                                 set_position(i->block->get_endpoints()[i->entry]);
 239
 240                 if(target_speed && reserve_more()<2)
 241                         update_speed();
 242         }
 243         else
 244         {
 245                 for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 246                         if(unsigned b_addr = i->block->get_sensor_id())
 247                         {
 248                                 if(b_addr==addr)
 249                                 {
 250                                         ++i;
 251                                         for(list<BlockRef>::iterator j=cur_blocks.begin(); j!=i; ++j)
 252                                                 j->block->reserve(0);
 253                                         cur_blocks.erase(cur_blocks.begin(), i);
 254                                 }
 255                                 break;
 256                         }
 257
 258                 if(target_speed && pending_block && addr==pending_block->get_sensor_id())
 259                         reserve_more();
 260         }
 261 }
 262
 263 void Train::turnout_path_changing(unsigned, Turnout *turnout)
 264 {
 265         unsigned tid = turnout->get_address();
 266         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 267                 if(i->block->get_turnout_id()==tid)
 268                         throw TurnoutBusy(this);
 269
 270         unsigned nsens = 0;
 271         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 272         {
 273                 if(i->block->get_turnout_id()==tid)
 274                 {
 275                         if(nsens<1)
 276                                 throw TurnoutBusy(this);
 277                         break;
 278                 }
 279                 else if(i->block->get_sensor_id())
 280                         ++nsens;
 281         }
 282 }
 283
 284 void Train::turnout_path_changed(unsigned, Turnout *turnout)
 285 {
 286         unsigned tid = turnout->get_address();
 287         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 288                 if(i->block->get_turnout_id()==tid)
 289                 {
 290                         while(i!=rsv_blocks.end())
 291                         {
 292                                 i->block->reserve(0);
 293                                 i = rsv_blocks.erase(i);
 294                         }
 295                         reserve_more();
 296                         return;
 297                 }
 298
 299         if(pending_block && tid==pending_block->get_turnout_id())
 300                 reserve_more();
 301 }
 302
 303 unsigned Train::reserve_more()
 304 {
 305         BlockRef *last = 0;
 306         if(!rsv_blocks.empty())
 307                 last = &rsv_blocks.back();
 308         else if(!cur_blocks.empty())
 309                 last = &cur_blocks.back();
 310         if(!last)
 311                 return 0;
 312
 313         pending_block = 0;
 314
 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         while(nsens<3)
 322         {
 323                 int exit = last->block->traverse(last->entry);
 324                 if(exit<0)
 325                         break;
 326
 327                 Block *link = last->block->get_link(exit);
 328                 if(!link || !link->reserve(this))
 329                 {
 330                         pending_block = link;
 331                         break;
 332                 }
 333
 334                 if(route && link->get_turnout_id())
 335                 {
 336                         int path = route->get_turnout(link->get_turnout_id());
 337                         Turnout &turnout = trfc_mgr.get_control().get_turnout(link->get_turnout_id());
 338                         if(path>=0 && path!=turnout.get_path())
 339                         {
 340                                 link->reserve(0);
 341                                 pending_block = link;
 342                                 turnout.set_path(path);
 343                                 break;
 344                         }
 345                 }
 346
 347                 rsv_blocks.push_back(BlockRef(link, link->get_endpoint_by_link(*last->block)));
 348                 last = &rsv_blocks.back();
 349                 if(last->block->get_sensor_id())
 350                 {
 351                         ++nsens;
 352                         got_more = true;
 353                 }
 354         }
 355
 356         while(!rsv_blocks.empty() && !last->block->get_sensor_id())
 357         {
 358                 last->block->reserve(0);
 359                 rsv_blocks.erase(--rsv_blocks.end());
 360                 if(!rsv_blocks.empty())
 361                         last = &rsv_blocks.back();
 362                 else
 363                         last = 0;
 364         }
 365
 366         if(got_more)
 367                 update_speed();
 368
 369         return nsens;
 370 }
 371
 372 void Train::update_speed()
 373 {
 374         if(!target_speed)
 375         {
 376                 loco.set_speed(0);
 377                 try_reserve = Time::TimeStamp();
 378                 set_status("Stopped");
 379         }
 380         else
 381         {
 382                 unsigned nsens = 0;
 383                 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 384                         if(i->block->get_sensor_id())
 385                                 ++nsens;
 386
 387                 unsigned slow_speed = find_speed(0.1);  // 31.3 km/h
 388                 if(nsens==0)
 389                 {
 390                         loco.set_speed(0);
 391                         pure_speed = false;
 392                         try_reserve = Time::now()+2*Time::sec;
 393                         set_status("Blocked");
 394                 }
 395                 else if(nsens==1 && target_speed>slow_speed)
 396                 {
 397                         loco.set_speed(slow_speed);
 398                         pure_speed = false;
 399                         try_reserve = Time::now()+2*Time::sec;
 400                         set_status("Slow");
 401                 }
 402                 else
 403                 {
 404                         loco.set_speed(target_speed);
 405                         try_reserve = Time::TimeStamp();
 406                         set_status(format("Traveling %d kmh", travel_speed));
 407                 }
 408         }
 409 }
 410
 411 float Train::get_real_speed(unsigned i) const
 412 {
 413         if(real_speed[i].weight)
 414                 return real_speed[i].speed;
 415
 416         unsigned low;
 417         unsigned high;
 418         for(low=i; low>0; --low)
 419                 if(real_speed[low].weight)
 420                         break;
 421         for(high=i; high<14; ++high)
 422                 if(real_speed[high].weight)
 423                         break;
 424
 425         if(real_speed[high].weight)
 426         {
 427                 if(real_speed[low].weight)
 428                 {
 429                         float f = float(i-low)/(high-low);
 430                         return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
 431                 }
 432                 else
 433                         return real_speed[high].speed*float(i)/high;
 434         }
 435         else if(real_speed[low].weight)
 436                 return real_speed[low].speed*float(i)/low;
 437         else
 438                 return 0;
 439 }
 440
 441 unsigned Train::find_speed(float real) const
 442 {
 443         if(real<=real_speed[0].speed)
 444                 return 0;
 445
 446         unsigned low = 0;
 447         unsigned high = 0;
 448         for(unsigned i=0; (!high && i<=14); ++i)
 449                 if(real_speed[i].weight)
 450                 {
 451                         if(real_speed[i].speed<real)
 452                                 low = i;
 453                         else
 454                                 high = i;
 455                 }
 456         if(!high)
 457         {
 458                 if(!low)
 459                         return 0;
 460                 return min(static_cast<unsigned>(low*real/real_speed[low].speed), 14U);
 461         }
 462
 463         float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
 464         return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 465 }
 466
 467 void Train::set_status(const string &s)
 468 {
 469         status = s;
 470         signal_status_changed.emit(s);
 471 }
 472
 473 void Train::set_position(const Block::Endpoint &bep)
 474 {
 475         cur_track = bep.track;
 476         cur_track_ep = bep.track_ep;
 477         offset = 0;
 478         pos = cur_track->get_endpoint_position(cur_track_ep);
 479 }
 480
 481 void Train::release_reserved_blocks()
 482 {
 483         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 484                 i->block->reserve(0);
 485         rsv_blocks.clear();
 486 }
 487
 488
 489 Train::RealSpeed::RealSpeed():
 490         speed(0),
 491         weight(0)
 492 { }
 493
 494 void Train::RealSpeed::add(float s, float w)
 495 {
 496         speed = (speed*weight+s*w)/(weight+w);
 497         weight = min(weight+w, 300.0f);
 498 }
 499
 500
 501 Train::Loader::Loader(Train &t):
 502         DataFile::BasicLoader<Train>(t)
 503 {
 504         add("name",        &Train::name);
 505         add("real_speed",  &Loader::real_speed);
 506 }
 507
 508 void Train::Loader::real_speed(unsigned i, float speed, float weight)
 509 {
 510         obj.real_speed[i].speed = speed;
 511         obj.real_speed[i].weight = weight;
 512 }
 513
 514 } // namespace Marklin