source/libmarklin/train.cpp

   1 /* $Id$
   2
   3 This file is part of the MSP Märklin suite
   4 Copyright © 2006-2010  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 "aicontrol.h"
  13 #include "catalogue.h"
  14 #include "driver.h"
  15 #include "layout.h"
  16 #include "route.h"
  17 #include "simplecontroller.h"
  18 #include "timetable.h"
  19 #include "tracktype.h"
  20 #include "train.h"
  21 #include "vehicle.h"
  22 #include "vehicletype.h"
  23
  24 using namespace std;
  25 using namespace Msp;
  26
  27 namespace Marklin {
  28
  29 Train::Train(Layout &l, const VehicleType &t, unsigned a):
  30         layout(l),
  31         loco_type(t),
  32         address(a),
  33         priority(0),
  34         pending_block(0),
  35         controller(new AIControl(*this, new SimpleController)),
  36         timetable(0),
  37         active(false),
  38         current_speed(0),
  39         speed_changing(false),
  40         reverse(false),
  41         functions(0),
  42         route(0),
  43         next_route(0),
  44         end_of_route(false),
  45         status("Unplaced"),
  46         travel_dist(0),
  47         pure_speed(false),
  48         real_speed(15),
  49         accurate_position(false),
  50         overshoot_dist(false)
  51 {
  52         if(!loco_type.is_locomotive())
  53                 throw InvalidParameterValue("Initial vehicle must be a locomotive");
  54
  55         vehicles.push_back(new Vehicle(layout, loco_type));
  56
  57         layout.add_train(*this);
  58
  59         layout.get_driver().add_loco(address);
  60         layout.get_driver().signal_loco_speed.connect(sigc::mem_fun(this, &Train::loco_speed_event));
  61         layout.get_driver().signal_loco_function.connect(sigc::mem_fun(this, &Train::loco_func_event));
  62
  63         layout.signal_block_reserved.connect(sigc::mem_fun(this, &Train::block_reserved));
  64         layout.get_driver().signal_sensor.connect(sigc::mem_fun(this, &Train::sensor_event));
  65         layout.get_driver().signal_turnout.connect(sigc::mem_fun(this, &Train::turnout_event));
  66
  67         layout.get_driver().signal_halt.connect(sigc::mem_fun(this, &Train::halt_event));
  68
  69         controller->signal_control_changed.connect(sigc::mem_fun(this, &Train::control_changed));
  70 }
  71
  72 Train::~Train()
  73 {
  74         delete controller;
  75         delete timetable;
  76         for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
  77                 delete *i;
  78         layout.remove_train(*this);
  79 }
  80
  81 void Train::set_name(const string &n)
  82 {
  83         name = n;
  84
  85         signal_name_changed.emit(name);
  86 }
  87
  88 void Train::set_priority(int p)
  89 {
  90         priority = p;
  91 }
  92
  93 void Train::add_vehicle(const VehicleType &vt)
  94 {
  95         Vehicle *veh = new Vehicle(layout, vt);
  96         vehicles.back()->attach_back(*veh);
  97         vehicles.push_back(veh);
  98 }
  99
 100 void Train::remove_vehicle(unsigned i)
 101 {
 102         if(i>=vehicles.size())
 103                 throw InvalidParameterValue("Vehicle index out of range");
 104         if(i==0)
 105                 throw InvalidParameterValue("Can't remove the locomotive");
 106         delete vehicles[i];
 107         vehicles.erase(vehicles.begin()+i);
 108         if(i<vehicles.size())
 109                 vehicles[i-1]->attach_back(*vehicles[i]);
 110 }
 111
 112 unsigned Train::get_n_vehicles() const
 113 {
 114         return vehicles.size();
 115 }
 116
 117 Vehicle &Train::get_vehicle(unsigned i)
 118 {
 119         if(i>=vehicles.size())
 120                 throw InvalidParameterValue("Vehicle index out of range");
 121         return *vehicles[i];
 122 }
 123
 124 const Vehicle &Train::get_vehicle(unsigned i) const
 125 {
 126         if(i>=vehicles.size())
 127                 throw InvalidParameterValue("Vehicle index out of range");
 128         return *vehicles[i];
 129 }
 130
 131 void Train::set_control(const string &n, float v)
 132 {
 133         controller->set_control(n, v);
 134 }
 135
 136 void Train::set_active(bool a)
 137 {
 138         if(a==active)
 139                 return;
 140         if(!a && controller->get_speed())
 141                 throw InvalidState("Can't deactivate while moving");
 142
 143         active = a;
 144         if(active)
 145         {
 146                 stop_timeout = Time::TimeStamp();
 147                 reserve_more();
 148         }
 149         else
 150         {
 151                 stop_timeout = Time::now()+2*Time::sec;
 152                 set_status("Stopped");
 153         }
 154 }
 155
 156 void Train::set_function(unsigned func, bool state)
 157 {
 158         if(!loco_type.get_functions().count(func))
 159                 throw InvalidParameterValue("Invalid function");
 160         if(func<5)
 161                 layout.get_driver().set_loco_function(address, func, state);
 162         else
 163                 layout.get_driver().set_loco_function(address+1, func-4, state);
 164 }
 165
 166 float Train::get_control(const string &ctrl) const
 167 {
 168         return controller->get_control(ctrl).value;
 169 }
 170
 171 float Train::get_speed() const
 172 {
 173         return controller->get_speed();
 174 }
 175
 176 bool Train::get_function(unsigned func) const
 177 {
 178         return (functions>>func)&1;
 179 }
 180
 181 void Train::set_timetable(Timetable *tt)
 182 {
 183         delete timetable;
 184         timetable = tt;
 185 }
 186
 187 void Train::set_route(const Route *r)
 188 {
 189         if(!rsv_blocks.empty())
 190         {
 191                 for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 192                         if(i->block->get_sensor_id())
 193                         {
 194                                 release_blocks(rsv_blocks, ++i, rsv_blocks.end());
 195                                 break;
 196                         }
 197         }
 198
 199         route = r;
 200         next_route = 0;
 201         end_of_route = false;
 202
 203         if(route)
 204         {
 205                 BlockRef &last = (rsv_blocks.empty() ? cur_blocks.back() : rsv_blocks.back());
 206                 BlockRef next = last.next();
 207                 const Block::Endpoint &ep = next.block->get_endpoints()[next.entry];
 208                 if(!route->get_tracks().count(ep.track))
 209                 {
 210                         next_route = route;
 211                         route = Route::find(*ep.track, ep.track_ep, *next_route);
 212                 }
 213         }
 214
 215         reserve_more();
 216
 217         signal_route_changed.emit(route);
 218 }
 219
 220 void Train::go_to(const Track &to)
 221 {
 222         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 223                 if(i->block->get_tracks().count(const_cast<Track *>(&to)))
 224                 {
 225                         signal_arrived.emit();
 226                         set_route(0);
 227                         return;
 228                 }
 229
 230         BlockRef *last = 0;
 231         if(rsv_blocks.empty())
 232                 last = &cur_blocks.back();
 233         else
 234         {
 235                 for(list<BlockRef>::iterator i=rsv_blocks.begin(); (i!=rsv_blocks.end() && !last); ++i)
 236                         if(i->block->get_sensor_id())
 237                                 last = &*i;
 238         }
 239
 240         BlockRef next = last->next();
 241         const Block::Endpoint &ep = next.block->get_endpoints()[next.entry];
 242
 243         set_route(Route::find(*ep.track, ep.track_ep, to));
 244 }
 245
 246 void Train::place(Block &block, unsigned entry)
 247 {
 248         if(controller->get_speed())
 249                 throw InvalidState("Must be stopped before placing");
 250
 251         release_blocks(rsv_blocks);
 252         release_blocks(cur_blocks);
 253
 254         set_active(false);
 255         accurate_position = false;
 256
 257         if(!block.reserve(this))
 258         {
 259                 set_status("Unplaced");
 260                 return;
 261         }
 262
 263         cur_blocks.push_back(BlockRef(&block, entry));
 264         if(reverse)
 265         {
 266                 unsigned exit = block.traverse(entry);
 267                 const Block::Endpoint &bep = block.get_endpoints()[exit];
 268                 Track *track = bep.track->get_link(bep.track_ep);
 269                 unsigned ep = track->get_endpoint_by_link(*bep.track);
 270                 vehicles.front()->place(track, ep, 0, Vehicle::FRONT_BUFFER);
 271         }
 272         else
 273         {
 274                 const Block::Endpoint &bep = block.get_endpoints()[entry];
 275                 vehicles.back()->place(bep.track, bep.track_ep, 0, Vehicle::BACK_BUFFER);
 276         }
 277 }
 278
 279 bool Train::free_block(Block &block)
 280 {
 281         unsigned nsens = 0;
 282         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 283         {
 284                 if(i->block==&block)
 285                 {
 286                         if(nsens<1)
 287                                 return false;
 288                         release_blocks(rsv_blocks, i, rsv_blocks.end());
 289                         return true;
 290                 }
 291                 else if(i->block->get_sensor_id())
 292                         ++nsens;
 293         }
 294
 295         return false;
 296 }
 297
 298 int Train::get_entry_to_block(Block &block) const
 299 {
 300         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 301                 if(i->block==&block)
 302                         return i->entry;
 303         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 304                 if(i->block==&block)
 305                         return i->entry;
 306         return -1;
 307 }
 308
 309 float Train::get_reserved_distance() const
 310 {
 311         Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
 312         const VehicleType &vtype = veh.get_type();
 313
 314         Track *track = veh.get_track();
 315         if(!track)
 316                 return 0;
 317         unsigned entry = veh.get_entry();
 318
 319         float result = -vtype.get_length()/2;
 320         if(reverse)
 321         {
 322                 entry = track->traverse(entry);
 323                 result += veh.get_offset();
 324         }
 325         else
 326                 result -= veh.get_offset();
 327
 328         bool first = true;
 329         list<BlockRef>::const_iterator block = cur_blocks.begin();
 330         while(1)
 331         {
 332                 if(!first || !reverse)
 333                         result += track->get_type().get_path_length(track->get_active_path());
 334                 first = false;
 335
 336                 if(track->get_type().get_endpoints().size()<2)
 337                         return result;
 338
 339                 unsigned exit = track->traverse(entry);
 340                 Track *next = track->get_link(exit);
 341
 342                 while(!block->block->get_tracks().count(next))
 343                 {
 344                         ++block;
 345                         if(block==cur_blocks.end())
 346                                 block = rsv_blocks.begin();
 347                         if(block==rsv_blocks.end())
 348                                 return result;
 349                 }
 350
 351                 entry = next->get_endpoint_by_link(*track);
 352                 track = next;
 353         }
 354 }
 355
 356 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 357 {
 358         if(!active && stop_timeout && t>=stop_timeout)
 359         {
 360                 release_blocks(rsv_blocks);
 361                 end_of_route = false;
 362                 stop_timeout = Time::TimeStamp();
 363         }
 364
 365         Driver &driver = layout.get_driver();
 366
 367         if(timetable)
 368                 timetable->tick(t);
 369         controller->tick(dt);
 370         float speed = controller->get_speed();
 371         unsigned speed_notch = find_speed(speed);
 372
 373         if(controller->get_reverse()!=reverse)
 374         {
 375                 reverse = controller->get_reverse();
 376                 driver.set_loco_reverse(address, reverse);
 377
 378                 release_blocks(rsv_blocks);
 379                 reverse_blocks(cur_blocks);
 380
 381                 reserve_more();
 382         }
 383         if(speed_notch!=current_speed && !speed_changing && !driver.is_halted() && driver.get_power())
 384         {
 385                 speed_changing = true;
 386                 driver.set_loco_speed(address, speed_notch);
 387
 388                 pure_speed = false;
 389
 390                 if(speed_notch)
 391                         set_status(format("Traveling %d kmh", get_travel_speed()));
 392                 else
 393                         set_status("Waiting");
 394         }
 395
 396         if(speed)
 397         {
 398                 if(!active)
 399                         set_active(true);
 400
 401                 Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
 402                 Track *track = vehicle.get_track();
 403
 404                 bool ok = false;
 405                 for(list<BlockRef>::const_iterator i=cur_blocks.begin(); (!ok && i!=cur_blocks.end()); ++i)
 406                         ok = i->block->get_tracks().count(track);
 407
 408                 float d = get_real_speed(current_speed)*(dt/Time::sec);
 409                 if(ok)
 410                         vehicle.advance(reverse ? -d : d);
 411                 else if(accurate_position)
 412                 {
 413                         overshoot_dist += d;
 414                         if(overshoot_dist>40*layout.get_catalogue().get_scale())
 415                         {
 416                                 layout.emergency(name+" has not arrived at sensor");
 417                                 accurate_position = false;
 418                         }
 419                 }
 420         }
 421         else if(end_of_route && rsv_blocks.empty())
 422         {
 423                 signal_arrived.emit();
 424                 set_route(0);
 425         }
 426
 427         if(!cur_blocks.empty() && !cur_blocks.front().block->get_sensor_id())
 428         {
 429                 Vehicle &veh = *(reverse ? vehicles.front() : vehicles.back());
 430
 431                 list<BlockRef>::iterator i = cur_blocks.begin();
 432                 const Block::Endpoint &bep = i->block->get_endpoints()[i->entry];
 433
 434                 Track *track = bep.track;
 435                 unsigned entry = bep.track_ep;
 436
 437                 bool found = false;
 438                 float dist = veh.get_offset();
 439                 if(reverse)
 440                         dist = veh.get_track()->get_type().get_path_length(veh.get_track()->get_active_path())-dist;
 441                 dist -= veh.get_type().get_length()/2;
 442                 while(1)
 443                 {
 444                         if(track==veh.get_track())
 445                         {
 446                                 found = true;
 447                                 break;
 448                         }
 449
 450                         if(i!=cur_blocks.begin())
 451                         {
 452                                 float path_len = track->get_type().get_path_length(track->get_active_path());
 453                                 dist += path_len;
 454                         }
 455
 456                         unsigned exit = track->traverse(entry);
 457                         Track *next = track->get_link(exit);
 458                         entry = next->get_endpoint_by_link(*track);
 459                         track = next;
 460
 461                         if(!i->block->get_tracks().count(track))
 462                         {
 463                                 ++i;
 464                                 if(i==cur_blocks.end())
 465                                         break;
 466                         }
 467                 }
 468
 469                 if(found && i!=cur_blocks.begin() && dist>10*layout.get_catalogue().get_scale())
 470                 {
 471                         cur_blocks.front().block->reserve(0);
 472                         cur_blocks.erase(cur_blocks.begin());
 473                 }
 474         }
 475 }
 476
 477 void Train::save(list<DataFile::Statement> &st) const
 478 {
 479         st.push_back((DataFile::Statement("name"), name));
 480
 481         st.push_back((DataFile::Statement("priority"), priority));
 482
 483         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 484                 if(i!=vehicles.begin())
 485                         st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
 486
 487         for(unsigned i=0; i<=14; ++i)
 488                 if(real_speed[i].weight)
 489                         st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
 490
 491         if(!cur_blocks.empty())
 492         {
 493                 list<BlockRef> blocks = cur_blocks;
 494                 if(reverse)
 495                         reverse_blocks(blocks);
 496
 497                 Block *prev = blocks.front().block->get_endpoints()[blocks.front().entry].link;
 498                 st.push_back((DataFile::Statement("block_hint"), prev->get_id()));
 499
 500                 for(list<BlockRef>::const_iterator i=blocks.begin(); i!=blocks.end(); ++i)
 501                         st.push_back((DataFile::Statement("block"), i->block->get_id()));
 502         }
 503
 504         if(route)
 505         {
 506                 if(!route->is_temporary())
 507                         st.push_back((DataFile::Statement("route"), route->get_name()));
 508                 else if(next_route && !next_route->is_temporary())
 509                         st.push_back((DataFile::Statement("route"), next_route->get_name()));
 510         }
 511
 512         if(timetable)
 513         {
 514                 DataFile::Statement ss("timetable");
 515                 timetable->save(ss.sub);
 516                 st.push_back(ss);
 517         }
 518 }
 519
 520 void Train::control_changed(const Controller::Control &ctrl)
 521 {
 522         signal_control_changed.emit(ctrl.name, ctrl.value);
 523 }
 524
 525 void Train::loco_speed_event(unsigned addr, unsigned speed, bool)
 526 {
 527         if(addr==address)
 528         {
 529                 current_speed = speed;
 530                 speed_changing = false;
 531                 pure_speed = false;
 532         }
 533 }
 534
 535 void Train::loco_func_event(unsigned addr, unsigned func, bool state)
 536 {
 537         if(addr==address || (addr==address+1 && loco_type.get_max_function()>4))
 538         {
 539                 if(addr==address+1)
 540                         func += 4;
 541                 if(state)
 542                         functions |= 1<<func;
 543                 else
 544                         functions &= ~(1<<func);
 545
 546                 signal_function_changed.emit(func, state);
 547         }
 548 }
 549
 550 void Train::sensor_event(unsigned addr, bool state)
 551 {
 552         if(state)
 553         {
 554                 // Find the first sensor block from our reserved blocks that isn't this sensor
 555                 list<BlockRef>::iterator i;
 556                 unsigned result = 0;
 557                 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 558                         if(i->block->get_sensor_id())
 559                         {
 560                                 if(i->block->get_sensor_id()!=addr)
 561                                 {
 562                                         if(result==0)
 563                                                 result = 2;
 564                                         else if(result==1)
 565                                                 break;
 566                                 }
 567                                 else if(result==0)
 568                                         result = 1;
 569                                 else if(result==2)
 570                                         result = 3;
 571                         }
 572
 573                 if(result==1 && i!=rsv_blocks.begin())
 574                 {
 575                         // Compute speed and update related state
 576                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 577
 578                         if(pure_speed)
 579                         {
 580                                 if(current_speed)
 581                                 {
 582                                         RealSpeed &rs = real_speed[current_speed];
 583                                         rs.add(travel_dist/travel_time_secs, travel_time_secs);
 584                                 }
 585                                 set_status(format("Traveling %d kmh", get_travel_speed()));
 586                         }
 587
 588                         travel_dist = 0;
 589                         float block_len;
 590                         for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 591                         {
 592                                 j->block->traverse(j->entry, &block_len);
 593                                 travel_dist += block_len;
 594
 595                                 if(j->block->get_sensor_id()==addr)
 596                                 {
 597                                         const Block::Endpoint &bep = j->block->get_endpoints()[j->entry];
 598                                         if(reverse)
 599                                         {
 600                                                 Track *track = bep.track->get_link(bep.track_ep);
 601                                                 unsigned ep = track->get_endpoint_by_link(*bep.track);
 602                                                 vehicles.back()->place(track, ep, 0, Vehicle::BACK_AXLE);
 603                                         }
 604                                         else
 605                                                 vehicles.front()->place(bep.track, bep.track_ep, 0, Vehicle::FRONT_AXLE);
 606                                 }
 607                         }
 608                         last_entry_time = Time::now();
 609                         pure_speed = true;
 610                         accurate_position = true;
 611                         overshoot_dist = 0;
 612
 613                         // Check if we've reached the next route
 614                         if(next_route)
 615                         {
 616                                 const set<const Track *> &rtracks = next_route->get_tracks();
 617                                 for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 618                                         if(rtracks.count(j->block->get_endpoints()[j->entry].track))
 619                                         {
 620                                                 route = next_route;
 621                                                 next_route = 0;
 622                                                 // XXX Exceptions?
 623                                                 signal_route_changed.emit(route);
 624                                                 break;
 625                                         }
 626                         }
 627
 628                         // Move blocks up to the next sensor to our current blocks
 629                         cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 630
 631                         // Try to get more blocks if we're moving
 632                         if(active)
 633                                 reserve_more();
 634                 }
 635                 else if(result==3)
 636                         layout.emergency("Sensor for "+name+" triggered out of order");
 637         }
 638         else
 639         {
 640                 // Find the first sensor in our current blocks that's still active
 641                 list<BlockRef>::iterator end = cur_blocks.begin();
 642                 for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 643                         if(i->block->get_sensor_id())
 644                         {
 645                                 if(layout.get_driver().get_sensor(i->block->get_sensor_id()))
 646                                         break;
 647                                 else
 648                                 {
 649                                         end = i;
 650                                         ++end;
 651                                 }
 652                         }
 653
 654                 if(end!=cur_blocks.begin())
 655                         // Free blocks up to the last inactive sensor
 656                         release_blocks(cur_blocks, cur_blocks.begin(), end);
 657         }
 658 }
 659
 660 void Train::turnout_event(unsigned addr, bool)
 661 {
 662         if(pending_block)
 663         {
 664                 unsigned pending_addr = pending_block->get_turnout_id();
 665                 bool double_addr = (*pending_block->get_tracks().begin())->get_type().is_double_address();
 666                 if(addr==pending_addr || (double_addr && addr==pending_addr+1))
 667                         reserve_more();
 668         }
 669 }
 670
 671 void Train::halt_event(bool h)
 672 {
 673         if(h)
 674                 accurate_position = false;
 675 }
 676
 677 void Train::block_reserved(const Block &block, const Train *train)
 678 {
 679         if(&block==pending_block && !train)
 680                 reserve_more();
 681 }
 682
 683 unsigned Train::reserve_more()
 684 {
 685         if(!active)
 686                 return 0;
 687
 688         BlockRef *last = 0;
 689         if(!rsv_blocks.empty())
 690                 last = &rsv_blocks.back();
 691         else if(!cur_blocks.empty())
 692                 last = &cur_blocks.back();
 693         if(!last)
 694                 return 0;
 695
 696         pending_block = 0;
 697
 698         // See how many sensor blocks we already have
 699         unsigned nsens = 0;
 700         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 701                 if(i->block->get_sensor_id())
 702                         ++nsens;
 703
 704         if(end_of_route)
 705                 return nsens;
 706
 707         const Route *cur_route = 0;
 708         if(route)
 709         {
 710                 const set<Track *> &tracks = last->block->get_tracks();
 711                 for(set<Track *>::const_iterator i=tracks.begin(); (cur_route!=route && i!=tracks.end()); ++i)
 712                 {
 713                         if(route->get_tracks().count(*i))
 714                                 cur_route = route;
 715                         else if(next_route && next_route->get_tracks().count(*i))
 716                                 cur_route = next_route;
 717                 }
 718         }
 719
 720         bool got_more = false;
 721         BlockRef *good = last;
 722         unsigned good_sens = nsens;
 723         while(good_sens<3)
 724         {
 725                 // Traverse to the next block
 726                 unsigned exit = last->block->traverse(last->entry);
 727                 Block *link = last->block->get_link(exit);
 728                 if(!link)
 729                         break;
 730
 731                 int entry = link->get_endpoint_by_link(*last->block);
 732                 if(entry<0)
 733                         throw LogicError("Block links are inconsistent!");
 734
 735                 const Block::Endpoint &entry_ep = link->get_endpoints()[entry];
 736
 737                 if(cur_route)
 738                 {
 739                         if(cur_route!=next_route && next_route && next_route->get_tracks().count(entry_ep.track))
 740                                 cur_route = next_route;
 741                         else if(!cur_route->get_tracks().count(entry_ep.track))
 742                         {
 743                                 // Keep the blocks if we arrived at the end of the route
 744                                 good = last;
 745                                 good_sens = nsens;
 746                                 end_of_route = true;
 747                                 break;
 748                         }
 749                 }
 750                 else if(route && route->get_tracks().count(entry_ep.track))
 751                         cur_route = route;
 752
 753                 if(link->get_endpoints().size()<2)
 754                 {
 755                         good = last;
 756                         good_sens = nsens;
 757                         break;
 758                 }
 759
 760                 bool reserved = link->reserve(this);
 761                 if(!reserved)
 762                 {
 763                         // Ask a lesser priority train to free the block for us
 764                         if(link->get_train()->get_priority()<priority)
 765                                 if(link->get_train()->free_block(*link))
 766                                         reserved = link->reserve(this);
 767
 768                         if(!reserved)
 769                         {
 770                                 // If we found another train and it's not headed straight for us, we can keep the blocks we got
 771                                 int other_entry = link->get_train()->get_entry_to_block(*link);
 772                                 if(other_entry<0)
 773                                         throw LogicError("Block reservation inconsistency");
 774                                 if(static_cast<unsigned>(entry)!=link->traverse(other_entry))
 775                                 {
 776                                         good = last;
 777                                         good_sens = nsens;
 778                                 }
 779                                 pending_block = link;
 780                                 break;
 781                         }
 782                 }
 783
 784                 if(link->get_turnout_id())
 785                 {
 786                         const Endpoint &track_ep = entry_ep.track->get_type().get_endpoints()[entry_ep.track_ep];
 787
 788                         // Keep the blocks reserved so far, as either us or the other train can diverge
 789                         good = last;
 790                         good_sens = nsens;
 791
 792                         // Figure out what path we'd like to take on the turnout
 793                         int path = -1;
 794                         if(cur_route)
 795                                 path = cur_route->get_turnout(link->get_turnout_id());
 796                         if(path<0)
 797                                 path = entry_ep.track->get_active_path();
 798                         if(!((track_ep.paths>>path)&1))
 799                         {
 800                                 for(unsigned i=0; track_ep.paths>>i; ++i)
 801                                         if((track_ep.paths>>i)&1)
 802                                                 path = i;
 803                         }
 804
 805                         if(path!=static_cast<int>(entry_ep.track->get_active_path()))
 806                         {
 807                                 // The turnout is set to wrong path - switch and wait for it
 808                                 link->reserve(0);
 809                                 pending_block = link;
 810                                 entry_ep.track->set_active_path(path);
 811                                 break;
 812                         }
 813                 }
 814
 815                 rsv_blocks.push_back(BlockRef(link, entry));
 816                 last = &rsv_blocks.back();
 817                 if(last->block->get_sensor_id())
 818                 {
 819                         ++nsens;
 820                         got_more = true;
 821                 }
 822         }
 823
 824         // Unreserve blocks that were not good
 825         while(!rsv_blocks.empty() && last!=good)
 826         {
 827                 last->block->reserve(0);
 828                 rsv_blocks.erase(--rsv_blocks.end());
 829                 if(!rsv_blocks.empty())
 830                         last = &rsv_blocks.back();
 831         }
 832
 833         // Make any sensorless blocks at the beginning immediately current
 834         list<BlockRef>::iterator i;
 835         for(i=rsv_blocks.begin(); (i!=rsv_blocks.end() && !i->block->get_sensor_id()); ++i) ;
 836         if(i!=rsv_blocks.begin())
 837                 cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 838
 839         return good_sens;
 840 }
 841
 842 float Train::get_real_speed(unsigned i) const
 843 {
 844         if(real_speed[i].weight)
 845                 return real_speed[i].speed;
 846
 847         unsigned low;
 848         unsigned high;
 849         for(low=i; low>0; --low)
 850                 if(real_speed[low].weight)
 851                         break;
 852         for(high=i; high<14; ++high)
 853                 if(real_speed[high].weight)
 854                         break;
 855
 856         if(real_speed[high].weight)
 857         {
 858                 if(real_speed[low].weight)
 859                 {
 860                         float f = float(i-low)/(high-low);
 861                         return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
 862                 }
 863                 else
 864                         return real_speed[high].speed*float(i)/high;
 865         }
 866         else if(real_speed[low].weight)
 867                 return real_speed[low].speed*float(i)/low;
 868         else
 869                 return 0;
 870 }
 871
 872 unsigned Train::find_speed(float real) const
 873 {
 874         if(real<=real_speed[0].speed)
 875                 return 0;
 876
 877         unsigned low = 0;
 878         unsigned high = 0;
 879         for(unsigned i=0; (!high && i<=14); ++i)
 880                 if(real_speed[i].weight)
 881                 {
 882                         if(real_speed[i].speed<real)
 883                                 low = i;
 884                         else
 885                                 high = i;
 886                 }
 887         if(!high)
 888         {
 889                 if(!low)
 890                 {
 891                         if(real)
 892                                 return 3;
 893                         else
 894                                 return 0;
 895                 }
 896                 return min(static_cast<unsigned>(low*real/real_speed[low].speed), 14U);
 897         }
 898
 899         float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
 900         return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 901 }
 902
 903 float Train::get_travel_speed() const
 904 {
 905         float speed = get_real_speed(current_speed);
 906         float scale = layout.get_catalogue().get_scale();
 907         return static_cast<int>(round(speed/scale*3.6/5))*5;
 908 }
 909
 910 void Train::set_status(const string &s)
 911 {
 912         status = s;
 913         signal_status_changed.emit(s);
 914 }
 915
 916 void Train::release_blocks(list<BlockRef> &blocks)
 917 {
 918         release_blocks(blocks, blocks.begin(), blocks.end());
 919 }
 920
 921 void Train::release_blocks(list<BlockRef> &blocks, list<BlockRef>::iterator begin, list<BlockRef>::iterator end)
 922 {
 923         while(begin!=end)
 924         {
 925                 Block *block = begin->block;
 926                 blocks.erase(begin++);
 927                 block->reserve(0);
 928         }
 929 }
 930
 931 void Train::reverse_blocks(list<BlockRef> &blocks) const
 932 {
 933         blocks.reverse();
 934         for(list<BlockRef>::iterator i=blocks.begin(); i!=blocks.end(); ++i)
 935                 i->entry = i->block->traverse(i->entry);
 936 }
 937
 938
 939 Train::BlockRef::BlockRef(Block *b, unsigned e):
 940         block(b),
 941         entry(e)
 942 { }
 943
 944 Train::BlockRef Train::BlockRef::next() const
 945 {
 946         Block *blk = block->get_endpoints()[block->traverse(entry)].link;
 947         if(!blk)
 948                 throw InvalidState("At end of line");
 949
 950         int ep = blk->get_endpoint_by_link(*block);
 951         if(ep<0)
 952                 throw LogicError("Block links are inconsistent");
 953
 954         return BlockRef(blk, ep);
 955 }
 956
 957
 958 Train::RealSpeed::RealSpeed():
 959         speed(0),
 960         weight(0)
 961 { }
 962
 963 void Train::RealSpeed::add(float s, float w)
 964 {
 965         speed = (speed*weight+s*w)/(weight+w);
 966         weight = min(weight+w, 300.0f);
 967 }
 968
 969
 970 Train::Loader::Loader(Train &t):
 971         DataFile::BasicLoader<Train>(t),
 972         prev_block(0),
 973         blocks_valid(true)
 974 {
 975         add("block",       &Loader::block);
 976         add("block_hint",  &Loader::block_hint);
 977         add("name",        &Loader::name);
 978         add("priority",    &Train::priority);
 979         add("real_speed",  &Loader::real_speed);
 980         add("route",       &Loader::route);
 981         add("timetable",   &Loader::timetable);
 982         add("vehicle",     &Loader::vehicle);
 983 }
 984
 985 void Train::Loader::finish()
 986 {
 987         if(!obj.cur_blocks.empty())
 988         {
 989                 const BlockRef &blkref = obj.cur_blocks.front();
 990                 const Block::Endpoint &bep = blkref.block->get_endpoints()[blkref.entry];
 991                 obj.vehicles.back()->place(bep.track, bep.track_ep, 0, Vehicle::BACK_BUFFER);
 992
 993                 obj.set_status("Stopped");
 994         }
 995 }
 996
 997 void Train::Loader::block(unsigned id)
 998 {
 999         if(!blocks_valid)
1000                 return;
1001
1002         Block *blk;
1003         try
1004         {
1005                 blk = &obj.layout.get_block(id);
1006         }
1007         catch(const KeyError &)
1008         {
1009                 blocks_valid = false;
1010                 return;
1011         }
1012
1013         int entry = -1;
1014         if(prev_block)
1015                 entry = blk->get_endpoint_by_link(*prev_block);
1016         if(entry<0)
1017                 entry = 0;
1018
1019         blk->reserve(&obj);
1020         obj.cur_blocks.push_back(BlockRef(blk, entry));
1021
1022         if(blk->get_sensor_id())
1023                 obj.layout.get_driver().set_sensor(blk->get_sensor_id(), true);
1024
1025         prev_block = blk;
1026 }
1027
1028 void Train::Loader::block_hint(unsigned id)
1029 {
1030         try
1031         {
1032                 prev_block = &obj.layout.get_block(id);
1033         }
1034         catch(const KeyError &)
1035         {
1036                 blocks_valid = false;
1037         }
1038 }
1039
1040 void Train::Loader::name(const string &n)
1041 {
1042         obj.set_name(n);
1043 }
1044
1045 void Train::Loader::real_speed(unsigned i, float speed, float weight)
1046 {
1047         obj.real_speed[i].speed = speed;
1048         obj.real_speed[i].weight = weight;
1049 }
1050
1051 void Train::Loader::route(const string &n)
1052 {
1053         obj.set_route(&obj.layout.get_route(n));
1054 }
1055
1056 void Train::Loader::timetable()
1057 {
1058         if(obj.timetable)
1059                 throw InvalidState("A timetable has already been loaded");
1060
1061         obj.timetable = new Timetable(obj);
1062         load_sub(*obj.timetable);
1063 }
1064
1065 void Train::Loader::vehicle(unsigned n)
1066 {
1067         const VehicleType &vtype = obj.layout.get_catalogue().get_vehicle(n);
1068         Vehicle *veh = new Vehicle(obj.layout, vtype);
1069         obj.vehicles.back()->attach_back(*veh);
1070         obj.vehicles.push_back(veh);
1071 }
1072
1073 } // namespace Marklin