source/libmarklin/train.cpp

   1 /* $Id$
   2
   3 This file is part of the MSP Märklin suite
   4 Copyright © 2006-2009 Mikkosoft Productions, Mikko Rasa
   5 Distributed under the GPL
   6 */
   7
   8 #include <cmath>
   9 #include <msp/strings/formatter.h>
  10 #include <msp/time/units.h>
  11 #include <msp/time/utils.h>
  12 #include "control.h"
  13 #include "except.h"
  14 #include "tracktype.h"
  15 #include "trafficmanager.h"
  16 #include "train.h"
  17
  18 using namespace std;
  19 using namespace Msp;
  20
  21 namespace Marklin {
  22
  23 Train::Train(TrafficManager &tm, Locomotive &l):
  24         trfc_mgr(tm),
  25         loco(l),
  26         target_speed(0),
  27         status("Unplaced"),
  28         travel_dist(0),
  29         travel_speed(0),
  30         pure_speed(false),
  31         real_speed(15),
  32         cur_track(0)
  33 {
  34         trfc_mgr.add_train(this);
  35
  36         loco.signal_reverse_changed.connect(sigc::mem_fun(this, &Train::locomotive_reverse_changed));
  37
  38         const map<unsigned, Sensor *> &sensors = trfc_mgr.get_control().get_sensors();
  39         for(map<unsigned, Sensor *>::const_iterator i=sensors.begin(); i!=sensors.end(); ++i)
  40                 i->second->signal_state_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::sensor_event), i->second));
  41
  42         const map<unsigned, Turnout *> &turnouts = trfc_mgr.get_control().get_turnouts();
  43         for(map<unsigned, Turnout *>::const_iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
  44         {
  45                 i->second->signal_route_changing.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_route_changing), i->second));
  46                 i->second->signal_route_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_route_changed), i->second));
  47         }
  48 }
  49
  50 void Train::set_name(const string &n)
  51 {
  52         name = n;
  53
  54         signal_name_changed.emit(name);
  55 }
  56
  57 void Train::set_speed(unsigned speed)
  58 {
  59         if(speed==target_speed)
  60                 return;
  61         travel_speed = static_cast<int>(round(get_real_speed(speed)*87*3.6/5))*5;
  62
  63         target_speed = speed;
  64         if(!target_speed)
  65         {
  66                 trfc_mgr.get_control().set_timer(3*Time::sec).signal_timeout.connect(
  67                         sigc::bind_return(sigc::mem_fun(this, &Train::release_reserved_blocks), false));
  68         }
  69         else
  70                 reserve_more();
  71
  72         signal_target_speed_changed.emit(target_speed);
  73
  74         update_speed();
  75         pure_speed = false;
  76 }
  77
  78 void Train::set_reverse(bool rev)
  79 {
  80         loco.set_reverse(rev);
  81 }
  82
  83 void Train::place(Block *block, unsigned entry)
  84 {
  85         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end();)
  86         {
  87                 i->block->reserve(0);
  88                 i = rsv_blocks.erase(i);
  89         }
  90
  91         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end();)
  92         {
  93                 i->block->reserve(0);
  94                 i = cur_blocks.erase(i);
  95         }
  96
  97         if(!block->reserve(this))
  98         {
  99                 set_status("Unplaced");
 100                 return;
 101         }
 102
 103         cur_blocks.push_back(BlockRef(block, entry));
 104         set_position(block->get_endpoints()[entry]);
 105
 106         set_status("Stopped");
 107 }
 108
 109 bool Train::free_block(Block *block)
 110 {
 111         unsigned nsens = 0;
 112         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 113         {
 114                 if(i->block==block)
 115                 {
 116                         if(nsens<1)
 117                                 return false;
 118                         while(i!=rsv_blocks.end())
 119                         {
 120                                 i->block->reserve(0);
 121                                 i = rsv_blocks.erase(i);
 122                         }
 123                         update_speed();
 124                         return true;
 125                 }
 126                 else if(i->block->get_sensor_id())
 127                         ++nsens;
 128         }
 129
 130         return false;
 131 }
 132
 133 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 134 {
 135         if(try_reserve && t>try_reserve)
 136         {
 137                 reserve_more();
 138                 update_speed();
 139         }
 140
 141         if(cur_track)
 142         {
 143                 unsigned route = 0;
 144                 if(cur_track->get_turnout_id())
 145                         route = trfc_mgr.get_control().get_turnout(cur_track->get_turnout_id()).get_route();
 146
 147                 offset += get_real_speed(loco.get_speed())*(dt/Time::sec);
 148                 if(offset>cur_track->get_type().get_route_length(route))
 149                 {
 150                         int out = cur_track->traverse(cur_track_ep, route);
 151                         if(out>=0)
 152                         {
 153                                 Track *next = cur_track->get_link(out);
 154                                 if(next)
 155                                         cur_track_ep = next->get_endpoint_by_link(*cur_track);
 156                                 cur_track = next;
 157                                 offset = 0;
 158                         }
 159                         else
 160                                 cur_track = 0;
 161                 }
 162
 163                 if(cur_track)
 164                         pos = cur_track->get_point(cur_track_ep, route, offset);
 165         }
 166 }
 167
 168 void Train::save(list<DataFile::Statement> &st) const
 169 {
 170         st.push_back((DataFile::Statement("name"), name));
 171         for(unsigned i=0; i<=14; ++i)
 172                 if(real_speed[i].weight)
 173                         st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
 174 }
 175
 176 void Train::locomotive_reverse_changed(bool)
 177 {
 178         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 179                 i->block->reserve(0);
 180         rsv_blocks.clear();
 181         cur_blocks.reverse();
 182         for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 183                 i->entry = i->block->traverse(i->entry);
 184         reserve_more();
 185         update_speed();
 186 }
 187
 188 void Train::sensor_event(bool state, Sensor *sensor)
 189 {
 190         unsigned addr = sensor->get_address();
 191
 192         if(state)
 193         {
 194                 list<BlockRef>::iterator i;
 195                 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 196                         if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
 197                                 break;
 198
 199                 if(i!=rsv_blocks.begin())
 200                 {
 201                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 202                         travel_speed = static_cast<int>(round(travel_dist/travel_time_secs*87*3.6/5))*5;
 203
 204                         if(pure_speed)
 205                         {
 206                                 RealSpeed &rs = real_speed[loco.get_speed()];
 207                                 rs.add(travel_dist/travel_time_secs, travel_time_secs);
 208                         }
 209
 210                         travel_dist = 0;
 211                         float block_len;
 212                         for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 213                         {
 214                                 j->block->traverse(j->entry, &block_len);
 215                                 travel_dist += block_len;
 216                         }
 217                         last_entry_time = Time::now();
 218                         pure_speed = true;
 219
 220                         cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 221                 }
 222
 223                 for(i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 224                         if(i->block->get_sensor_id()==addr)
 225                                 set_position(i->block->get_endpoints()[i->entry]);
 226
 227                 if(target_speed)
 228                 {
 229                         reserve_more();
 230                         update_speed();
 231                 }
 232         }
 233         else
 234         {
 235                 for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 236                         if(unsigned b_addr = i->block->get_sensor_id())
 237                         {
 238                                 if(b_addr==addr)
 239                                 {
 240                                         ++i;
 241                                         for(list<BlockRef>::iterator j=cur_blocks.begin(); j!=i; ++j)
 242                                                 j->block->reserve(0);
 243                                         cur_blocks.erase(cur_blocks.begin(), i);
 244                                 }
 245                                 break;
 246                         }
 247
 248                 if(target_speed)
 249                         reserve_more();
 250         }
 251 }
 252
 253 void Train::turnout_route_changing(unsigned, Turnout *turnout)
 254 {
 255         unsigned tid = turnout->get_address();
 256         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 257                 if(i->block->get_turnout_id()==tid)
 258                         throw TurnoutBusy(this);
 259
 260         unsigned nsens = 0;
 261         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 262         {
 263                 if(i->block->get_turnout_id()==tid)
 264                 {
 265                         if(nsens<1)
 266                                 throw TurnoutBusy(this);
 267                         break;
 268                 }
 269                 else if(i->block->get_sensor_id())
 270                         ++nsens;
 271         }
 272 }
 273
 274 void Train::turnout_route_changed(unsigned, Turnout *turnout)
 275 {
 276         unsigned tid = turnout->get_address();
 277         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 278                 if(i->block->get_turnout_id()==tid)
 279                 {
 280                         while(i!=rsv_blocks.end())
 281                         {
 282                                 i->block->reserve(0);
 283                                 i = rsv_blocks.erase(i);
 284                         }
 285                         reserve_more();
 286                         update_speed();
 287                         return;
 288                 }
 289 }
 290
 291 unsigned Train::reserve_more()
 292 {
 293         BlockRef *last = 0;
 294         if(!rsv_blocks.empty())
 295                 last = &rsv_blocks.back();
 296         else if(!cur_blocks.empty())
 297                 last = &cur_blocks.back();
 298         if(!last)
 299                 return 0;
 300
 301         unsigned nsens = 0;
 302         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 303                 if(i->block->get_sensor_id())
 304                         ++nsens;
 305
 306         bool result = false;
 307         while(nsens<2)
 308         {
 309                 int exit = last->block->traverse(last->entry);
 310                 if(exit>=0)
 311                 {
 312                         Block *link = last->block->get_link(exit);
 313                         if(link && link->reserve(this))
 314                         {
 315                                 rsv_blocks.push_back(BlockRef(link, link->get_endpoint_by_link(*last->block)));
 316                                 last = &rsv_blocks.back();
 317                                 if(last->block->get_sensor_id())
 318                                 {
 319                                         ++nsens;
 320                                         result = true;
 321                                 }
 322                         }
 323                         else
 324                                 break;
 325                 }
 326                 else
 327                         break;
 328         }
 329
 330         while(last && !last->block->get_sensor_id())
 331         {
 332                 last->block->reserve(0);
 333                 rsv_blocks.erase(--rsv_blocks.end());
 334                 if(!rsv_blocks.empty())
 335                         last = &rsv_blocks.back();
 336                 else
 337                         last = 0;
 338         }
 339
 340         return nsens;
 341 }
 342
 343 void Train::update_speed()
 344 {
 345         if(!target_speed)
 346         {
 347                 loco.set_speed(0);
 348                 try_reserve = Time::TimeStamp();
 349                 set_status("Stopped");
 350         }
 351         else
 352         {
 353                 unsigned nsens = 0;
 354                 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 355                         if(i->block->get_sensor_id())
 356                                 ++nsens;
 357
 358                 unsigned slow_speed = find_speed(0.1);  // 31.3 km/h
 359                 if(nsens==0)
 360                 {
 361                         loco.set_speed(0);
 362                         pure_speed = false;
 363                         try_reserve = Time::now()+2*Time::sec;
 364                         set_status("Blocked");
 365                 }
 366                 else if(nsens==1 && target_speed>slow_speed)
 367                 {
 368                         loco.set_speed(slow_speed);
 369                         pure_speed = false;
 370                         try_reserve = Time::now()+2*Time::sec;
 371                         set_status("Slow");
 372                 }
 373                 else
 374                 {
 375                         loco.set_speed(target_speed);
 376                         try_reserve = Time::TimeStamp();
 377                         set_status(format("Traveling %d kmh", travel_speed));
 378                 }
 379         }
 380 }
 381
 382 float Train::get_real_speed(unsigned i) const
 383 {
 384         if(real_speed[i].weight)
 385                 return real_speed[i].speed;
 386
 387         unsigned low;
 388         unsigned high;
 389         for(low=i; low>0; --low)
 390                 if(real_speed[low].weight)
 391                         break;
 392         for(high=i; high<14; ++high)
 393                 if(real_speed[high].weight)
 394                         break;
 395
 396         if(real_speed[high].weight)
 397         {
 398                 if(real_speed[low].weight)
 399                 {
 400                         float f = float(i-low)/(high-low);
 401                         return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
 402                 }
 403                 else
 404                         return real_speed[high].speed*float(i)/high;
 405         }
 406         else if(real_speed[low].weight)
 407                 return real_speed[low].speed*float(i)/low;
 408         else
 409                 return 0;
 410 }
 411
 412 unsigned Train::find_speed(float real) const
 413 {
 414         if(real<=real_speed[0].speed)
 415                 return 0;
 416         if(real>=real_speed[14].speed)
 417                 return 14;
 418
 419         unsigned low = 0;
 420         unsigned high = 0;
 421         for(high=0; real_speed[high].speed<real; ++high)
 422                 if(real_speed[high].weight)
 423                         low = high;
 424
 425         float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
 426         return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 427 }
 428
 429 void Train::set_status(const string &s)
 430 {
 431         status = s;
 432         signal_status_changed.emit(s);
 433 }
 434
 435 void Train::set_position(const Block::Endpoint &bep)
 436 {
 437         cur_track = bep.track;
 438         cur_track_ep = bep.track_ep;
 439         offset = 0;
 440         pos = cur_track->get_endpoint_position(cur_track_ep);
 441 }
 442
 443 void Train::release_reserved_blocks()
 444 {
 445         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 446                 i->block->reserve(0);
 447         rsv_blocks.clear();
 448 }
 449
 450
 451 Train::RealSpeed::RealSpeed():
 452         speed(0),
 453         weight(0)
 454 { }
 455
 456 void Train::RealSpeed::add(float s, float w)
 457 {
 458         speed = (speed*weight+s*w)/(weight+w);
 459         weight = min(weight+w, 300.0f);
 460 }
 461
 462
 463 Train::Loader::Loader(Train &t):
 464         DataFile::BasicLoader<Train>(t)
 465 {
 466         add("name",        &Train::name);
 467         add("real_speed",  &Loader::real_speed);
 468 }
 469
 470 void Train::Loader::real_speed(unsigned i, float speed, float weight)
 471 {
 472         obj.real_speed[i].speed = speed;
 473         obj.real_speed[i].weight = weight;
 474 }
 475
 476 } // namespace Marklin