#include <msp/strings/formatter.h>
#include <msp/time/units.h>
#include <msp/time/utils.h>
+#include "aicontrol.h"
+#include "catalogue.h"
#include "driver.h"
#include "layout.h"
#include "locotype.h"
#include "route.h"
+#include "simplephysics.h"
+#include "timetable.h"
#include "tracktype.h"
#include "train.h"
#include "vehicle.h"
loco_type(t),
address(a),
pending_block(0),
- target_speed(0),
+ control(new AIControl(*this, new SimplePhysics)),
+ timetable(0),
+ active(false),
current_speed(0),
+ speed_changing(false),
reverse(false),
functions(0),
route(0),
end_of_route(false),
status("Unplaced"),
travel_dist(0),
- travel_speed(0),
pure_speed(false),
- real_speed(15)
+ real_speed(15),
+ accurate_position(false),
+ overshoot_dist(false)
{
vehicles.push_back(new Vehicle(layout, loco_type));
layout.signal_block_reserved.connect(sigc::mem_fun(this, &Train::block_reserved));
layout.get_driver().signal_sensor.connect(sigc::mem_fun(this, &Train::sensor_event));
layout.get_driver().signal_turnout.connect(sigc::mem_fun(this, &Train::turnout_event));
+
+ layout.get_driver().signal_halt.connect(sigc::mem_fun(this, &Train::halt_event));
+
+ control->signal_control_changed.connect(signal_control_changed);
}
Train::~Train()
{
+ delete control;
+ delete timetable;
for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
delete *i;
layout.remove_train(*this);
return *vehicles[i];
}
-void Train::set_speed(unsigned speed)
+void Train::set_control(const string &n, float v)
{
- if(speed==target_speed)
- return;
- travel_speed = static_cast<int>(round(get_real_speed(speed)*87*3.6/5))*5;
-
- target_speed = speed;
- if(!target_speed)
- {
- pending_block = 0;
- stop_timeout = Time::now()+(800+current_speed*150)*Time::msec;
- }
- else
- reserve_more();
-
- signal_target_speed_changed.emit(target_speed);
-
- update_speed();
- pure_speed = false;
+ control->set_control(n, v);
}
-void Train::set_reverse(bool rev)
+void Train::set_active(bool a)
{
- if(rev==reverse)
+ if(a==active)
return;
+ if(!a && control->get_speed())
+ throw InvalidState("Can't deactivate while moving");
- if(target_speed)
+ active = a;
+ if(active)
{
- set_speed(0);
- return;
+ stop_timeout = Time::TimeStamp();
+ reserve_more();
+ }
+ else
+ {
+ stop_timeout = Time::now()+2*Time::sec;
+ set_status("Stopped");
}
- else if(stop_timeout)
- return;
-
- layout.get_driver().set_loco_reverse(address, rev);
-
- release_blocks(rsv_blocks);
- reverse_blocks(cur_blocks);
-
- // XXX Do something about the vehicles
}
void Train::set_function(unsigned func, bool state)
}
}
- if(target_speed && reserve_more()<2)
- update_speed();
+ if(active)
+ reserve_more();
signal_route_changed.emit(route);
}
for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
if(i->block->get_tracks().count(const_cast<Track *>(&to)))
{
- set_speed(0);
+ signal_arrived.emit();
set_route(0);
return;
}
void Train::place(Block &block, unsigned entry)
{
- if(target_speed)
- set_speed(0);
+ if(control->get_speed())
+ throw InvalidState("Must be stopped before placing");
release_blocks(rsv_blocks);
release_blocks(cur_blocks);
+ set_active(false);
+ accurate_position = false;
+
if(!block.reserve(this))
{
set_status("Unplaced");
}
cur_blocks.push_back(BlockRef(&block, entry));
- set_position(block.get_endpoints()[entry]);
-
- set_status("Stopped");
+ if(reverse)
+ {
+ unsigned exit = block.traverse(entry);
+ const Block::Endpoint &bep = block.get_endpoints()[exit];
+ Track *track = bep.track->get_link(bep.track_ep);
+ unsigned ep = track->get_endpoint_by_link(*bep.track);
+ vehicles.front()->place(track, ep, 0, Vehicle::FRONT_BUFFER);
+ }
+ else
+ {
+ const Block::Endpoint &bep = block.get_endpoints()[entry];
+ vehicles.front()->place(bep.track, bep.track_ep, 0, Vehicle::BACK_BUFFER);
+ }
}
bool Train::free_block(Block &block)
if(nsens<1)
return false;
release_blocks(rsv_blocks, i, rsv_blocks.end());
- update_speed();
return true;
}
else if(i->block->get_sensor_id())
return -1;
}
+float Train::get_reserved_distance() const
+{
+ Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
+ const VehicleType &vtype = veh.get_type();
+
+ Track *track = veh.get_track();
+ if(!track)
+ return 0;
+ unsigned entry = veh.get_entry();
+
+ float result = -vtype.get_length()/2;
+ if(reverse)
+ {
+ entry = track->traverse(entry);
+ result += veh.get_offset();
+ }
+ else
+ result -= veh.get_offset();
+
+ bool first = true;
+ list<BlockRef>::const_iterator block = cur_blocks.begin();
+ while(1)
+ {
+ if(!first || !reverse)
+ result += track->get_type().get_path_length(track->get_active_path());
+ first = false;
+
+ if(track->get_type().get_endpoints().size()<2)
+ return result;
+
+ unsigned exit = track->traverse(entry);
+ Track *next = track->get_link(exit);
+
+ while(!block->block->get_tracks().count(next))
+ {
+ ++block;
+ if(block==cur_blocks.end())
+ block = rsv_blocks.begin();
+ if(block==rsv_blocks.end())
+ return result;
+ }
+
+ entry = next->get_endpoint_by_link(*track);
+ track = next;
+ }
+}
+
void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
{
- if(stop_timeout && t>=stop_timeout)
+ if(!active && stop_timeout && t>=stop_timeout)
{
release_blocks(rsv_blocks);
end_of_route = false;
stop_timeout = Time::TimeStamp();
}
- if(current_speed)
+ Driver &driver = layout.get_driver();
+
+ if(timetable)
+ timetable->tick(t);
+ control->tick(dt);
+ float speed = control->get_speed();
+ unsigned speed_notch = find_speed(abs(speed));
+
+ if(speed && (speed<0)!=reverse)
+ {
+ driver.set_loco_reverse(address, speed<0);
+ reverse = speed<0;
+
+ release_blocks(rsv_blocks);
+ reverse_blocks(cur_blocks);
+
+ reserve_more();
+ }
+ if(speed_notch!=current_speed && !speed_changing && !driver.is_halted() && driver.get_power())
+ {
+ speed_changing = true;
+ driver.set_loco_speed(address, speed_notch);
+
+ pure_speed = false;
+
+ if(speed_notch)
+ set_status(format("Traveling %d kmh", get_travel_speed()));
+ else
+ set_status("Waiting");
+ }
+
+ if(speed)
{
- Track *track = vehicles[0]->get_track();
+ if(!active)
+ set_active(true);
+
+ Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
+ Track *track = vehicle.get_track();
bool ok = false;
for(list<BlockRef>::const_iterator i=cur_blocks.begin(); (!ok && i!=cur_blocks.end()); ++i)
ok = i->block->get_tracks().count(track);
+ float d = get_real_speed(current_speed)*(dt/Time::sec);
if(ok)
- vehicles[0]->advance(get_real_speed(current_speed)*(dt/Time::sec));
+ vehicle.advance(reverse ? -d : d);
+ else if(accurate_position)
+ {
+ overshoot_dist += d;
+ if(overshoot_dist>40*layout.get_catalogue().get_scale())
+ {
+ layout.emergency(name+" has not arrived at sensor");
+ accurate_position = false;
+ }
+ }
+ }
+ else if(end_of_route)
+ set_route(0);
+
+ if(!cur_blocks.empty() && !cur_blocks.front().block->get_sensor_id())
+ {
+ Vehicle &veh = *(reverse ? vehicles.front() : vehicles.back());
+
+ list<BlockRef>::iterator i = cur_blocks.begin();
+ const Block::Endpoint &bep = i->block->get_endpoints()[i->entry];
+
+ Track *track = bep.track;
+ unsigned entry = bep.track_ep;
+
+ bool found = false;
+ float dist = veh.get_offset()-veh.get_type().get_length()/2;
+ while(1)
+ {
+ if(track==veh.get_track())
+ {
+ found = true;
+ break;
+ }
+
+ if(i!=cur_blocks.begin())
+ {
+ float path_len = track->get_type().get_path_length(track->get_active_path());
+ dist += path_len;
+ }
+
+ unsigned exit = track->traverse(entry);
+ Track *next = track->get_link(exit);
+ entry = next->get_endpoint_by_link(*track);
+ track = next;
+
+ if(!i->block->get_tracks().count(track))
+ {
+ ++i;
+ if(i==cur_blocks.end())
+ break;
+ }
+ }
+
+ if(found && i!=cur_blocks.begin() && dist>10*layout.get_catalogue().get_scale())
+ {
+ cur_blocks.front().block->reserve(0);
+ cur_blocks.erase(cur_blocks.begin());
+ }
}
}
void Train::save(list<DataFile::Statement> &st) const
{
st.push_back((DataFile::Statement("name"), name));
+
+ for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
+ if(i!=vehicles.begin())
+ st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
+
for(unsigned i=0; i<=14; ++i)
if(real_speed[i].weight)
st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
}
if(route)
- st.push_back((DataFile::Statement("route"), route->get_name()));
+ {
+ if(!route->is_temporary())
+ st.push_back((DataFile::Statement("route"), route->get_name()));
+ else if(next_route && !next_route->is_temporary())
+ st.push_back((DataFile::Statement("route"), next_route->get_name()));
+ }
+
+ if(timetable)
+ {
+ DataFile::Statement ss("timetable");
+ timetable->save(ss.sub);
+ st.push_back(ss);
+ }
}
-void Train::loco_speed_event(unsigned addr, unsigned speed, bool rev)
+void Train::loco_speed_event(unsigned addr, unsigned speed, bool)
{
if(addr==address)
{
current_speed = speed;
- reverse = rev;
-
- signal_speed_changed.emit(current_speed);
- signal_reverse_changed.emit(reverse);
+ speed_changing = false;
+ pure_speed = false;
}
}
{
// Find the first sensor block from our reserved blocks that isn't this sensor
list<BlockRef>::iterator i;
+ unsigned result = 0;
for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
- if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
- break;
+ if(i->block->get_sensor_id())
+ {
+ if(i->block->get_sensor_id()!=addr)
+ {
+ if(result==0)
+ result = 2;
+ else if(result==1)
+ break;
+ }
+ else if(result==0)
+ result = 1;
+ else if(result==2)
+ result = 3;
+ }
- if(i!=rsv_blocks.begin())
+ if(result==1 && i!=rsv_blocks.begin())
{
// Compute speed and update related state
float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
- travel_speed = static_cast<int>(round(travel_dist/travel_time_secs*87*3.6/5))*5;
if(pure_speed)
{
RealSpeed &rs = real_speed[current_speed];
rs.add(travel_dist/travel_time_secs, travel_time_secs);
+ set_status(format("Traveling %d kmh", get_travel_speed()));
}
travel_dist = 0;
travel_dist += block_len;
if(j->block->get_sensor_id()==addr)
- set_position(j->block->get_endpoints()[j->entry]);
+ {
+ const Block::Endpoint &bep = j->block->get_endpoints()[j->entry];
+ if(reverse)
+ {
+ Track *track = bep.track->get_link(bep.track_ep);
+ unsigned ep = track->get_endpoint_by_link(*bep.track);
+ vehicles.back()->place(track, ep, 0, Vehicle::BACK_AXLE);
+ }
+ else
+ vehicles.front()->place(bep.track, bep.track_ep, 0, Vehicle::FRONT_AXLE);
+ }
}
last_entry_time = Time::now();
pure_speed = true;
+ accurate_position = true;
+ overshoot_dist = 0;
// Check if we've reached the next route
if(next_route)
cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
// Try to get more blocks if we're moving
- if(target_speed)
+ if(active)
{
unsigned nsens = reserve_more();
if(!nsens && end_of_route)
- {
- set_speed(0);
- set_route(0);
- }
- else if(nsens<2)
- update_speed();
+ signal_arrived.emit();
}
}
+ else if(result==3)
+ layout.emergency("Sensor for "+name+" triggered out of order");
}
else
{
if(layout.get_driver().get_sensor(i->block->get_sensor_id()))
break;
else
+ {
end = i;
+ ++end;
+ }
}
if(end!=cur_blocks.begin())
- {
// Free blocks up to the last inactive sensor
- ++end;
release_blocks(cur_blocks, cur_blocks.begin(), end);
- }
}
}
}
}
+void Train::halt_event(bool h)
+{
+ if(h)
+ accurate_position = false;
+}
+
void Train::block_reserved(const Block &block, const Train *train)
{
if(&block==pending_block && !train)
if(i->block->get_sensor_id())
++nsens;
+ if(end_of_route)
+ return nsens;
+
const Route *cur_route = 0;
if(route)
{
- unsigned exit = last->block->traverse(last->entry);
- Track *track = last->block->get_endpoints()[exit].track;
- if(route->get_tracks().count(track))
- cur_route = route;
- else if(next_route && next_route->get_tracks().count(track))
- cur_route = next_route;
+ const set<Track *> &tracks = last->block->get_tracks();
+ for(set<Track *>::const_iterator i=tracks.begin(); (cur_route!=route && i!=tracks.end()); ++i)
+ {
+ if(route->get_tracks().count(*i))
+ cur_route = route;
+ else if(next_route && next_route->get_tracks().count(*i))
+ cur_route = next_route;
+ }
}
bool got_more = false;
unsigned good_sens = nsens;
while(good_sens<3)
{
+ if(last->block->get_endpoints().size()<2)
+ {
+ good = last;
+ good_sens = nsens;
+ break;
+ }
+
// Traverse to the next block
unsigned exit = last->block->traverse(last->entry);
Block *link = last->block->get_link(exit);
last = &rsv_blocks.back();
}
- if(got_more)
- update_speed();
+ // Make any sensorless blocks at the beginning immediately current
+ list<BlockRef>::iterator i;
+ for(i=rsv_blocks.begin(); (i!=rsv_blocks.end() && !i->block->get_sensor_id()); ++i) ;
+ if(i!=rsv_blocks.begin())
+ cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
return good_sens;
}
-void Train::update_speed()
-{
- Driver &driver = layout.get_driver();
-
- unsigned speed;
- if(!target_speed)
- {
- speed = 0;
- set_status("Stopped");
- }
- else
- {
- unsigned nsens = 0;
- for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
- if(i->block->get_sensor_id())
- ++nsens;
-
- unsigned slow_speed = find_speed(0.1); // 31.3 km/h
- if(nsens==0)
- {
- speed = 0;
- pure_speed = false;
- set_status("Blocked");
- }
- else if(nsens==1 && target_speed>slow_speed)
- {
- speed = slow_speed;
- pure_speed = false;
- set_status("Slow");
- }
- else
- {
- speed = target_speed;
- set_status(format("Traveling %d kmh", travel_speed));
- }
- }
-
- driver.set_loco_speed(address, speed);
-}
-
float Train::get_real_speed(unsigned i) const
{
if(real_speed[i].weight)
return static_cast<unsigned>(low*(1-f)+high*f+0.5);
}
-void Train::set_status(const string &s)
+float Train::get_travel_speed() const
{
- status = s;
- signal_status_changed.emit(s);
+ float speed = get_real_speed(current_speed);
+ float scale = layout.get_catalogue().get_scale();
+ return static_cast<int>(round(speed/scale*3.6/5))*5;
}
-void Train::set_position(const Block::Endpoint &bep)
+void Train::set_status(const string &s)
{
- vehicles[0]->place(bep.track, bep.track_ep, 0, Vehicle::FRONT_AXLE);
+ status = s;
+ signal_status_changed.emit(s);
}
void Train::release_blocks(list<BlockRef> &blocks)
add("name", &Loader::name);
add("real_speed", &Loader::real_speed);
add("route", &Loader::route);
+ add("timetable", &Loader::timetable);
+ add("vehicle", &Loader::vehicle);
}
void Train::Loader::block(unsigned id)
blk.reserve(&obj);
obj.cur_blocks.push_back(BlockRef(&blk, entry));
obj.set_status("Stopped");
- obj.set_position(blk.get_endpoints()[entry]);
+ const Block::Endpoint &bep = blk.get_endpoints()[entry];
+ obj.vehicles.front()->place(bep.track, bep.track_ep, 0, Vehicle::BACK_BUFFER);
+
+ if(blk.get_sensor_id())
+ obj.layout.get_driver().set_sensor(blk.get_sensor_id(), true);
prev_block = &blk;
}
obj.set_route(&obj.layout.get_route(n));
}
+void Train::Loader::timetable()
+{
+ if(obj.timetable)
+ throw InvalidState("A timetable has already been loaded");
+
+ obj.timetable = new Timetable(obj);
+ load_sub(*obj.timetable);
+}
+
+void Train::Loader::vehicle(unsigned n)
+{
+ const VehicleType &vtype = obj.layout.get_catalogue().get_vehicle(n);
+ Vehicle *veh = new Vehicle(obj.layout, vtype);
+ obj.vehicles.back()->attach_back(*veh);
+ obj.vehicles.push_back(veh);
+}
+
} // namespace Marklin
projects / r2c2.git / blobdiff