#include <msp/time/units.h>
#include <msp/time/utils.h>
#include "control.h"
+#include "except.h"
+#include "layout.h"
+#include "route.h"
#include "tracktype.h"
#include "trafficmanager.h"
#include "train.h"
using namespace std;
using namespace Msp;
-#include <iostream>
-
namespace Marklin {
Train::Train(TrafficManager &tm, Locomotive &l):
trfc_mgr(tm),
loco(l),
+ pending_block(0),
target_speed(0),
+ route(0),
status("Unplaced"),
travel_dist(0),
travel_speed(0),
pure_speed(false),
- speed_scale(0.02),
- speed_scale_weight(0),
+ real_speed(15),
cur_track(0)
{
trfc_mgr.add_train(this);
- const map<unsigned, Sensor *> &sensors=trfc_mgr.get_control().get_sensors();
+ loco.signal_reverse_changed.connect(sigc::mem_fun(this, &Train::locomotive_reverse_changed));
+
+ const map<unsigned, Sensor *> &sensors = trfc_mgr.get_control().get_sensors();
for(map<unsigned, Sensor *>::const_iterator i=sensors.begin(); i!=sensors.end(); ++i)
i->second->signal_state_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::sensor_event), i->second));
+
+ const map<unsigned, Turnout *> &turnouts = trfc_mgr.get_control().get_turnouts();
+ for(map<unsigned, Turnout *>::const_iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
+ {
+ i->second->signal_path_changing.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changing), i->second));
+ i->second->signal_path_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changed), i->second));
+ }
+
+ trfc_mgr.signal_block_reserved.connect(sigc::mem_fun(this, &Train::block_reserved));
}
void Train::set_name(const string &n)
{
- name=n;
+ name = n;
signal_name_changed.emit(name);
}
void Train::set_speed(unsigned speed)
{
- if(!target_speed && speed)
- travel_speed=static_cast<int>(round(speed*speed_scale*87*3.6/5))*5;
+ if(speed==target_speed)
+ return;
+ travel_speed = static_cast<int>(round(get_real_speed(speed)*87*3.6/5))*5;
- target_speed=speed;
+ target_speed = speed;
if(!target_speed)
{
- // XXX We might roll onto a new sensor and get confused - should delay freeing blocks a bit
- for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
- i->block->reserve(0);
- rsv_blocks.clear();
+ pending_block = 0;
+ trfc_mgr.get_control().set_timer(3*Time::sec).signal_timeout.connect(
+ sigc::bind_return(sigc::bind(
+ sigc::mem_fun(this, static_cast<void (Train::*)(list<BlockRef> &)>(&Train::release_blocks)),
+ sigc::ref(rsv_blocks)), false));
}
+ else
+ reserve_more();
+
+ signal_target_speed_changed.emit(target_speed);
update_speed();
- pure_speed=false;
+ pure_speed = false;
}
-void Train::place(Block *block, unsigned entry)
+void Train::set_reverse(bool rev)
{
- for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end();)
- {
- i->block->reserve(0);
- i=rsv_blocks.erase(i);
- }
+ loco.set_reverse(rev);
+}
- for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end();)
- {
- i->block->reserve(0);
- i=cur_blocks.erase(i);
- }
+void Train::set_route(const Route *r)
+{
+ route = r;
+ signal_route_changed.emit(route);
+}
+
+void Train::place(Block &block, unsigned entry)
+{
+ if(target_speed)
+ set_speed(0);
+
+ release_blocks(rsv_blocks);
+ release_blocks(cur_blocks);
- if(!block->reserve(this))
+ if(!block.reserve(this))
{
set_status("Unplaced");
return;
}
- cur_blocks.push_back(BlockRef(block, entry));
- set_position(block->get_endpoints()[entry]);
+ cur_blocks.push_back(BlockRef(&block, entry));
+ set_position(block.get_endpoints()[entry]);
set_status("Stopped");
}
-bool Train::free_block(Block *block)
+bool Train::free_block(Block &block)
{
+ unsigned nsens = 0;
for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
- if(i->block==block)
+ {
+ if(i->block==&block)
{
- while(i!=rsv_blocks.end())
- {
- i->block->reserve(0);
- i=rsv_blocks.erase(i);
- }
+ if(nsens<1)
+ return false;
+ release_blocks(rsv_blocks, i, rsv_blocks.end());
+ update_speed();
return true;
}
+ else if(i->block->get_sensor_id())
+ ++nsens;
+ }
return false;
}
-void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
+int Train::get_entry_to_block(Block &block) const
{
- if(try_reserve && t>try_reserve)
- update_speed();
+ for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
+ if(i->block==&block)
+ return i->entry;
+ for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
+ if(i->block==&block)
+ return i->entry;
+ return -1;
+}
+void Train::tick(const Time::TimeStamp &, const Time::TimeDelta &dt)
+{
if(cur_track)
{
- unsigned route=0;
+ unsigned path = 0;
if(cur_track->get_turnout_id())
- route=trfc_mgr.get_control().get_turnout(cur_track->get_turnout_id()).get_route();
+ path = trfc_mgr.get_control().get_turnout(cur_track->get_turnout_id()).get_path();
- offset+=speed_scale*loco.get_speed()*(dt/Time::sec);
- if(offset>cur_track->get_type().get_route_length(route))
+ offset += get_real_speed(loco.get_speed())*(dt/Time::sec);
+ float path_len = cur_track->get_type().get_path_length(path);
+ if(offset>path_len)
{
- int out=cur_track->traverse(cur_track_ep, route);
- if(out>=0)
+ unsigned out = cur_track->traverse(cur_track_ep, path);
+ Track *next = cur_track->get_link(out);
+
+ bool ok = false;
+ for(list<BlockRef>::const_iterator i=cur_blocks.begin(); (!ok && i!=cur_blocks.end()); ++i)
+ ok = i->block->get_tracks().count(next);
+
+ if(ok)
{
- Track *next=cur_track->get_link(out);
if(next)
- cur_track_ep=next->get_endpoint_by_link(*cur_track);
- cur_track=next;
- offset=0;
+ cur_track_ep = next->get_endpoint_by_link(*cur_track);
+ cur_track = next;
+ offset = 0;
}
else
- cur_track=0;
+ offset = path_len-0.001;
}
if(cur_track)
- pos=cur_track->get_point(cur_track_ep, route, offset);
+ pos = cur_track->get_point(cur_track_ep, path, offset);
}
}
void Train::save(list<DataFile::Statement> &st) const
{
st.push_back((DataFile::Statement("name"), name));
- st.push_back((DataFile::Statement("speed_scale"), speed_scale, speed_scale_weight));
+ 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(!cur_blocks.empty())
+ {
+ list<BlockRef> blocks = cur_blocks;
+ if(loco.get_reverse())
+ reverse_blocks(blocks);
+
+ Block *prev = blocks.front().block->get_endpoints()[blocks.front().entry].link;
+ st.push_back((DataFile::Statement("block_hint"), prev->get_id()));
+
+ for(list<BlockRef>::const_iterator i=blocks.begin(); i!=blocks.end(); ++i)
+ st.push_back((DataFile::Statement("block"), i->block->get_id()));
+ }
+}
+
+void Train::locomotive_reverse_changed(bool)
+{
+ release_blocks(rsv_blocks);
+ reverse_blocks(cur_blocks);
+ reserve_more();
+
+ if(cur_track)
+ {
+ unsigned path = 0;
+ if(unsigned turnout = cur_track->get_turnout_id())
+ path = trfc_mgr.get_control().get_turnout(turnout).get_path();
+ cur_track_ep = cur_track->traverse(cur_track_ep, path);
+ offset = cur_track->get_type().get_path_length(path)-offset;
+ }
}
void Train::sensor_event(bool state, Sensor *sensor)
{
- unsigned addr=sensor->get_address();
+ unsigned addr = sensor->get_address();
if(state)
{
+ // Find the first sensor block from our reserved blocks that isn't this sensor
list<BlockRef>::iterator i;
for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
if(i!=rsv_blocks.begin())
{
- 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;
+ // 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)
{
- float weight=loco.get_speed()*travel_dist;
- if(weight)
- {
- weight*=weight;
- float scale=travel_dist/travel_time_secs/loco.get_speed();
- cout<<"Updating speed_scale: "<<speed_scale<<'x'<<speed_scale_weight<<" + "<<scale<<'x'<<weight<<'\n';
- speed_scale=(speed_scale*speed_scale_weight+scale*weight)/(speed_scale_weight+weight);
- speed_scale_weight+=weight;
- cout<<" Result: "<<speed_scale<<'x'<<speed_scale_weight<<'\n';
- }
+ RealSpeed &rs = real_speed[loco.get_speed()];
+ rs.add(travel_dist/travel_time_secs, travel_time_secs);
}
- travel_dist=0;
+ travel_dist = 0;
float block_len;
for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
{
j->block->traverse(j->entry, &block_len);
- travel_dist+=block_len;
+ travel_dist += block_len;
+
+ if(j->block->get_sensor_id()==addr)
+ set_position(j->block->get_endpoints()[j->entry]);
}
- last_entry_time=Time::now();
- pure_speed=true;
+ last_entry_time = Time::now();
+ pure_speed = true;
+ // Move blocks up to the next sensor to our current blocks
cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
- }
-
- for(i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
- if(i->block->get_sensor_id()==addr)
- set_position(i->block->get_endpoints()[i->entry]);
- if(target_speed)
- update_speed();
+ // Try to get more blocks if we're moving
+ if(target_speed && reserve_more()<2)
+ update_speed();
+ }
}
else
{
+ // Find the first sensor in our current blocks that's still active
+ list<BlockRef>::iterator end = cur_blocks.begin();
for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
- if(i->block->get_sensor_id()==addr)
+ if(i->block->get_sensor_id())
{
- ++i;
- for(list<BlockRef>::iterator j=cur_blocks.begin(); j!=i; ++j)
- j->block->reserve(0);
- cur_blocks.erase(cur_blocks.begin(), i);
- break;
+ if(trfc_mgr.get_control().get_sensor(i->block->get_sensor_id()).get_state())
+ break;
+ else
+ end = i;
}
+
+ if(end!=cur_blocks.begin())
+ {
+ // Free blocks up to the last inactive sensor
+ ++end;
+ release_blocks(cur_blocks, cur_blocks.begin(), end);
+ }
+ }
+}
- if(target_speed)
- reserve_more();
+void Train::turnout_path_changing(unsigned, Turnout *turnout)
+{
+ unsigned tid = turnout->get_address();
+ for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
+ if(i->block->get_turnout_id()==tid)
+ throw TurnoutBusy(this);
+
+ unsigned nsens = 0;
+ for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
+ {
+ if(i->block->get_turnout_id()==tid)
+ {
+ if(nsens<1)
+ throw TurnoutBusy(this);
+ break;
+ }
+ else if(i->block->get_sensor_id())
+ ++nsens;
}
}
+void Train::turnout_path_changed(unsigned, Turnout *turnout)
+{
+ unsigned tid = turnout->get_address();
+ for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
+ if(i->block->get_turnout_id()==tid)
+ {
+ release_blocks(rsv_blocks, i, rsv_blocks.end());
+ reserve_more();
+ return;
+ }
+
+ if(pending_block && tid==pending_block->get_turnout_id())
+ reserve_more();
+}
+
+void Train::block_reserved(const Block &block, const Train *train)
+{
+ if(&block==pending_block && !train)
+ reserve_more();
+}
+
unsigned Train::reserve_more()
{
- BlockRef *last=0;
+ BlockRef *last = 0;
if(!rsv_blocks.empty())
- last=&rsv_blocks.back();
+ last = &rsv_blocks.back();
else if(!cur_blocks.empty())
- last=&cur_blocks.back();
+ last = &cur_blocks.back();
if(!last)
return 0;
- unsigned nsens=0;
+ pending_block = 0;
+
+ // See how many blocks we already have
+ unsigned nsens = 0;
for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
if(i->block->get_sensor_id())
++nsens;
- bool result=false;
- while(nsens<2)
+ bool got_more = false;
+ BlockRef *good = last;
+ unsigned good_sens = nsens;
+ while(good_sens<3)
{
- int exit=last->block->traverse(last->entry);
- if(exit>=0)
+ // Traverse to the next block
+ unsigned exit = last->block->traverse(last->entry);
+ Block *link = last->block->get_link(exit);
+ if(!link)
+ break;
+
+ int entry = link->get_endpoint_by_link(*last->block);
+ if(entry<0)
+ throw LogicError("Block links are inconsistent!");
+ if(!link->reserve(this))
{
- Block *link=last->block->get_link(exit);
- if(link && link->reserve(this))
+ // If we found another train and it's not headed straight for us, we can keep the blocks we got
+ int other_entry = link->get_train()->get_entry_to_block(*link);
+ if(other_entry<0)
+ throw LogicError("Block reservation inconsistency");
+ if(static_cast<unsigned>(entry)!=link->traverse(other_entry))
{
- rsv_blocks.push_back(BlockRef(link, link->get_endpoint_by_link(*last->block)));
- last=&rsv_blocks.back();
- if(last->block->get_sensor_id())
- {
- ++nsens;
- result=true;
- }
+ good = last;
+ good_sens = nsens;
}
- else
+ pending_block = link;
+ break;
+ }
+
+ if(link->get_turnout_id())
+ {
+ const Block::Endpoint &ep = link->get_endpoints()[entry];
+ const Endpoint &track_ep = ep.track->get_type().get_endpoints()[ep.track_ep];
+
+ // Keep the blocks reserved so far, as either us or the other train can diverge
+ good = last;
+ good_sens = nsens;
+
+ Turnout &turnout = trfc_mgr.get_control().get_turnout(link->get_turnout_id());
+
+ // Figure out what path we'd like to take on the turnout
+ int path = -1;
+ if(route)
+ path = route->get_turnout(link->get_turnout_id());
+ if(path<0)
+ path = turnout.get_path();
+ if(!((track_ep.paths>>path)&1))
+ {
+ for(unsigned i=0; track_ep.paths>>i; ++i)
+ if((track_ep.paths>>i)&1)
+ path = i;
+ }
+
+ if(path!=turnout.get_path())
+ {
+ // The turnout is set to wrong path - switch and wait for it
+ link->reserve(0);
+ pending_block = link;
+ turnout.set_path(path);
break;
+ }
+ }
+
+ rsv_blocks.push_back(BlockRef(link, entry));
+ last = &rsv_blocks.back();
+ if(last->block->get_sensor_id())
+ {
+ ++nsens;
+ got_more = true;
}
- else
- break;
}
- while(last && !last->block->get_sensor_id())
+ // Unreserve blocks that were not good
+ while(!rsv_blocks.empty() && last!=good)
{
last->block->reserve(0);
rsv_blocks.erase(--rsv_blocks.end());
if(!rsv_blocks.empty())
- last=&rsv_blocks.back();
- else
- last=0;
+ last = &rsv_blocks.back();
}
+ if(got_more)
+ update_speed();
+
return nsens;
}
if(!target_speed)
{
loco.set_speed(0);
- try_reserve=Time::TimeStamp();
set_status("Stopped");
}
else
{
- unsigned n=reserve_more();
- if(n==0)
+ 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)
{
loco.set_speed(0);
- pure_speed=false;
- try_reserve=Time::now()+2*Time::sec;
+ pure_speed = false;
set_status("Blocked");
}
- else if(n==1)
+ else if(nsens==1 && target_speed>slow_speed)
{
- loco.set_speed(3);
- pure_speed=false;
- try_reserve=Time::now()+2*Time::sec;
+ loco.set_speed(slow_speed);
+ pure_speed = false;
set_status("Slow");
}
else
{
loco.set_speed(target_speed);
- try_reserve=Time::TimeStamp();
set_status(format("Traveling %d kmh", travel_speed));
}
}
}
+float Train::get_real_speed(unsigned i) const
+{
+ if(real_speed[i].weight)
+ return real_speed[i].speed;
+
+ unsigned low;
+ unsigned high;
+ for(low=i; low>0; --low)
+ if(real_speed[low].weight)
+ break;
+ for(high=i; high<14; ++high)
+ if(real_speed[high].weight)
+ break;
+
+ if(real_speed[high].weight)
+ {
+ if(real_speed[low].weight)
+ {
+ float f = float(i-low)/(high-low);
+ return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
+ }
+ else
+ return real_speed[high].speed*float(i)/high;
+ }
+ else if(real_speed[low].weight)
+ return real_speed[low].speed*float(i)/low;
+ else
+ return 0;
+}
+
+unsigned Train::find_speed(float real) const
+{
+ if(real<=real_speed[0].speed)
+ return 0;
+
+ unsigned low = 0;
+ unsigned high = 0;
+ for(unsigned i=0; (!high && i<=14); ++i)
+ if(real_speed[i].weight)
+ {
+ if(real_speed[i].speed<real)
+ low = i;
+ else
+ high = i;
+ }
+ if(!high)
+ {
+ if(!low)
+ return 0;
+ return min(static_cast<unsigned>(low*real/real_speed[low].speed), 14U);
+ }
+
+ float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
+ return static_cast<unsigned>(low*(1-f)+high*f+0.5);
+}
+
void Train::set_status(const string &s)
{
- status=s;
+ status = s;
signal_status_changed.emit(s);
}
void Train::set_position(const Block::Endpoint &bep)
{
- cur_track=bep.track;
- cur_track_ep=bep.track_ep;
- offset=0;
- pos=cur_track->get_endpoint_position(cur_track_ep);
+ cur_track = bep.track;
+ cur_track_ep = bep.track_ep;
+ offset = 0;
+ pos = cur_track->get_endpoint_position(cur_track_ep);
+}
+
+void Train::release_blocks(list<BlockRef> &blocks)
+{
+ release_blocks(blocks, blocks.begin(), blocks.end());
+}
+
+void Train::release_blocks(list<BlockRef> &blocks, list<BlockRef>::iterator begin, list<BlockRef>::iterator end)
+{
+ while(begin!=end)
+ {
+ Block *block = begin->block;
+ blocks.erase(begin++);
+ block->reserve(0);
+ }
+}
+
+void Train::reverse_blocks(list<BlockRef> &blocks) const
+{
+ blocks.reverse();
+ for(list<BlockRef>::iterator i=blocks.begin(); i!=blocks.end(); ++i)
+ i->entry = i->block->traverse(i->entry);
+}
+
+
+Train::RealSpeed::RealSpeed():
+ speed(0),
+ weight(0)
+{ }
+
+void Train::RealSpeed::add(float s, float w)
+{
+ speed = (speed*weight+s*w)/(weight+w);
+ weight = min(weight+w, 300.0f);
}
Train::Loader::Loader(Train &t):
- DataFile::BasicLoader<Train>(t)
+ DataFile::BasicLoader<Train>(t),
+ prev_block(0)
+{
+ add("block", &Loader::block);
+ add("block_hint", &Loader::block_hint);
+ add("name", &Loader::name);
+ add("real_speed", &Loader::real_speed);
+ add("route", &Loader::route);
+}
+
+void Train::Loader::block(unsigned id)
+{
+ Block &blk = obj.trfc_mgr.get_block(id);
+ int entry = -1;
+ if(prev_block)
+ entry = blk.get_endpoint_by_link(*prev_block);
+ if(entry<0)
+ entry = 0;
+
+ blk.reserve(&obj);
+ obj.cur_blocks.push_back(BlockRef(&blk, entry));
+ obj.set_status("Stopped");
+ obj.set_position(blk.get_endpoints()[entry]);
+
+ prev_block = &blk;
+}
+
+void Train::Loader::block_hint(unsigned id)
+{
+ prev_block = &obj.trfc_mgr.get_block(id);
+}
+
+void Train::Loader::name(const string &n)
+{
+ obj.set_name(n);
+}
+
+void Train::Loader::real_speed(unsigned i, float speed, float weight)
+{
+ obj.real_speed[i].speed = speed;
+ obj.real_speed[i].weight = weight;
+}
+
+void Train::Loader::route(const string &n)
{
- add("name", &Train::name);
- add("speed_scale", &Train::speed_scale, &Train::speed_scale_weight);
+ obj.set_route(&obj.trfc_mgr.get_layout().get_route(n));
}
} // namespace Marklin
projects / r2c2.git / blobdiff