/* $Id$
This file is part of the MSP Märklin suite
-Copyright © 2006-2009 Mikkosoft Productions, Mikko Rasa
+Copyright © 2006-2010 Mikkosoft Productions, Mikko Rasa
Distributed under the GPL
*/
#include <msp/strings/formatter.h>
#include <msp/time/units.h>
#include <msp/time/utils.h>
-#include "control.h"
-#include "except.h"
+#include "aicontrol.h"
+#include "catalogue.h"
+#include "driver.h"
+#include "layout.h"
+#include "route.h"
+#include "simplecontroller.h"
+#include "timetable.h"
+#include "trackiter.h"
#include "tracktype.h"
-#include "trafficmanager.h"
#include "train.h"
+#include "vehicle.h"
+#include "vehicletype.h"
using namespace std;
using namespace Msp;
+namespace {
+
+struct SetFlag
+{
+ bool &flag;
+
+ SetFlag(bool &f): flag(f) { flag = true; }
+ ~SetFlag() { flag = false; }
+};
+
+}
+
+
namespace Marklin {
-Train::Train(TrafficManager &tm, Locomotive &l):
- trfc_mgr(tm),
- loco(l),
- target_speed(0),
+Train::Train(Layout &l, const VehicleType &t, unsigned a, const string &p):
+ layout(l),
+ loco_type(t),
+ address(a),
+ protocol(p),
+ priority(0),
+ yielding_to(0),
+ cur_blocks_end(blocks.end()),
+ clear_blocks_end(blocks.end()),
+ pending_block(0),
+ reserving(false),
+ advancing(false),
+ controller(new AIControl(*this, new SimpleController)),
+ timetable(0),
+ active(false),
+ current_speed_step(0),
+ speed_changing(false),
+ reverse(false),
+ functions(0),
+ end_of_route(false),
status("Unplaced"),
travel_dist(0),
- travel_speed(0),
pure_speed(false),
- real_speed(15),
- cur_track(0)
+ real_speed(layout.get_driver().get_protocol_speed_steps(protocol)+1),
+ accurate_position(false),
+ overshoot_dist(false)
{
- trfc_mgr.add_train(this);
+ if(!loco_type.is_locomotive())
+ throw InvalidParameterValue("Initial vehicle must be a locomotive");
- loco.signal_reverse_changed.connect(sigc::mem_fun(this, &Train::locomotive_reverse_changed));
+ vehicles.push_back(new Vehicle(layout, loco_type));
- 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));
+ layout.add_train(*this);
- 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_route_changing.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_route_changing), i->second));
- i->second->signal_route_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_route_changed), i->second));
- }
+ layout.get_driver().add_loco(address, protocol);
+ layout.get_driver().signal_loco_speed.connect(sigc::mem_fun(this, &Train::loco_speed_event));
+ layout.get_driver().signal_loco_function.connect(sigc::mem_fun(this, &Train::loco_func_event));
+
+ 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_halt.connect(sigc::mem_fun(this, &Train::halt_event));
+
+ const set<Track *> &tracks = layout.get_tracks();
+ for(set<Track *>::const_iterator i=tracks.begin(); i!=tracks.end(); ++i)
+ if((*i)->get_turnout_id())
+ (*i)->signal_path_changed.connect(sigc::hide(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changed), sigc::ref(**i))));
+
+ controller->signal_control_changed.connect(sigc::mem_fun(this, &Train::control_changed));
+}
+
+Train::~Train()
+{
+ delete controller;
+ delete timetable;
+ for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
+ delete *i;
+ layout.remove_train(*this);
}
void Train::set_name(const string &n)
signal_name_changed.emit(name);
}
-void Train::set_speed(unsigned speed)
+void Train::set_priority(int p)
+{
+ priority = p;
+}
+
+void Train::yield_to(const Train &t)
+{
+ yielding_to = &t;
+}
+
+void Train::add_vehicle(const VehicleType &vt)
{
- if(speed==target_speed)
+ Vehicle *veh = new Vehicle(layout, vt);
+ vehicles.back()->attach_back(*veh);
+ vehicles.push_back(veh);
+}
+
+void Train::remove_vehicle(unsigned i)
+{
+ if(i>=vehicles.size())
+ throw InvalidParameterValue("Vehicle index out of range");
+ if(i==0)
+ throw InvalidParameterValue("Can't remove the locomotive");
+ delete vehicles[i];
+ vehicles.erase(vehicles.begin()+i);
+ if(i<vehicles.size())
+ vehicles[i-1]->attach_back(*vehicles[i]);
+}
+
+unsigned Train::get_n_vehicles() const
+{
+ return vehicles.size();
+}
+
+Vehicle &Train::get_vehicle(unsigned i)
+{
+ if(i>=vehicles.size())
+ throw InvalidParameterValue("Vehicle index out of range");
+ return *vehicles[i];
+}
+
+const Vehicle &Train::get_vehicle(unsigned i) const
+{
+ if(i>=vehicles.size())
+ throw InvalidParameterValue("Vehicle index out of range");
+ return *vehicles[i];
+}
+
+void Train::set_control(const string &n, float v)
+{
+ controller->set_control(n, v);
+}
+
+void Train::set_active(bool a)
+{
+ if(a==active)
return;
- travel_speed = static_cast<int>(round(get_real_speed(speed)*87*3.6/5))*5;
+ if(!a && controller->get_speed())
+ throw InvalidState("Can't deactivate while moving");
- target_speed = speed;
- if(!target_speed)
+ active = a;
+ if(active)
{
- trfc_mgr.get_control().set_timer(3*Time::sec).signal_timeout.connect(
- sigc::bind_return(sigc::mem_fun(this, &Train::release_reserved_blocks), false));
+ stop_timeout = Time::TimeStamp();
+ reserve_more();
}
else
- reserve_more();
+ {
+ stop_timeout = Time::now()+2*Time::sec;
+ set_status("Stopped");
+ }
+}
+
+void Train::set_function(unsigned func, bool state)
+{
+ if(!loco_type.get_functions().count(func))
+ throw InvalidParameterValue("Invalid function");
+ if(func<5)
+ layout.get_driver().set_loco_function(address, func, state);
+ else
+ layout.get_driver().set_loco_function(address+1, func-4, state);
+}
- signal_target_speed_changed.emit(target_speed);
+float Train::get_control(const string &ctrl) const
+{
+ return controller->get_control(ctrl).value;
+}
- update_speed();
- pure_speed = false;
+float Train::get_speed() const
+{
+ return controller->get_speed();
}
-void Train::set_reverse(bool rev)
+bool Train::get_function(unsigned func) const
{
- loco.set_reverse(rev);
+ return (functions>>func)&1;
}
-void Train::place(Block *block, unsigned entry)
+void Train::set_timetable(Timetable *tt)
{
- for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end();)
+ delete timetable;
+ timetable = tt;
+}
+
+bool Train::set_route(const Route *r)
+{
+ free_noncritical_blocks();
+
+ Route *lead = 0;
+ if(r && !blocks.empty())
{
- i->block->reserve(0);
- i = rsv_blocks.erase(i);
+ TrackIter first = blocks.front().track_iter();
+ TrackIter next = blocks.back().next().track_iter();
+ if(!r->has_track(*next))
+ {
+ lead = Route::find(next, *r);
+ if(!lead)
+ return false;
+ create_lead_route(lead, lead);
+ routes.push_front(lead);
+ }
+ else if(!r->has_track(*first))
+ lead = create_lead_route(0, r);
+ }
+
+ routes.clear();
+ if(lead)
+ routes.push_back(lead);
+ if(r)
+ routes.push_back(r);
+ end_of_route = false;
+
+ reserve_more();
+
+ signal_route_changed.emit(get_route());
+
+ return true;
+}
+
+bool Train::go_to(Track &to)
+{
+ for(BlockList::const_iterator i=blocks.begin(); i!=cur_blocks_end; ++i)
+ if((*i)->has_track(to))
+ {
+ signal_arrived.emit();
+ return set_route(0);
+ }
+
+ free_noncritical_blocks();
+
+ TrackIter next = blocks.back().next().track_iter();
+
+ Route *route = Route::find(next, to);
+ if(!route)
+ return false;
+ create_lead_route(route, route);
+ return set_route(route);
+}
+
+bool Train::divert(Track &from)
+{
+ if(!from.get_turnout_id())
+ throw InvalidParameterValue("Can't divert from a non-turnout");
+ if(routes.empty())
+ return false;
+
+ unsigned path = 0;
+ unsigned entry = 0;
+ list<RouteRef>::iterator route = routes.begin();
+
+ // Follow our routes to find out where we're entering the turnout
+ for(TrackLoopIter track = blocks.front().track_iter();;)
+ {
+ if(!advance_route(route, *track))
+ return false;
+
+ if(&*track==&from)
+ {
+ Block &block = track->get_block();
+ if(block.get_train()==this && !free_block(block))
+ return false;
+
+ int route_path = route->route->get_turnout(from.get_turnout_id());
+
+ // Check that more than one path is available
+ unsigned ep_paths = track.endpoint().paths;
+ if(!(ep_paths&(ep_paths-1)))
+ return false;
+
+ // Choose some other path
+ for(int i=0; ep_paths>>i; ++i)
+ if((ep_paths&(1<<i)) && i!=route_path)
+ {
+ path = i;
+ break;
+ }
+
+ entry = track.entry();
+ break;
+ }
+
+ track = track.next(route->route->get_path(*track));
+
+ if(!track || track.looped())
+ return false;
}
- for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end();)
+ TrackIter track = TrackIter(&from, entry).next(path);
+ if(!track)
+ return false;
+
+ set<Track *> tracks;
+ for(list<RouteRef>::iterator i=routes.begin(); i!=routes.end(); ++i)
+ tracks.insert(i->route->get_tracks().begin(), i->route->get_tracks().end());
+ RefPtr<Route> diversion = Route::find(track, tracks);
+ if(!diversion)
+ return false;
+
+ diversion->set_name("Diversion");
+ diversion->add_track(from);
+ diversion->set_turnout(from.get_turnout_id(), path);
+
+ if(!is_valid_diversion(*diversion, TrackIter(&from, entry)))
+ return false;
+
+ // Follow the diversion route until we get back to the original route
+ list<RouteRef>::iterator end = routes.end();
+ while(1)
{
- i->block->reserve(0);
- i = cur_blocks.erase(i);
+ for(list<RouteRef>::iterator i=route; (end==routes.end() && i!=routes.end()); ++i)
+ if(i->route->has_track(*track))
+ end = i;
+
+ if(end!=routes.end())
+ break;
+ else if(!diversion->has_track(*track))
+ throw LogicError("Pathfinder returned a bad route");
+
+ track = track.next(diversion->get_path(*track));
}
- if(!block->reserve(this))
+ if(route==end)
+ // We are rejoining the same route we diverted from, duplicate it
+ routes.insert(end, *route);
+ else
+ {
+ ++route;
+ routes.erase(route, end);
+ }
+ routes.insert(end, RouteRef(diversion.release(), from.get_turnout_id()));
+
+ return true;
+}
+
+const Route *Train::get_route() const
+{
+ if(routes.empty())
+ return 0;
+ return routes.front().route;
+}
+
+void Train::place(Block &block, unsigned entry)
+{
+ if(controller->get_speed())
+ throw InvalidState("Must be stopped before placing");
+
+ release_blocks();
+
+ set_active(false);
+ accurate_position = false;
+
+ if(!block.reserve(this))
{
set_status("Unplaced");
return;
}
- cur_blocks.push_back(BlockRef(block, entry));
- set_position(block->get_endpoints()[entry]);
+ blocks.push_back(BlockIter(&block, entry));
+ if(reverse)
+ {
+ TrackIter track = BlockIter(&block, entry).reverse().track_iter();
+ vehicles.front()->place(*track, track.entry(), 0, Vehicle::FRONT_BUFFER);
+ }
+ else
+ {
+ const Block::Endpoint &bep = block.get_endpoint(entry);
+ vehicles.back()->place(*bep.track, bep.track_ep, 0, Vehicle::BACK_BUFFER);
+ }
+}
+
+void Train::unplace()
+{
+ if(controller->get_speed())
+ throw InvalidState("Must be stopped before unplacing");
+
+ release_blocks();
- set_status("Stopped");
+ set_active(false);
+ accurate_position = false;
+
+ for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
+ (*i)->unplace();
+
+ set_status("Unplaced");
}
-bool Train::free_block(Block *block)
+bool Train::free_block(Block &block)
{
+ float margin = 10*layout.get_catalogue().get_scale();
+ if(get_reserved_distance_until(&block, false)<controller->get_braking_distance()*1.3+margin)
+ return false;
+
unsigned nsens = 0;
- for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
+ for(BlockList::iterator i=cur_blocks_end; i!=blocks.end(); ++i)
{
- if(i->block==block)
+ if(i->block()==&block)
{
if(nsens<1)
return false;
- while(i!=rsv_blocks.end())
- {
- i->block->reserve(0);
- i = rsv_blocks.erase(i);
- }
- update_speed();
+ release_blocks(i, blocks.end());
return true;
}
- else if(i->block->get_sensor_id())
+ else if((*i)->get_sensor_id())
++nsens;
}
return false;
}
+void Train::free_noncritical_blocks()
+{
+ if(blocks.empty())
+ return;
+
+ if(controller->get_speed()==0)
+ {
+ release_blocks(cur_blocks_end, blocks.end());
+ return;
+ }
+
+ float margin = 10*layout.get_catalogue().get_scale();
+ float min_dist = controller->get_braking_distance()*1.3+margin;
+
+ Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
+
+ TrackIter track(veh.get_track(), veh.get_entry());
+ BlockList::iterator block = blocks.begin();
+ bool in_rsv = false;
+ while(block!=blocks.end() && !(*block)->has_track(*track))
+ {
+ ++block;
+ if(block==cur_blocks_end)
+ in_rsv = true;
+ }
+
+ float dist = veh.get_offset();
+ if(reverse)
+ track.reverse();
+ else
+ dist = track->get_type().get_path_length(track->get_active_path())-dist;
+ dist -= veh.get_type().get_length()/2;
+
+ bool nsens = 0;
+ while(1)
+ {
+ track = track.next();
+
+ if(!(*block)->has_track(*track))
+ {
+ ++block;
+ if(block==cur_blocks_end)
+ in_rsv = true;
+ if(block==blocks.end())
+ return;
+
+ if(dist>min_dist && nsens>0)
+ {
+ release_blocks(block, blocks.end());
+ return;
+ }
+
+ if(in_rsv && (*block)->get_sensor_id())
+ ++nsens;
+ }
+
+ dist += track->get_type().get_path_length(track->get_active_path());
+ }
+}
+
+int Train::get_entry_to_block(Block &block) const
+{
+ for(BlockList::const_iterator i=blocks.begin(); i!=blocks.end(); ++i)
+ if(i->block()==&block)
+ return i->entry();
+ return -1;
+}
+
+float Train::get_reserved_distance() const
+{
+ return get_reserved_distance_until(0, false);
+}
+
void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
{
- if(try_reserve && t>try_reserve)
+ if(!active && stop_timeout && t>=stop_timeout)
{
+ release_blocks(cur_blocks_end, blocks.end());
+ stop_timeout = Time::TimeStamp();
+ }
+
+ Driver &driver = layout.get_driver();
+
+ if(timetable)
+ timetable->tick(t);
+ controller->tick(dt);
+ float speed = controller->get_speed();
+ unsigned speed_step = find_speed_step(speed);
+
+ if(controller->get_reverse()!=reverse)
+ {
+ reverse = controller->get_reverse();
+ driver.set_loco_reverse(address, reverse);
+
+ release_blocks(cur_blocks_end, blocks.end());
+ reverse_blocks(blocks);
+
reserve_more();
- update_speed();
}
+ if(speed_step!=current_speed_step && !speed_changing && !driver.is_halted() && driver.get_power())
+ {
+ speed_changing = true;
+ driver.set_loco_speed(address, speed_step);
+
+ pure_speed = false;
- if(cur_track)
+ if(speed_step)
+ set_status(format("Traveling %d kmh", get_travel_speed()));
+ else
+ set_status("Waiting");
+ }
+
+ if(speed)
{
- unsigned route = 0;
- if(cur_track->get_turnout_id())
- route = trfc_mgr.get_control().get_turnout(cur_track->get_turnout_id()).get_route();
+ if(!active)
+ set_active(true);
+
+ Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
+ Track *track = vehicle.get_track();
+
+ bool ok = false;
+ for(BlockList::const_iterator i=blocks.begin(); (!ok && i!=cur_blocks_end); ++i)
+ ok = (*i)->has_track(*track);
- offset += get_real_speed(loco.get_speed())*(dt/Time::sec);
- if(offset>cur_track->get_type().get_route_length(route))
+ float d;
+ if(real_speed.size()>1)
+ d = get_real_speed(current_speed_step)*(dt/Time::sec);
+ else
+ d = speed*(dt/Time::sec);
+ if(ok)
+ {
+ SetFlag setf(advancing);
+ vehicle.advance(reverse ? -d : d);
+ }
+ else if(accurate_position)
{
- int out = cur_track->traverse(cur_track_ep, route);
- if(out>=0)
+ overshoot_dist += d;
+ if(overshoot_dist>40*layout.get_catalogue().get_scale())
{
- Track *next = cur_track->get_link(out);
- if(next)
- cur_track_ep = next->get_endpoint_by_link(*cur_track);
- cur_track = next;
- offset = 0;
+ layout.emergency(name+" has not arrived at sensor");
+ accurate_position = false;
}
- else
- cur_track = 0;
}
+ }
+ else if(end_of_route && cur_blocks_end==blocks.end())
+ {
+ set_active(false);
+ signal_arrived.emit();
+ set_route(0);
+ }
- if(cur_track)
- pos = cur_track->get_point(cur_track_ep, route, offset);
+ if(!blocks.empty() && !blocks.front()->get_sensor_id())
+ {
+ float dist = get_reserved_distance_until(&*blocks.front(), true);
+
+ if(dist>10*layout.get_catalogue().get_scale())
+ {
+ blocks.front()->reserve(0);
+ blocks.pop_front();
+ }
}
}
void Train::save(list<DataFile::Statement> &st) const
{
st.push_back((DataFile::Statement("name"), name));
- for(unsigned i=0; i<=14; ++i)
+
+ st.push_back((DataFile::Statement("priority"), priority));
+
+ 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<real_speed.size(); ++i)
if(real_speed[i].weight)
st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
+
+ if(!blocks.empty() && cur_blocks_end!=blocks.begin())
+ {
+ BlockList blks(blocks.begin(), BlockList::const_iterator(cur_blocks_end));
+ if(reverse)
+ reverse_blocks(blks);
+
+ BlockIter prev = blks.front().flip();
+ st.push_back((DataFile::Statement("block_hint"), prev->get_id()));
+
+ for(BlockList::const_iterator i=blks.begin(); i!=blks.end(); ++i)
+ st.push_back((DataFile::Statement("block"), (*i)->get_id()));
+ }
+
+ if(!routes.empty())
+ {
+ list<RouteRef>::const_iterator i = routes.begin();
+ for(; (i!=routes.end() && i->route->is_temporary()); ++i) ;
+ if(i!=routes.end())
+ st.push_back((DataFile::Statement("route"), i->route->get_name()));
+ }
+
+ if(timetable)
+ {
+ DataFile::Statement ss("timetable");
+ timetable->save(ss.sub);
+ st.push_back(ss);
+ }
}
-void Train::locomotive_reverse_changed(bool)
+void Train::control_changed(const Controller::Control &ctrl)
{
- for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
- i->block->reserve(0);
- rsv_blocks.clear();
- cur_blocks.reverse();
- for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
- i->entry = i->block->traverse(i->entry);
- reserve_more();
- update_speed();
+ signal_control_changed.emit(ctrl.name, ctrl.value);
+}
+
+void Train::loco_speed_event(unsigned addr, unsigned speed, bool)
+{
+ if(addr==address)
+ {
+ current_speed_step = speed;
+ speed_changing = false;
+ pure_speed = false;
+ }
}
-void Train::sensor_event(bool state, Sensor *sensor)
+void Train::loco_func_event(unsigned addr, unsigned func, bool state)
{
- unsigned addr = sensor->get_address();
+ if(addr==address || (addr==address+1 && loco_type.get_max_function()>4))
+ {
+ if(addr==address+1)
+ func += 4;
+ if(state)
+ functions |= 1<<func;
+ else
+ functions &= ~(1<<func);
+
+ signal_function_changed.emit(func, state);
+ }
+}
+void Train::sensor_event(unsigned addr, bool state)
+{
if(state)
{
- 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)
- break;
+ // Find the first sensor block from our reserved blocks that isn't this sensor
+ BlockList::iterator end;
+ unsigned result = 0;
+ for(end=cur_blocks_end; end!=blocks.end(); ++end)
+ if((*end)->get_sensor_id())
+ {
+ if((*end)->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)
{
+ // 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[loco.get_speed()];
- rs.add(travel_dist/travel_time_secs, travel_time_secs);
+ if(current_speed_step>0)
+ {
+ RealSpeed &rs = real_speed[current_speed_step];
+ rs.add(travel_dist/travel_time_secs, travel_time_secs);
+ }
+ set_status(format("Traveling %d kmh", get_travel_speed()));
}
travel_dist = 0;
- float block_len;
- for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
+ for(BlockList::iterator j=cur_blocks_end; j!=end; ++j)
{
- j->block->traverse(j->entry, &block_len);
- travel_dist += block_len;
+ travel_dist += (*j)->get_path_length(j->entry());
+
+ if((*j)->get_sensor_id()==addr && !advancing)
+ {
+ TrackIter track = j->track_iter();
+ if(reverse)
+ {
+ track = track.flip();
+ vehicles.back()->place(*track, track.entry(), 0, Vehicle::BACK_AXLE);
+ }
+ else
+ vehicles.front()->place(*track, track.entry(), 0, Vehicle::FRONT_AXLE);
+ }
}
last_entry_time = Time::now();
pure_speed = true;
+ accurate_position = true;
+ overshoot_dist = 0;
- cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
- }
+ // Check if we've reached the next route
+ if(routes.size()>1)
+ {
+ const Route &route = *(++routes.begin())->route;
+ for(BlockList::iterator j=cur_blocks_end; j!=end; ++j)
+ if(route.has_track(*j->track_iter()))
+ {
+ routes.pop_front();
+ // XXX Exceptions?
+ signal_route_changed.emit(routes.front().route);
+ break;
+ }
+ }
- 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]);
+ // Move blocks up to the next sensor to our current blocks
+ cur_blocks_end = end;
- if(target_speed)
- {
- reserve_more();
- update_speed();
+ // Try to get more blocks if we're moving
+ if(active)
+ reserve_more();
}
+ else if(result==3)
+ layout.emergency("Sensor for "+name+" triggered out of order");
}
else
{
- for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
- if(unsigned b_addr = i->block->get_sensor_id())
+ const Vehicle &veh = *(reverse ? vehicles.front() : vehicles.back());
+
+ // Find the first sensor in our current blocks that's still active
+ BlockList::iterator end = blocks.begin();
+ for(BlockList::iterator i=blocks.begin(); i!=cur_blocks_end; ++i)
+ {
+ if((*i)->has_track(*veh.get_track()))
+ break;
+ if((*i)->get_sensor_id())
{
- if(b_addr==addr)
+ if(layout.get_driver().get_sensor((*i)->get_sensor_id()))
+ break;
+ else
{
- ++i;
- for(list<BlockRef>::iterator j=cur_blocks.begin(); j!=i; ++j)
- j->block->reserve(0);
- cur_blocks.erase(cur_blocks.begin(), i);
+ end = i;
+ ++end;
}
- break;
}
-
- if(target_speed)
- reserve_more();
+ }
+
+ if(end!=blocks.begin() && end!=cur_blocks_end)
+ // Free blocks up to the last inactive sensor
+ release_blocks(blocks.begin(), end);
}
}
-void Train::turnout_route_changing(unsigned, Turnout *turnout)
+void Train::turnout_path_changed(Track &track)
{
- 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);
-
+ for(list<BlockIter>::iterator i=blocks.begin(); i!=blocks.end(); ++i)
+ if((*i)->get_turnout_id()==track.get_turnout_id() && !reserving)
+ check_turnout_paths(false);
+}
+
+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 && !reserving)
+ reserve_more();
+}
+
+void Train::reserve_more()
+{
+ if(!active || blocks.empty() || end_of_route)
+ return;
+
+ BlockIter start = blocks.back();
+
+ pending_block = 0;
+
+ // See how many sensor blocks and how much track we already have
unsigned nsens = 0;
- for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
+ float dist = 0;
+ for(BlockList::const_iterator i=cur_blocks_end; i!=blocks.end(); ++i)
{
- if(i->block->get_turnout_id()==tid)
+ if((*i)->get_sensor_id())
+ ++nsens;
+ if(nsens>0)
+ dist += (*i)->get_path_length(i->entry());
+ }
+
+ list<RouteRef>::iterator cur_route = routes.begin();
+ advance_route(cur_route, *start.track_iter());
+
+ float approach_margin = 50*layout.get_catalogue().get_scale();
+ float min_dist = controller->get_braking_distance()*1.3+approach_margin*2;
+
+ BlockIter block = start;
+ list<BlockIter>::iterator good_end = blocks.end();
+ Track *divert_track = 0;
+ bool try_divert = false;
+ Train *blocking_train = 0;
+ BlockList contested_blocks;
+
+ SetFlag setf(reserving);
+
+ while(1)
+ {
+ BlockIter last = block;
+ block = block.next(cur_route!=routes.end() ? cur_route->route : 0);
+ if(!block || block->get_endpoints().size()<2)
{
- if(nsens<1)
- throw TurnoutBusy(this);
+ if(!blocking_train)
+ good_end = blocks.end();
break;
}
- else if(i->block->get_sensor_id())
- ++nsens;
- }
-}
-void Train::turnout_route_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)
+ TrackIter track = block.track_iter();
+
+ if(cur_route!=routes.end())
{
- while(i!=rsv_blocks.end())
+ if(!advance_route(cur_route, *track))
{
- i->block->reserve(0);
- i = rsv_blocks.erase(i);
+ // Keep the blocks if we arrived at the end of the route
+ if(!blocking_train)
+ {
+ good_end = blocks.end();
+ end_of_route = true;
+ }
+ break;
}
- reserve_more();
- update_speed();
- return;
}
-}
-
-unsigned Train::reserve_more()
-{
- BlockRef *last = 0;
- if(!rsv_blocks.empty())
- last = &rsv_blocks.back();
- else if(!cur_blocks.empty())
- last = &cur_blocks.back();
- if(!last)
- return 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;
+ if(block->get_turnout_id() && !last->get_turnout_id())
+ {
+ /* We can keep the blocks if we arrive at a turnout from a non-turnout
+ block. Having a turnout block as our last reserved block is not good
+ as it would limit our diversion possibilities for little benefit. */
+ good_end = blocks.end();
+ if(nsens>=3 && dist>=min_dist)
+ break;
+ }
- bool result = false;
- while(nsens<2)
- {
- int exit = last->block->traverse(last->entry);
- if(exit>=0)
+ if(blocking_train)
{
- Block *link = last->block->get_link(exit);
- if(link && link->reserve(this))
+ if(block->get_train()!=blocking_train)
{
- rsv_blocks.push_back(BlockRef(link, link->get_endpoint_by_link(*last->block)));
- last = &rsv_blocks.back();
- if(last->block->get_sensor_id())
+ if(blocking_train->free_block(*contested_blocks.back()))
+ {
+ // Roll back and start actually reserving the blocks
+ block = blocks.back();
+ cur_route = routes.begin();
+ advance_route(cur_route, *block.track_iter().track());
+ if(blocking_train->get_priority()==priority)
+ blocking_train->yield_to(*this);
+ blocking_train = 0;
+ continue;
+ }
+ else
{
- ++nsens;
- result = true;
+ yield_to(*blocking_train);
+ pending_block = contested_blocks.front().block();
+ try_divert = divert_track;
+ break;
}
}
else
+ {
+ contested_blocks.push_back(block);
+ continue;
+ }
+ }
+
+ bool reserved = block->reserve(this);
+ if(!reserved)
+ {
+ /* We've found another train. If it wants to exit the block from the
+ same endpoint we're trying to enter from or the other way around,
+ treat it as coming towards us. Otherwise treat it as going in the
+ same direction. */
+ Train *other_train = block->get_train();
+ int other_entry = other_train->get_entry_to_block(*block);
+ if(other_entry<0)
+ throw LogicError("Block reservation inconsistency");
+
+ unsigned exit = block.reverse().entry();
+ unsigned other_exit = BlockIter(block.block(), other_entry).reverse().entry();
+ bool entry_conflict = (block.entry()==other_exit);
+ bool exit_conflict = (exit==static_cast<unsigned>(other_entry));
+ if(!entry_conflict && !last->get_turnout_id())
+ /* The other train is not coming to the blocks we're holding, so we
+ can keep them. */
+ good_end = blocks.end();
+
+ int other_prio = other_train->get_priority();
+
+ if(!entry_conflict && !exit_conflict && other_prio<priority)
+ {
+ /* Ask a lesser priority train going to the same direction to free
+ the block for us */
+ if(other_train->free_block(*block))
+ reserved = block->reserve(this);
+ }
+ else if(other_train!=yielding_to && (other_prio<priority || (other_prio==priority && entry_conflict)))
+ {
+ /* A lesser priority train is coming at us, we must ask it to free
+ enough blocks to get clear of it to avoid a potential deadlock */
+ blocking_train = other_train;
+ contested_blocks.clear();
+ contested_blocks.push_back(block);
+ continue;
+ }
+ else if(divert_track && (entry_conflict || exit_conflict))
+ // We are blocked, but there's a diversion possibility
+ try_divert = true;
+
+ if(!reserved)
+ {
+ pending_block = &*block;
break;
+ }
}
- else
- break;
- }
- while(last && !last->block->get_sensor_id())
- {
- last->block->reserve(0);
- rsv_blocks.erase(--rsv_blocks.end());
- if(!rsv_blocks.empty())
- last = &rsv_blocks.back();
- else
- last = 0;
+ if(block->get_turnout_id())
+ {
+ const TrackType::Endpoint &track_ep = track.endpoint();
+ bool multiple_paths = (track_ep.paths&(track_ep.paths-1));
+
+ if(multiple_paths && cur_route!=routes.end() && cur_route->diversion!=block->get_turnout_id())
+ /* There's multiple paths to be taken and we are on a route - take
+ note of the diversion possibility */
+ divert_track = &*track;
+ }
+
+ if(!contested_blocks.empty() && contested_blocks.front()==block)
+ contested_blocks.pop_front();
+
+ blocks.push_back(block);
+
+ if(cur_blocks_end==blocks.end())
+ --cur_blocks_end;
+ if(clear_blocks_end==blocks.end())
+ --clear_blocks_end;
+ if(good_end==blocks.end())
+ --good_end;
+
+ if(block->get_sensor_id())
+ ++nsens;
+ if(nsens>0)
+ dist += block->get_path_length(block.entry());
}
- return nsens;
+ // Unreserve blocks that were not good
+ release_blocks(good_end, blocks.end());
+
+ if(blocks.back()!=start)
+ // We got some new blocks, so no longer need to yield
+ yielding_to = 0;
+
+ check_turnout_paths(true);
+
+ // Make any sensorless blocks at the beginning immediately current
+ while(cur_blocks_end!=clear_blocks_end && !(*cur_blocks_end)->get_sensor_id())
+ ++cur_blocks_end;
+
+ if(try_divert && divert(*divert_track))
+ reserve_more();
}
-void Train::update_speed()
+void Train::check_turnout_paths(bool set)
{
- if(!target_speed)
+ if(clear_blocks_end==blocks.end())
+ return;
+
+ for(list<BlockIter>::iterator i=clear_blocks_end; i!=blocks.end(); ++i)
{
- loco.set_speed(0);
- try_reserve = Time::TimeStamp();
- set_status("Stopped");
+ if((*i)->get_turnout_id())
+ {
+ TrackIter track = i->track_iter();
+ const TrackType::Endpoint &track_ep = track.endpoint();
+
+ unsigned path = 0;
+ list<BlockIter>::iterator j = i;
+ if(++j!=blocks.end())
+ {
+ TrackIter rev = j->track_iter().flip();
+ unsigned mask = rev.endpoint().paths&track_ep.paths;
+ for(path=0; mask>1; mask>>=1, ++path) ;
+ }
+ else
+ return;
+
+ if(path!=track->get_active_path())
+ {
+ if(set)
+ track->set_active_path(path);
+
+ /* Check again, in case the driver was able to service the request
+ instantly */
+ if(!set || path!=track->get_active_path())
+ continue;
+ }
+ }
+
+ if(i==clear_blocks_end)
+ ++clear_blocks_end;
}
+}
+
+float Train::get_reserved_distance_until(const Block *until_block, bool back) const
+{
+ if(blocks.empty())
+ return 0;
+
+ Vehicle &veh = *(reverse!=back ? vehicles.back() : vehicles.front());
+ const VehicleType &vtype = veh.get_type();
+
+ TrackIter track(veh.get_track(), veh.get_entry());
+ if(!track) // XXX Probably unnecessary
+ return 0;
+
+ BlockList::const_iterator block = blocks.begin();
+ while(block!=clear_blocks_end && !(*block)->has_track(*track))
+ ++block;
+ if(block==clear_blocks_end || &**block==until_block)
+ return 0;
+
+ float result = veh.get_offset();
+ if(reverse!=back)
+ track = track.reverse();
else
+ result = track->get_type().get_path_length(track->get_active_path())-result;
+ result -= vtype.get_length()/2;
+
+ while(1)
{
- unsigned nsens = 0;
- for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
- if(i->block->get_sensor_id())
- ++nsens;
+ track = track.next();
+ if(!track)
+ break;
- 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;
- set_status("Blocked");
- }
- else if(nsens==1 && target_speed>slow_speed)
+ if(!(*block)->has_track(*track))
{
- loco.set_speed(slow_speed);
- pure_speed = false;
- try_reserve = Time::now()+2*Time::sec;
- set_status("Slow");
- }
- else
- {
- loco.set_speed(target_speed);
- try_reserve = Time::TimeStamp();
- set_status(format("Traveling %d kmh", travel_speed));
+ if(back)
+ {
+ if(block==blocks.begin())
+ break;
+ --block;
+ }
+ else
+ {
+ ++block;
+ if(block==clear_blocks_end)
+ break;
+ }
+
+ if(&**block==until_block)
+ break;
}
+
+ result += track->get_type().get_path_length(track->get_active_path());
}
+
+ return result;
}
float Train::get_real_speed(unsigned i) const
{
+ if(i==0)
+ return 0;
if(real_speed[i].weight)
return real_speed[i].speed;
for(low=i; low>0; --low)
if(real_speed[low].weight)
break;
- for(high=i; high<14; ++high)
+ for(high=i; high+1<real_speed.size(); ++high)
if(real_speed[high].weight)
break;
return 0;
}
-unsigned Train::find_speed(float real) const
+unsigned Train::find_speed_step(float real) const
{
- if(real<=real_speed[0].speed)
+ if(real_speed.size()<=1)
+ return 0;
+ if(real<=real_speed[1].speed*0.5)
return 0;
- if(real>=real_speed[14].speed)
- return 14;
unsigned low = 0;
unsigned high = 0;
- for(high=0; real_speed[high].speed<real; ++high)
- if(real_speed[high].weight)
- low = high;
+ unsigned last = 0;
+ for(unsigned i=0; (!high && i<real_speed.size()); ++i)
+ if(real_speed[i].weight)
+ {
+ last = i;
+ if(real_speed[i].speed<real)
+ low = i;
+ else
+ high = i;
+ }
+ if(!high)
+ {
+ unsigned limit = real_speed.size()/5;
+ if(!low)
+ {
+ if(real)
+ return limit;
+ else
+ return 0;
+ }
+ return min(min(static_cast<unsigned>(low*real/real_speed[low].speed), real_speed.size()-1), last+limit);
+ }
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);
}
+float Train::get_travel_speed() const
+{
+ float speed = get_real_speed(current_speed_step);
+ float scale = layout.get_catalogue().get_scale();
+ return static_cast<int>(round(speed/scale*3.6/5))*5;
+}
+
void Train::set_status(const string &s)
{
status = s;
signal_status_changed.emit(s);
}
-void Train::set_position(const Block::Endpoint &bep)
+void Train::release_blocks()
+{
+ release_blocks(blocks.begin(), blocks.end());
+}
+
+void Train::release_blocks(BlockList::iterator begin, BlockList::iterator end)
+{
+ while(begin!=end)
+ {
+ if(begin==cur_blocks_end)
+ cur_blocks_end = end;
+ if(begin==clear_blocks_end)
+ clear_blocks_end = end;
+
+ Block &block = **begin;
+ blocks.erase(begin++);
+ block.reserve(0);
+
+ if(begin==blocks.end())
+ end_of_route = false;
+ }
+}
+
+void Train::reverse_blocks(BlockList &blks) const
+{
+ blks.reverse();
+ for(BlockList::iterator i=blks.begin(); i!=blks.end(); ++i)
+ *i = i->reverse();
+}
+
+bool Train::advance_route(list<RouteRef>::iterator &iter, Track &track)
+{
+ while(iter!=routes.end() && !iter->route->has_track(track))
+ ++iter;
+ if(iter==routes.end())
+ return false;
+
+ list<RouteRef>::iterator next = iter;
+ ++next;
+ if(next!=routes.end() && next->diversion && next->route->has_track(track))
+ iter = next;
+
+ return true;
+}
+
+Route *Train::create_lead_route(Route *lead, const Route *target)
{
- cur_track = bep.track;
- cur_track_ep = bep.track_ep;
- offset = 0;
- pos = cur_track->get_endpoint_position(cur_track_ep);
+ if(!lead)
+ {
+ lead = new Route(layout);
+ lead->set_name("Lead");
+ lead->set_temporary(true);
+ }
+
+ set<Track *> tracks;
+ for(BlockList::iterator i=blocks.begin(); i!=blocks.end(); ++i)
+ {
+ const set<Track *> &btracks = (*i)->get_tracks();
+ for(set<Track *>::const_iterator j=btracks.begin(); j!=btracks.end(); ++j)
+ if(!target || !target->has_track(**j))
+ tracks.insert(*j);
+ }
+
+ lead->add_tracks(tracks);
+
+ return lead;
}
-void Train::release_reserved_blocks()
+bool Train::is_valid_diversion(const Route &diversion, const TrackIter &from)
{
- for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
- i->block->reserve(0);
- rsv_blocks.clear();
+ float diversion_len = 0;
+ TrackLoopIter track1 = from;
+ while(diversion.has_track(*track1))
+ {
+ unsigned path = diversion.get_path(*track1);
+ diversion_len += track1->get_type().get_path_length(path);
+
+ track1 = track1.next(path);
+
+ if(track1.looped())
+ return false;
+ }
+
+ list<RouteRef>::iterator route = routes.begin();
+ if(!advance_route(route, *from))
+ return false;
+
+ float route_len = 0;
+ TrackLoopIter track2 = from;
+ while(1)
+ {
+ unsigned path = route->route->get_path(*track2);
+ route_len += track2->get_type().get_path_length(path);
+
+ bool ok = (track2!=from && diversion.has_track(*track2));
+
+ track2 = track2.next(path);
+
+ if(ok)
+ break;
+
+ if(track2.looped())
+ return false;
+
+ if(!advance_route(route, *track2))
+ return false;
+ }
+
+ // Must end up at the same place through both routes
+ if(track2!=track1)
+ return false;
+
+ return diversion_len<route_len*1.2;
}
+Train::RouteRef::RouteRef(const Route *r, unsigned d):
+ route(r),
+ diversion(d)
+{ }
+
+
Train::RealSpeed::RealSpeed():
speed(0),
weight(0)
Train::Loader::Loader(Train &t):
- DataFile::BasicLoader<Train>(t)
+ DataFile::BasicLoader<Train>(t),
+ prev_block(0),
+ blocks_valid(true)
{
- add("name", &Train::name);
+ add("block", &Loader::block);
+ add("block_hint", &Loader::block_hint);
+ add("name", &Loader::name);
+ add("priority", &Train::priority);
add("real_speed", &Loader::real_speed);
+ add("route", &Loader::route);
+ add("timetable", &Loader::timetable);
+ add("vehicle", &Loader::vehicle);
+}
+
+void Train::Loader::finish()
+{
+ if(!obj.blocks.empty())
+ {
+ TrackIter track = obj.blocks.front().track_iter();
+ float offset = 2*obj.layout.get_catalogue().get_scale();
+ obj.vehicles.back()->place(*track, track.entry(), offset, Vehicle::BACK_BUFFER);
+
+ obj.set_status("Stopped");
+ }
+}
+
+void Train::Loader::block(unsigned id)
+{
+ if(!blocks_valid)
+ return;
+
+ Block *blk;
+ try
+ {
+ blk = &obj.layout.get_block(id);
+ }
+ catch(const KeyError &)
+ {
+ blocks_valid = false;
+ return;
+ }
+
+ int entry = -1;
+ if(prev_block)
+ entry = blk->get_endpoint_by_link(*prev_block);
+ if(entry<0)
+ entry = 0;
+
+ blk->reserve(&obj);
+ obj.blocks.push_back(BlockIter(blk, entry));
+
+ if(blk->get_sensor_id())
+ obj.layout.get_driver().set_sensor(blk->get_sensor_id(), true);
+
+ prev_block = blk;
+}
+
+void Train::Loader::block_hint(unsigned id)
+{
+ try
+ {
+ prev_block = &obj.layout.get_block(id);
+ }
+ catch(const KeyError &)
+ {
+ blocks_valid = false;
+ }
+}
+
+void Train::Loader::name(const string &n)
+{
+ obj.set_name(n);
}
void Train::Loader::real_speed(unsigned i, float speed, float weight)
{
+ if(i>=obj.real_speed.size())
+ return;
obj.real_speed[i].speed = speed;
obj.real_speed[i].weight = weight;
}
+void Train::Loader::route(const string &n)
+{
+ 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(ArticleNumber art_nr)
+{
+ const VehicleType &vtype = obj.layout.get_catalogue().get_vehicle(art_nr);
+ Vehicle *veh = new Vehicle(obj.layout, vtype);
+ obj.vehicles.back()->attach_back(*veh);
+ obj.vehicles.push_back(veh);
+}
+
} // namespace Marklin
projects / r2c2.git / blobdiff