-/* $Id$
-
-This file is part of R²C²
-Copyright © 2006-2010 Mikkosoft Productions, Mikko Rasa
-Distributed under the GPL
-*/
-
+#include <algorithm>
#include <cmath>
-#include <msp/strings/formatter.h>
+#include <msp/core/maputils.h>
+#include <msp/strings/format.h>
#include <msp/time/units.h>
#include <msp/time/utils.h>
#include "aicontrol.h"
#include "layout.h"
#include "route.h"
#include "simplecontroller.h"
+#include "speedquantizer.h"
#include "timetable.h"
#include "trackiter.h"
#include "tracktype.h"
pending_block(0),
reserving(false),
advancing(false),
- controller(new AIControl(*this, new SimpleController)),
- timetable(0),
+ controller(new SimpleController),
active(false),
current_speed_step(0),
speed_changing(false),
reverse(false),
functions(0),
end_of_route(false),
- status("Unplaced"),
travel_dist(0),
pure_speed(false),
- real_speed(layout.get_driver().get_protocol_speed_steps(protocol)+1),
+ speed_quantizer(0),
accurate_position(false),
overshoot_dist(false)
{
if(!loco_type.is_locomotive())
- throw InvalidParameterValue("Initial vehicle must be a locomotive");
+ throw invalid_argument("Train::Train");
+
+ unsigned speed_steps = layout.get_driver().get_protocol_speed_steps(protocol);
+ if(speed_steps)
+ speed_quantizer = new SpeedQuantizer(speed_steps);
vehicles.push_back(new Vehicle(layout, loco_type));
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.signal_block_state_changed.connect(sigc::mem_fun(this, &Train::block_state_changed));
layout.get_driver().signal_halt.connect(sigc::mem_fun(this, &Train::halt_event));
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::remove_vehicle(unsigned i)
{
if(i>=vehicles.size())
- throw InvalidParameterValue("Vehicle index out of range");
+ throw out_of_range("Train::remove_vehicle");
if(i==0)
- throw InvalidParameterValue("Can't remove the locomotive");
+ throw logic_error("can't remove locomotive");
delete vehicles[i];
vehicles.erase(vehicles.begin()+i);
if(i<vehicles.size())
Vehicle &Train::get_vehicle(unsigned i)
{
if(i>=vehicles.size())
- throw InvalidParameterValue("Vehicle index out of range");
+ throw out_of_range("Train::get_vehicle");
return *vehicles[i];
}
const Vehicle &Train::get_vehicle(unsigned i) const
{
if(i>=vehicles.size())
- throw InvalidParameterValue("Vehicle index out of range");
+ throw out_of_range("Train::get_vehicle");
return *vehicles[i];
}
if(a==active)
return;
if(!a && controller->get_speed())
- throw InvalidState("Can't deactivate while moving");
+ throw logic_error("moving");
active = a;
if(active)
reserve_more();
}
else
- {
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");
+ throw invalid_argument("Train::set_function");
layout.get_driver().set_loco_function(address, func, state);
}
return controller->get_speed();
}
+float Train::get_quantized_speed() const
+{
+ if(speed_quantizer)
+ return speed_quantizer->quantize_speed(controller->get_speed());
+ else
+ return controller->get_speed();
+}
+
bool Train::get_function(unsigned func) const
{
return (functions>>func)&1;
}
-void Train::set_timetable(Timetable *tt)
+void Train::add_ai(TrainAI &ai)
+{
+ ais.push_back(&ai);
+ ai.signal_event.connect(sigc::bind<0>(signal_ai_event, sigc::ref(ai)));
+}
+
+void Train::remove_ai(TrainAI &ai)
{
- delete timetable;
- timetable = tt;
+ list<TrainAI *>::iterator i = find(ais.begin(), ais.end(), &ai);
+ if(i!=ais.end())
+ ais.erase(i);
+}
+
+TrainAI *Train::get_tagged_ai(const string &tag) const
+{
+ for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
+ if((*i)->get_tag()==tag)
+ return *i;
+
+ return 0;
+}
+
+void Train::ai_message(const TrainAI::Message &msg)
+{
+ for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
+ (*i)->message(msg);
}
bool Train::set_route(const Route *r)
bool Train::divert(Track &from)
{
if(!from.get_turnout_id())
- throw InvalidParameterValue("Can't divert from a non-turnout");
+ throw invalid_argument("Train::divert");
if(routes.empty())
return false;
if(end!=routes.end())
break;
else if(!diversion->has_track(*track))
- throw LogicError("Pathfinder returned a bad route");
+ throw logic_error("bad diversion");
track = track.next(diversion->get_path(*track));
}
void Train::place(Block &block, unsigned entry)
{
if(controller->get_speed())
- throw InvalidState("Must be stopped before placing");
+ throw logic_error("moving");
release_blocks();
accurate_position = false;
if(!block.reserve(this))
- {
- set_status("Unplaced");
return;
- }
blocks.push_back(BlockIter(&block, entry));
if(reverse)
void Train::unplace()
{
if(controller->get_speed())
- throw InvalidState("Must be stopped before unplacing");
+ throw logic_error("moving");
release_blocks();
for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
(*i)->unplace();
-
- set_status("Unplaced");
}
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)
+ if(get_reserved_distance_until(&block, false)<controller->get_braking_distance()*1.3)
return false;
unsigned nsens = 0;
}
}
-int Train::get_entry_to_block(Block &block) const
+int Train::get_entry_to_block(const Block &block) const
{
for(BlockList::const_iterator i=blocks.begin(); i!=blocks.end(); ++i)
if(i->block()==&block)
float Train::get_reserved_distance() const
{
- return get_reserved_distance_until(0, false);
+ if(blocks.empty())
+ return 0;
+
+ float margin = 0;
+ TrackIter next = blocks.back().next().track_iter();
+ if(next && next->get_type().is_turnout())
+ margin = 15*layout.get_catalogue().get_scale();
+
+ return max(get_reserved_distance_until(0, false)-margin, 0.0f);
}
void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
Driver &driver = layout.get_driver();
- if(timetable)
- timetable->tick(t);
+ for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
+ (*i)->tick(t, dt);
controller->tick(dt);
float speed = controller->get_speed();
- unsigned speed_step = find_speed_step(speed);
+ bool moving = speed>0;
if(controller->get_reverse()!=reverse)
{
reverse = controller->get_reverse();
- driver.set_loco_reverse(address, reverse);
+ bool r = reverse;
+ if(loco_type.get_swap_direction())
+ r = !r;
+ driver.set_loco_reverse(address, r);
release_blocks(cur_blocks_end, blocks.end());
reverse_blocks(blocks);
reserve_more();
}
- if(speed_step!=current_speed_step && !speed_changing && !driver.is_halted() && driver.get_power())
+
+ if(speed_quantizer)
{
- speed_changing = true;
- driver.set_loco_speed(address, speed_step);
+ unsigned speed_step = speed_quantizer->find_speed_step(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;
+ pure_speed = false;
+ }
- if(speed_step)
- set_status(format("Traveling %d kmh", get_travel_speed()));
- else
- set_status("Waiting");
+ speed = speed_quantizer->get_speed(current_speed_step);
}
- if(speed)
+ if(moving)
{
if(!active)
set_active(true);
for(BlockList::const_iterator i=blocks.begin(); (!ok && i!=cur_blocks_end); ++i)
ok = (*i)->has_track(*track);
- float d;
- if(real_speed.size()>1)
- d = get_real_speed(current_speed_step)*(dt/Time::sec);
- else
- d = speed*(dt/Time::sec);
+ float d = speed*(dt/Time::sec);
if(ok)
{
SetFlag setf(advancing);
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(speed_quantizer)
+ {
+ DataFile::Statement ss("quantized_speed");
+ speed_quantizer->save(ss.sub);
+ st.push_back(ss);
+ }
if(!blocks.empty() && cur_blocks_end!=blocks.begin())
{
st.push_back((DataFile::Statement("route"), i->route->get_name()));
}
- if(timetable)
- {
- DataFile::Statement ss("timetable");
- timetable->save(ss.sub);
- st.push_back(ss);
- }
+ // XXX Need more generic way of saving AI state
+ for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
+ if(Timetable *timetable = dynamic_cast<Timetable *>(*i))
+ {
+ DataFile::Statement ss("timetable");
+ timetable->save(ss.sub);
+ st.push_back(ss);
+ }
}
void Train::control_changed(const Controller::Control &ctrl)
if(addr==address)
{
current_speed_step = speed;
- if(rev!=reverse)
- layout.get_driver().set_loco_reverse(address, reverse);
+ bool r = reverse;
+ if(loco_type.get_swap_direction())
+ r = !r;
+ if(rev!=r)
+ layout.get_driver().set_loco_reverse(address, r);
speed_changing = false;
pure_speed = false;
}
}
}
-void Train::sensor_event(unsigned addr, bool state)
+void Train::block_state_changed(Block &block, Block::State state)
{
- if(state)
+ if(state==Block::MAYBE_ACTIVE)
{
// Find the first sensor block from our reserved blocks that isn't this sensor
BlockList::iterator end;
for(end=cur_blocks_end; end!=blocks.end(); ++end)
if((*end)->get_sensor_id())
{
- if((*end)->get_sensor_id()!=addr)
+ if(&**end!=&block)
{
if(result==0)
result = 2;
// Compute speed and update related state
float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
- if(pure_speed)
- {
- 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()));
- }
+ if(pure_speed && speed_quantizer && current_speed_step>0 && travel_time_secs>=2)
+ speed_quantizer->learn(current_speed_step, travel_dist/travel_time_secs, travel_time_secs);
travel_dist = 0;
for(BlockList::iterator j=cur_blocks_end; j!=end; ++j)
{
travel_dist += (*j)->get_path_length(j->entry());
- if((*j)->get_sensor_id()==addr && !advancing)
+ if(&**j==&block && !advancing)
{
TrackIter track = j->track_iter();
if(reverse)
}
// Move blocks up to the next sensor to our current blocks
+ for(BlockList::iterator j=cur_blocks_end; j!=end; ++j)
+ signal_advanced.emit(**j);
cur_blocks_end = end;
// Try to get more blocks if we're moving
else if(result==3)
layout.emergency("Sensor for "+name+" triggered out of order");
}
- else
+ else if(state==Block::INACTIVE)
{
const Vehicle &veh = *(reverse ? vehicles.front() : vehicles.back());
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");
+ throw logic_error("block reservation inconsistency");
unsigned exit = block.reverse().entry();
unsigned other_exit = BlockIter(block.block(), other_entry).reverse().entry();
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;
-
- unsigned low;
- unsigned high;
- for(low=i; low>0; --low)
- if(real_speed[low].weight)
- break;
- for(high=i; high+1<real_speed.size(); ++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_step(float real) const
-{
- if(real_speed.size()<=1)
- return 0;
- if(real<=real_speed[1].speed*0.5)
- return 0;
-
- unsigned low = 0;
- unsigned high = 0;
- 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)
- high = i;
- else if(real_speed[i].speed>real_speed[low].speed)
- low = 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::release_blocks()
{
release_blocks(blocks.begin(), blocks.end());
{ }
-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::ObjectLoader<Train>(t),
prev_block(0),
blocks_valid(true)
{
add("block_hint", &Loader::block_hint);
add("name", &Loader::name);
add("priority", &Train::priority);
- add("real_speed", &Loader::real_speed);
+ add("quantized_speed", &Loader::quantized_speed);
add("route", &Loader::route);
add("timetable", &Loader::timetable);
add("vehicle", &Loader::vehicle);
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");
}
}
{
blk = &obj.layout.get_block(id);
}
- catch(const KeyError &)
+ catch(const key_error &)
{
blocks_valid = false;
return;
{
prev_block = &obj.layout.get_block(id);
}
- catch(const KeyError &)
+ catch(const key_error &)
{
blocks_valid = false;
}
obj.set_name(n);
}
-void Train::Loader::real_speed(unsigned i, float speed, float weight)
+void Train::Loader::quantized_speed()
{
- if(i>=obj.real_speed.size())
- return;
- obj.real_speed[i].speed = speed;
- obj.real_speed[i].weight = weight;
+ if(obj.speed_quantizer)
+ load_sub(*obj.speed_quantizer);
}
void Train::Loader::route(const string &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);
+ Timetable *ttbl = new Timetable(obj);
+ load_sub(*ttbl);
}
void Train::Loader::vehicle(ArticleNumber art_nr)
projects / r2c2.git / blobdiff