X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibmarklin%2Ftrain.cpp;h=44f9298d142daf72682594148476699a0ce89554;hb=3b3099eb9e6d14e2a0495ea78144a734a102112f;hp=f05799265ef9e186c3f553ffc28f6a045ec3d6c9;hpb=e94014530a6e28a42bc5678e579ee07e0ee5329b;p=r2c2.git diff --git a/source/libmarklin/train.cpp b/source/libmarklin/train.cpp index f057992..44f9298 100644 --- a/source/libmarklin/train.cpp +++ b/source/libmarklin/train.cpp @@ -9,10 +9,14 @@ Distributed under the GPL #include #include #include +#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" @@ -27,8 +31,11 @@ Train::Train(Layout &l, const LocoType &t, unsigned a): 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), @@ -36,9 +43,10 @@ Train::Train(Layout &l, const LocoType &t, unsigned a): 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)); @@ -51,10 +59,16 @@ Train::Train(Layout &l, const LocoType &t, unsigned a): 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::iterator i=vehicles.begin(); i!=vehicles.end(); ++i) delete *i; layout.remove_train(*this); @@ -81,44 +95,29 @@ const Vehicle &Train::get_vehicle(unsigned i) const 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(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); } void Train::set_function(unsigned func, bool state) @@ -164,8 +163,8 @@ void Train::set_route(const Route *r) } } - if(target_speed && reserve_more()<2) - update_speed(); + if(active) + reserve_more(); signal_route_changed.emit(route); } @@ -175,7 +174,7 @@ void Train::go_to(const Track &to) for(list::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i) if(i->block->get_tracks().count(const_cast(&to))) { - set_speed(0); + signal_arrived.emit(); set_route(0); return; } @@ -198,12 +197,15 @@ void Train::go_to(const Track &to) 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"); @@ -224,8 +226,6 @@ void Train::place(Block &block, unsigned entry) const Block::Endpoint &bep = block.get_endpoints()[entry]; vehicles.front()->place(bep.track, bep.track_ep, 0, Vehicle::BACK_BUFFER); } - - set_status("Stopped"); } bool Train::free_block(Block &block) @@ -238,7 +238,6 @@ 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()) @@ -259,27 +258,164 @@ int Train::get_entry_to_block(Block &block) const 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::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) { - Track *track = vehicles[0]->get_track(); + 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) + { + if(!active) + set_active(true); + + Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front()); + Track *track = vehicle.get_track(); bool ok = false; for(list::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) + 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::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()) { - float d = get_real_speed(current_speed)*(dt/Time::sec); - vehicles[0]->advance(reverse ? -d : d); + cur_blocks.front().block->reserve(0); + cur_blocks.erase(cur_blocks.begin()); } } } @@ -287,6 +423,11 @@ void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt) void Train::save(list &st) const { st.push_back((DataFile::Statement("name"), name)); + + for(vector::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)); @@ -305,18 +446,28 @@ void Train::save(list &st) const } 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; } } @@ -341,20 +492,33 @@ void Train::sensor_event(unsigned addr, bool state) { // Find the first sensor block from our reserved blocks that isn't this sensor list::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(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; @@ -379,6 +543,8 @@ void Train::sensor_event(unsigned addr, bool state) } 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) @@ -399,18 +565,15 @@ void Train::sensor_event(unsigned addr, bool state) 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 { @@ -422,15 +585,15 @@ void Train::sensor_event(unsigned addr, bool state) 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); - } } } @@ -445,6 +608,12 @@ void Train::turnout_event(unsigned addr, bool) } } +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) @@ -469,15 +638,20 @@ unsigned Train::reserve_more() 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 &tracks = last->block->get_tracks(); + for(set::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; @@ -485,6 +659,13 @@ unsigned Train::reserve_more() 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); @@ -577,52 +758,15 @@ unsigned Train::reserve_more() last = &rsv_blocks.back(); } - if(got_more) - update_speed(); + // Make any sensorless blocks at the beginning immediately current + list::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::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) @@ -679,6 +823,13 @@ unsigned Train::find_speed(float real) const return static_cast(low*(1-f)+high*f+0.5); } +float Train::get_travel_speed() const +{ + float speed = get_real_speed(current_speed); + float scale = layout.get_catalogue().get_scale(); + return static_cast(round(speed/scale*3.6/5))*5; +} + void Train::set_status(const string &s) { status = s; @@ -748,6 +899,8 @@ Train::Loader::Loader(Train &t): 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) @@ -763,7 +916,7 @@ void Train::Loader::block(unsigned id) obj.cur_blocks.push_back(BlockRef(&blk, entry)); obj.set_status("Stopped"); const Block::Endpoint &bep = blk.get_endpoints()[entry]; - obj.vehicles.back()->place(bep.track, bep.track_ep, 0, Vehicle::BACK_BUFFER); + 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); @@ -792,4 +945,21 @@ 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(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