X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibmarklin%2Ftrain.cpp;h=56832c837542d9447acb3022a8d655e1a8786939;hb=bc8ac89bbe774bb133b758416182aa18e5e0a5a5;hp=d7b422039ea71e43b740f619a59c33a03f9edd6a;hpb=39566dc89cdadf4f6e701a14b5d9049f22b591fb;p=r2c2.git diff --git a/source/libmarklin/train.cpp b/source/libmarklin/train.cpp index d7b4220..56832c8 100644 --- a/source/libmarklin/train.cpp +++ b/source/libmarklin/train.cpp @@ -11,6 +11,8 @@ Distributed under the GPL #include #include "control.h" #include "except.h" +#include "layout.h" +#include "route.h" #include "tracktype.h" #include "trafficmanager.h" #include "train.h" @@ -18,20 +20,19 @@ Distributed under the GPL using namespace std; using namespace Msp; -#include - 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); @@ -45,9 +46,11 @@ Train::Train(TrafficManager &tm, Locomotive &l): const map &turnouts = trfc_mgr.get_control().get_turnouts(); for(map::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)); + 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) @@ -61,14 +64,16 @@ void Train::set_speed(unsigned speed) { if(speed==target_speed) return; - if(!target_speed && speed) - travel_speed = static_cast(round(speed*speed_scale*87*3.6/5))*5; + travel_speed = static_cast(round(get_real_speed(speed)*87*3.6/5))*5; target_speed = speed; if(!target_speed) { + pending_block = 0; trfc_mgr.get_control().set_timer(3*Time::sec).signal_timeout.connect( - sigc::bind_return(sigc::mem_fun(this, &Train::release_reserved_blocks), false)); + sigc::bind_return(sigc::bind( + sigc::mem_fun(this, static_cast &)>(&Train::release_blocks)), + sigc::ref(rsv_blocks)), false)); } else reserve_more(); @@ -84,46 +89,42 @@ void Train::set_reverse(bool rev) loco.set_reverse(rev); } -void Train::place(Block *block, unsigned entry) +void Train::set_route(const Route *r) { - for(list::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end();) - { - i->block->reserve(0); - i = rsv_blocks.erase(i); - } + route = r; + signal_route_changed.emit(route); +} - for(list::iterator i=cur_blocks.begin(); i!=cur_blocks.end();) - { - i->block->reserve(0); - i = cur_blocks.erase(i); - } +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::iterator i=rsv_blocks.begin(); i!=rsv_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); - } + release_blocks(rsv_blocks, i, rsv_blocks.end()); update_speed(); return true; } @@ -134,57 +135,89 @@ bool Train::free_block(Block *block) 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) - { - reserve_more(); - update_speed(); - } + for(list::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i) + if(i->block==&block) + return i->entry; + for(list::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::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; } 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 &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 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::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) { - for(list::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i) - i->block->reserve(0); - rsv_blocks.clear(); - cur_blocks.reverse(); - for(list::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i) - i->entry = i->block->traverse(i->entry); + release_blocks(rsv_blocks); + reverse_blocks(cur_blocks); reserve_more(); - update_speed(); + + 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) @@ -193,6 +226,7 @@ void Train::sensor_event(bool state, Sensor *sensor) if(state) { + // Find the first sensor block from our reserved blocks that isn't this sensor list::iterator i; for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i) if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr) @@ -200,21 +234,14 @@ void Train::sensor_event(bool state, Sensor *sensor) if(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) { - 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: "<block->traverse(j->entry, &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; + // 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) - { - reserve_more(); - 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::iterator end = cur_blocks.begin(); for(list::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i) - if(unsigned b_addr = i->block->get_sensor_id()) + if(i->block->get_sensor_id()) { - if(b_addr==addr) - { - ++i; - for(list::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(target_speed) - reserve_more(); + + if(end!=cur_blocks.begin()) + { + // Free blocks up to the last inactive sensor + ++end; + release_blocks(cur_blocks, cur_blocks.begin(), end); + } } } -void Train::turnout_route_changing(unsigned, Turnout *turnout) +void Train::turnout_path_changing(unsigned, Turnout *turnout) { unsigned tid = turnout->get_address(); for(list::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i) @@ -281,21 +308,25 @@ void Train::turnout_route_changing(unsigned, Turnout *turnout) } } -void Train::turnout_route_changed(unsigned, Turnout *turnout) +void Train::turnout_path_changed(unsigned, Turnout *turnout) { unsigned tid = turnout->get_address(); for(list::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i) if(i->block->get_turnout_id()==tid) { - while(i!=rsv_blocks.end()) - { - i->block->reserve(0); - i = rsv_blocks.erase(i); - } + release_blocks(rsv_blocks, i, rsv_blocks.end()); reserve_more(); - update_speed(); 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() @@ -308,45 +339,98 @@ unsigned Train::reserve_more() if(!last) return 0; + pending_block = 0; + + // See how many blocks we already have unsigned nsens = 0; for(list::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(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; } + if(got_more) + update_speed(); + return nsens; } @@ -355,7 +439,6 @@ void Train::update_speed() if(!target_speed) { loco.set_speed(0); - try_reserve = Time::TimeStamp(); set_status("Stopped"); } else @@ -365,29 +448,83 @@ void Train::update_speed() 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; set_status("Blocked"); } - else if(nsens==1 && target_speed>3) + else if(nsens==1 && target_speed>slow_speed) { - loco.set_speed(3); + 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)); } } } +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(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(low*(1-f)+high*f+0.5); +} + void Train::set_status(const string &s) { status = s; @@ -402,19 +539,88 @@ void Train::set_position(const Block::Endpoint &bep) pos = cur_track->get_endpoint_position(cur_track_ep); } -void Train::release_reserved_blocks() +void Train::release_blocks(list &blocks) { - for(list::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i) - i->block->reserve(0); - rsv_blocks.clear(); + release_blocks(blocks, blocks.begin(), blocks.end()); +} + +void Train::release_blocks(list &blocks, list::iterator begin, list::iterator end) +{ + while(begin!=end) + { + Block *block = begin->block; + blocks.erase(begin++); + block->reserve(0); + } +} + +void Train::reverse_blocks(list &blocks) const +{ + blocks.reverse(); + for(list::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(t) + DataFile::BasicLoader(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