X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibmarklin%2Ftrain.cpp;h=d5b2b226721c961fb88b96753434d665f1f0180d;hb=f06c2b89a2601981aae84d0f971c07816dc1bab4;hp=63a14e991c9e814a525ce43139ccc9366d42ea64;hpb=651698847d5293cfb15b6fb23a394701388c0151;p=r2c2.git

diff --git a/source/libmarklin/train.cpp b/source/libmarklin/train.cpp
index 63a14e9..d5b2b22 100644
--- a/source/libmarklin/train.cpp
+++ b/source/libmarklin/train.cpp
@@ -9,12 +9,16 @@ Distributed under the GPL
 #include <msp/strings/formatter.h>
 #include <msp/time/units.h>
 #include <msp/time/utils.h>
+#include "aicontrol.h"
+#include "catalogue.h"
 #include "driver.h"
 #include "layout.h"
 #include "locotype.h"
 #include "route.h"
+#include "simplephysics.h"
 #include "tracktype.h"
 #include "train.h"
+#include "vehicle.h"
 
 using namespace std;
 using namespace Msp;
@@ -26,17 +30,22 @@ 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)),
+	active(false),
 	current_speed(0),
+	speed_changing(false),
 	reverse(false),
+	functions(0),
 	route(0),
+	next_route(0),
+	end_of_route(false),
 	status("Unplaced"),
 	travel_dist(0),
-	travel_speed(0),
 	pure_speed(false),
-	real_speed(15),
-	cur_track(0)
+	real_speed(15)
 {
+	vehicles.push_back(new Vehicle(layout, loco_type));
+
 	layout.add_train(*this);
 
 	layout.get_driver().add_loco(address);
@@ -50,6 +59,8 @@ Train::Train(Layout &l, const LocoType &t, unsigned a):
 
 Train::~Train()
 {
+	for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
+		delete *i;
 	layout.remove_train(*this);
 }
 
@@ -60,50 +71,43 @@ void Train::set_name(const string &n)
 	signal_name_changed.emit(name);
 }
 
-void Train::set_speed(unsigned speed)
+Vehicle &Train::get_vehicle(unsigned i)
 {
-	if(speed==target_speed)
-		return;
-	travel_speed = static_cast<int>(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();
+	if(i>=vehicles.size())
+		throw InvalidParameterValue("Vehicle index out of range");
+	return *vehicles[i];
+}
 
-	signal_target_speed_changed.emit(target_speed);
+const Vehicle &Train::get_vehicle(unsigned i) const
+{
+	if(i>=vehicles.size())
+		throw InvalidParameterValue("Vehicle index out of range");
+	return *vehicles[i];
+}
 
-	update_speed();
-	pure_speed = false;
+void Train::set_control(const string &n, float v)
+{
+	control->set_control(n, v);
+	signal_control_changed.emit(n, control->get_control(n).value);
 }
 
-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 if(stop_timeout)
-		return;
-
-	layout.get_driver().set_loco_reverse(address, rev);
-
-	release_blocks(rsv_blocks);
-	reverse_blocks(cur_blocks);
-
-	if(cur_track)
+	else
 	{
-		unsigned path = cur_track->get_active_path();
-		cur_track_ep = cur_track->traverse(cur_track_ep, path);
-		offset = cur_track->get_type().get_path_length(path)-offset;
+		stop_timeout = Time::now()+2*Time::sec;
+		set_status("Stopped");
 	}
 }
 
@@ -124,18 +128,74 @@ bool Train::get_function(unsigned func) const
 
 void Train::set_route(const Route *r)
 {
+	if(!rsv_blocks.empty())
+	{
+		for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
+			if(i->block->get_sensor_id())
+			{
+				release_blocks(rsv_blocks, ++i, rsv_blocks.end());
+				break;
+			}
+	}
+
 	route = r;
+	next_route = 0;
+	end_of_route = false;
+
+	if(route)
+	{
+		BlockRef &last = (rsv_blocks.empty() ? cur_blocks.back() : rsv_blocks.back());
+		BlockRef next = last.next();
+		const Block::Endpoint &ep = next.block->get_endpoints()[next.entry];
+		if(!route->get_tracks().count(ep.track))
+		{
+			next_route = route;
+			route = Route::find(*ep.track, ep.track_ep, *next_route);
+		}
+	}
+
+	if(active)
+		reserve_more();
+
 	signal_route_changed.emit(route);
 }
 
+void Train::go_to(const Track &to)
+{
+	for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
+		if(i->block->get_tracks().count(const_cast<Track *>(&to)))
+		{
+			signal_arrived.emit();
+			set_route(0);
+			return;
+		}
+
+	BlockRef *last = 0;
+	if(rsv_blocks.empty())
+		last = &cur_blocks.back();
+	else
+	{
+		for(list<BlockRef>::iterator i=rsv_blocks.begin(); (i!=rsv_blocks.end() && !last); ++i)
+			if(i->block->get_sensor_id())
+				last = &*i;
+	}
+
+	BlockRef next = last->next();
+	const Block::Endpoint &ep = next.block->get_endpoints()[next.entry];
+
+	set_route(Route::find(*ep.track, ep.track_ep, 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);
+
 	if(!block.reserve(this))
 	{
 		set_status("Unplaced");
@@ -143,9 +203,19 @@ void Train::place(Block &block, unsigned entry)
 	}
 
 	cur_blocks.push_back(BlockRef(&block, entry));
-	set_position(block.get_endpoints()[entry]);
-
-	set_status("Stopped");
+	if(reverse)
+	{
+		unsigned exit = block.traverse(entry);
+		const Block::Endpoint &bep = block.get_endpoints()[exit];
+		Track *track = bep.track->get_link(bep.track_ep);
+		unsigned ep = track->get_endpoint_by_link(*bep.track);
+		vehicles.front()->place(track, ep, 0, Vehicle::FRONT_BUFFER);
+	}
+	else
+	{
+		const Block::Endpoint &bep = block.get_endpoints()[entry];
+		vehicles.front()->place(bep.track, bep.track_ep, 0, Vehicle::BACK_BUFFER);
+	}
 }
 
 bool Train::free_block(Block &block)
@@ -158,7 +228,6 @@ 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())
@@ -179,43 +248,103 @@ 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();
+	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<BlockRef>::const_iterator block = cur_blocks.begin();
+	while(1)
+	{
+		if(!first || !reverse)
+			result += track->get_type().get_path_length(track->get_active_path());
+		first = false;
+
+		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(cur_track)
+	control->tick(dt);
+	float speed = control->get_speed();
+	unsigned speed_notch = find_speed(abs(speed));
+
+	if(speed && (speed<0)!=reverse)
 	{
-		unsigned path = cur_track->get_active_path();
+		layout.get_driver().set_loco_reverse(address, speed<0);
+		reverse = speed<0;
 
-		offset += get_real_speed(current_speed)*(dt/Time::sec);
-		float path_len = cur_track->get_type().get_path_length(path);
-		if(offset>path_len)
-		{
-			unsigned out = cur_track->traverse(cur_track_ep, path);
-			Track *next = cur_track->get_link(out);
+		release_blocks(rsv_blocks);
+		reverse_blocks(cur_blocks);
 
-			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);
+		reserve_more();
+	}
+	if(speed_notch!=current_speed && !speed_changing)
+	{
+		speed_changing = true;
+		layout.get_driver().set_loco_speed(address, speed_notch);
 
-			if(ok)
-			{
-				if(next)
-					cur_track_ep = next->get_endpoint_by_link(*cur_track);
-				cur_track = next;
-				offset = 0;
-			}
-			else
-				offset = path_len-0.001;
-		}
+		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);
 
-		if(cur_track)
-			pos = cur_track->get_point(cur_track_ep, path, offset);
+		Track *track = vehicles[0]->get_track();
+
+		bool ok = false;
+		for(list<BlockRef>::const_iterator i=cur_blocks.begin(); (!ok && i!=cur_blocks.end()); ++i)
+			ok = i->block->get_tracks().count(track);
+
+		if(ok)
+		{
+			float d = get_real_speed(current_speed)*(dt/Time::sec);
+			vehicles[0]->advance(reverse ? -d : d);
+		}
 	}
+	else if(end_of_route)
+		set_route(0);
 }
 
 void Train::save(list<DataFile::Statement> &st) const
@@ -224,8 +353,6 @@ void Train::save(list<DataFile::Statement> &st) const
 	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())
 	{
@@ -239,17 +366,17 @@ void Train::save(list<DataFile::Statement> &st) const
 		for(list<BlockRef>::const_iterator i=blocks.begin(); i!=blocks.end(); ++i)
 			st.push_back((DataFile::Statement("block"), i->block->get_id()));
 	}
+
+	if(route)
+		st.push_back((DataFile::Statement("route"), route->get_name()));
 }
 
-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;
 	}
 }
 
@@ -282,12 +409,12 @@ void Train::sensor_event(unsigned addr, bool state)
 		{
 			// 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[current_speed];
 				rs.add(travel_dist/travel_time_secs, travel_time_secs);
+				set_status(format("Traveling %d kmh", get_travel_speed()));
 			}
 
 			travel_dist = 0;
@@ -298,17 +425,46 @@ void Train::sensor_event(unsigned addr, bool state)
 				travel_dist += block_len;
 
 				if(j->block->get_sensor_id()==addr)
-					set_position(j->block->get_endpoints()[j->entry]);
+				{
+					const Block::Endpoint &bep = j->block->get_endpoints()[j->entry];
+					if(reverse)
+					{
+						Track *track = bep.track->get_link(bep.track_ep);
+						unsigned ep = track->get_endpoint_by_link(*bep.track);
+						vehicles.back()->place(track, ep, 0, Vehicle::BACK_AXLE);
+					}
+					else
+						vehicles.front()->place(bep.track, bep.track_ep, 0, Vehicle::FRONT_AXLE);
+				}
 			}
 			last_entry_time = Time::now();
 			pure_speed = true;
 
+			// Check if we've reached the next route
+			if(next_route)
+			{
+				const set<const Track *> &rtracks = next_route->get_tracks();
+				for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
+					if(rtracks.count(j->block->get_endpoints()[j->entry].track))
+					{
+						route = next_route;
+						next_route = 0;
+						// XXX Exceptions?
+						signal_route_changed.emit(route);
+						break;
+					}
+			}
+
 			// Move blocks up to the next sensor to our current blocks
 			cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 
 			// Try to get more blocks if we're moving
-			if(target_speed && reserve_more()<2)
-				update_speed();
+			if(active)
+			{
+				unsigned nsens = reserve_more();
+				if(!nsens && end_of_route)
+					signal_arrived.emit();
+			}
 		}
 	}
 	else
@@ -335,8 +491,13 @@ void Train::sensor_event(unsigned addr, bool state)
 
 void Train::turnout_event(unsigned addr, bool)
 {
-	if(pending_block && addr==pending_block->get_turnout_id())
-		reserve_more();
+	if(pending_block)
+	{
+		unsigned pending_addr = pending_block->get_turnout_id();
+		bool double_addr = (*pending_block->get_tracks().begin())->get_type().is_double_address();
+		if(addr==pending_addr || (double_addr && addr==pending_addr+1))
+			reserve_more();
+	}
 }
 
 void Train::block_reserved(const Block &block, const Train *train)
@@ -357,11 +518,27 @@ unsigned Train::reserve_more()
 
 	pending_block = 0;
 
-	// See how many blocks we already have
+	// See how many sensor 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;
+	
+	if(end_of_route)
+		return nsens;
+
+	const Route *cur_route = 0;
+	if(route)
+	{
+		const set<Track *> &tracks = last->block->get_tracks();
+		for(set<Track *>::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;
 	BlockRef *good = last;
@@ -377,6 +554,25 @@ unsigned Train::reserve_more()
 		int entry = link->get_endpoint_by_link(*last->block);
 		if(entry<0)
 			throw LogicError("Block links are inconsistent!");
+
+		const Block::Endpoint &entry_ep = link->get_endpoints()[entry];
+
+		if(cur_route)
+		{
+			if(cur_route!=next_route && next_route && next_route->get_tracks().count(entry_ep.track))
+				cur_route = next_route;
+			else if(!cur_route->get_tracks().count(entry_ep.track))
+			{
+				// Keep the blocks if we arrived at the end of the route
+				good = last;
+				good_sens = nsens;
+				end_of_route = true;
+				break;
+			}
+		}
+		else if(route && route->get_tracks().count(entry_ep.track))
+			cur_route = route;
+
 		if(!link->reserve(this))
 		{
 			// If we found another train and it's not headed straight for us, we can keep the blocks we got
@@ -394,8 +590,7 @@ unsigned Train::reserve_more()
 
 		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];
+			const Endpoint &track_ep = entry_ep.track->get_type().get_endpoints()[entry_ep.track_ep];
 
 			// Keep the blocks reserved so far, as either us or the other train can diverge
 			good = last;
@@ -403,10 +598,10 @@ unsigned Train::reserve_more()
 
 			// 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(cur_route)
+				path = cur_route->get_turnout(link->get_turnout_id());
 			if(path<0)
-				path = ep.track->get_active_path();
+				path = entry_ep.track->get_active_path();
 			if(!((track_ep.paths>>path)&1))
 			{
 				for(unsigned i=0; track_ep.paths>>i; ++i)
@@ -414,12 +609,12 @@ unsigned Train::reserve_more()
 						path = i;
 			}
 
-			if(path!=static_cast<int>(ep.track->get_active_path()))
+			if(path!=static_cast<int>(entry_ep.track->get_active_path()))
 			{
 				// The turnout is set to wrong path - switch and wait for it
 				link->reserve(0);
 				pending_block = link;
-				ep.track->set_active_path(path);
+				entry_ep.track->set_active_path(path);
 				break;
 			}
 		}
@@ -442,50 +637,7 @@ unsigned Train::reserve_more()
 			last = &rsv_blocks.back();
 	}
 
-	if(got_more)
-		update_speed();
-
-	return nsens;
-}
-
-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<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)
-		{
-			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);
+	return good_sens;
 }
 
 float Train::get_real_speed(unsigned i) const
@@ -544,18 +696,17 @@ unsigned Train::find_speed(float real) const
 	return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 }
 
-void Train::set_status(const string &s)
+float Train::get_travel_speed() const
 {
-	status = s;
-	signal_status_changed.emit(s);
+	float speed = get_real_speed(current_speed);
+	float scale = layout.get_catalogue().get_scale();
+	return static_cast<int>(round(speed/scale*3.6/5))*5;
 }
 
-void Train::set_position(const Block::Endpoint &bep)
+void Train::set_status(const string &s)
 {
-	cur_track = bep.track;
-	cur_track_ep = bep.track_ep;
-	offset = 0;
-	pos = cur_track->get_endpoint_position(cur_track_ep);
+	status = s;
+	signal_status_changed.emit(s);
 }
 
 void Train::release_blocks(list<BlockRef> &blocks)
@@ -581,6 +732,25 @@ void Train::reverse_blocks(list<BlockRef> &blocks) const
 }
 
 
+Train::BlockRef::BlockRef(Block *b, unsigned e):
+	block(b),
+	entry(e)
+{ }
+
+Train::BlockRef Train::BlockRef::next() const
+{
+	Block *blk = block->get_endpoints()[block->traverse(entry)].link;
+	if(!blk)
+		throw InvalidState("At end of line");
+
+	int ep = blk->get_endpoint_by_link(*block);
+	if(ep<0)
+		throw LogicError("Block links are inconsistent");
+
+	return BlockRef(blk, ep);
+}
+
+
 Train::RealSpeed::RealSpeed():
 	speed(0),
 	weight(0)
@@ -616,7 +786,11 @@ void Train::Loader::block(unsigned id)
 	blk.reserve(&obj);
 	obj.cur_blocks.push_back(BlockRef(&blk, entry));
 	obj.set_status("Stopped");
-	obj.set_position(blk.get_endpoints()[entry]);
+	const Block::Endpoint &bep = blk.get_endpoints()[entry];
+	obj.vehicles.back()->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);
 
 	prev_block = &blk;
 }