source/libmarklin/train.cpp

   1 /* $Id$
   2
   3 This file is part of the MSP Märklin suite
   4 Copyright © 2006-2009 Mikkosoft Productions, Mikko Rasa
   5 Distributed under the GPL
   6 */
   7
   8 #include <cmath>
   9 #include <msp/strings/formatter.h>
  10 #include <msp/time/units.h>
  11 #include <msp/time/utils.h>
  12 #include "control.h"
  13 #include "except.h"
  14 #include "layout.h"
  15 #include "route.h"
  16 #include "tracktype.h"
  17 #include "trafficmanager.h"
  18 #include "train.h"
  19
  20 using namespace std;
  21 using namespace Msp;
  22
  23 namespace Marklin {
  24
  25 Train::Train(TrafficManager &tm, Locomotive &l):
  26         trfc_mgr(tm),
  27         loco(l),
  28         pending_block(0),
  29         target_speed(0),
  30         route(0),
  31         status("Unplaced"),
  32         travel_dist(0),
  33         travel_speed(0),
  34         pure_speed(false),
  35         real_speed(15),
  36         cur_track(0)
  37 {
  38         trfc_mgr.add_train(this);
  39
  40         loco.signal_reverse_changed.connect(sigc::mem_fun(this, &Train::locomotive_reverse_changed));
  41
  42         const map<unsigned, Sensor *> &sensors = trfc_mgr.get_control().get_sensors();
  43         for(map<unsigned, Sensor *>::const_iterator i=sensors.begin(); i!=sensors.end(); ++i)
  44                 i->second->signal_state_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::sensor_event), i->second));
  45
  46         const map<unsigned, Turnout *> &turnouts = trfc_mgr.get_control().get_turnouts();
  47         for(map<unsigned, Turnout *>::const_iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
  48         {
  49                 i->second->signal_path_changing.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changing), i->second));
  50                 i->second->signal_path_changed.connect(sigc::bind(sigc::mem_fun(this, &Train::turnout_path_changed), i->second));
  51         }
  52
  53         trfc_mgr.signal_block_reserved.connect(sigc::mem_fun(this, &Train::block_reserved));
  54 }
  55
  56 void Train::set_name(const string &n)
  57 {
  58         name = n;
  59
  60         signal_name_changed.emit(name);
  61 }
  62
  63 void Train::set_speed(unsigned speed)
  64 {
  65         if(speed==target_speed)
  66                 return;
  67         travel_speed = static_cast<int>(round(get_real_speed(speed)*87*3.6/5))*5;
  68
  69         target_speed = speed;
  70         if(!target_speed)
  71         {
  72                 pending_block = 0;
  73                 trfc_mgr.get_control().set_timer(3*Time::sec).signal_timeout.connect(
  74                         sigc::bind_return(sigc::bind(
  75                                 sigc::mem_fun(this, static_cast<void (Train::*)(list<BlockRef> &)>(&Train::release_blocks)),
  76                                 sigc::ref(rsv_blocks)), false));
  77         }
  78         else
  79                 reserve_more();
  80
  81         signal_target_speed_changed.emit(target_speed);
  82
  83         update_speed();
  84         pure_speed = false;
  85 }
  86
  87 void Train::set_reverse(bool rev)
  88 {
  89         loco.set_reverse(rev);
  90 }
  91
  92 void Train::set_route(const Route *r)
  93 {
  94         route = r;
  95         signal_route_changed.emit(route);
  96 }
  97
  98 void Train::place(Block &block, unsigned entry)
  99 {
 100         if(target_speed)
 101                 set_speed(0);
 102
 103         release_blocks(rsv_blocks);
 104         release_blocks(cur_blocks);
 105
 106         if(!block.reserve(this))
 107         {
 108                 set_status("Unplaced");
 109                 return;
 110         }
 111
 112         cur_blocks.push_back(BlockRef(&block, entry));
 113         set_position(block.get_endpoints()[entry]);
 114
 115         set_status("Stopped");
 116 }
 117
 118 bool Train::free_block(Block &block)
 119 {
 120         unsigned nsens = 0;
 121         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 122         {
 123                 if(i->block==&block)
 124                 {
 125                         if(nsens<1)
 126                                 return false;
 127                         release_blocks(rsv_blocks, i, rsv_blocks.end());
 128                         update_speed();
 129                         return true;
 130                 }
 131                 else if(i->block->get_sensor_id())
 132                         ++nsens;
 133         }
 134
 135         return false;
 136 }
 137
 138 int Train::get_entry_to_block(Block &block) const
 139 {
 140         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 141                 if(i->block==&block)
 142                         return i->entry;
 143         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 144                 if(i->block==&block)
 145                         return i->entry;
 146         return -1;
 147 }
 148
 149 void Train::tick(const Time::TimeStamp &, const Time::TimeDelta &dt)
 150 {
 151         if(cur_track)
 152         {
 153                 unsigned path = 0;
 154                 if(cur_track->get_turnout_id())
 155                         path = trfc_mgr.get_control().get_turnout(cur_track->get_turnout_id()).get_path();
 156
 157                 offset += get_real_speed(loco.get_speed())*(dt/Time::sec);
 158                 float path_len = cur_track->get_type().get_path_length(path);
 159                 if(offset>path_len)
 160                 {
 161                         unsigned out = cur_track->traverse(cur_track_ep, path);
 162                         Track *next = cur_track->get_link(out);
 163
 164                         bool ok = false;
 165                         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); (!ok && i!=cur_blocks.end()); ++i)
 166                                 ok = i->block->get_tracks().count(next);
 167
 168                         if(ok)
 169                         {
 170                                 if(next)
 171                                         cur_track_ep = next->get_endpoint_by_link(*cur_track);
 172                                 cur_track = next;
 173                                 offset = 0;
 174                         }
 175                         else
 176                                 offset = path_len-0.001;
 177                 }
 178
 179                 if(cur_track)
 180                         pos = cur_track->get_point(cur_track_ep, path, offset);
 181         }
 182 }
 183
 184 void Train::save(list<DataFile::Statement> &st) const
 185 {
 186         st.push_back((DataFile::Statement("name"), name));
 187         for(unsigned i=0; i<=14; ++i)
 188                 if(real_speed[i].weight)
 189                         st.push_back((DataFile::Statement("real_speed"), i, real_speed[i].speed, real_speed[i].weight));
 190         if(route)
 191                 st.push_back((DataFile::Statement("route"), route->get_name()));
 192
 193         if(!cur_blocks.empty())
 194         {
 195                 list<BlockRef> blocks = cur_blocks;
 196                 if(loco.get_reverse())
 197                         reverse_blocks(blocks);
 198
 199                 Block *prev = blocks.front().block->get_endpoints()[blocks.front().entry].link;
 200                 st.push_back((DataFile::Statement("block_hint"), prev->get_id()));
 201
 202                 for(list<BlockRef>::const_iterator i=blocks.begin(); i!=blocks.end(); ++i)
 203                         st.push_back((DataFile::Statement("block"), i->block->get_id()));
 204         }
 205 }
 206
 207 void Train::locomotive_reverse_changed(bool)
 208 {
 209         release_blocks(rsv_blocks);
 210         reverse_blocks(cur_blocks);
 211         reserve_more();
 212
 213         if(cur_track)
 214         {
 215                 unsigned path = 0;
 216                 if(unsigned turnout = cur_track->get_turnout_id())
 217                         path = trfc_mgr.get_control().get_turnout(turnout).get_path();
 218                 cur_track_ep = cur_track->traverse(cur_track_ep, path);
 219                 offset = cur_track->get_type().get_path_length(path)-offset;
 220         }
 221 }
 222
 223 void Train::sensor_event(bool state, Sensor *sensor)
 224 {
 225         unsigned addr = sensor->get_address();
 226
 227         if(state)
 228         {
 229                 // Find the first sensor block from our reserved blocks that isn't this sensor
 230                 list<BlockRef>::iterator i;
 231                 for(i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 232                         if(i->block->get_sensor_id() && i->block->get_sensor_id()!=addr)
 233                                 break;
 234
 235                 if(i!=rsv_blocks.begin())
 236                 {
 237                         // Compute speed and update related state
 238                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 239                         travel_speed = static_cast<int>(round(travel_dist/travel_time_secs*87*3.6/5))*5;
 240
 241                         if(pure_speed)
 242                         {
 243                                 RealSpeed &rs = real_speed[loco.get_speed()];
 244                                 rs.add(travel_dist/travel_time_secs, travel_time_secs);
 245                         }
 246
 247                         travel_dist = 0;
 248                         float block_len;
 249                         for(list<BlockRef>::iterator j=rsv_blocks.begin(); j!=i; ++j)
 250                         {
 251                                 j->block->traverse(j->entry, &block_len);
 252                                 travel_dist += block_len;
 253
 254                                 if(j->block->get_sensor_id()==addr)
 255                                         set_position(j->block->get_endpoints()[j->entry]);
 256                         }
 257                         last_entry_time = Time::now();
 258                         pure_speed = true;
 259
 260                         // Move blocks up to the next sensor to our current blocks
 261                         cur_blocks.splice(cur_blocks.end(), rsv_blocks, rsv_blocks.begin(), i);
 262
 263                         // Try to get more blocks if we're moving
 264                         if(target_speed && reserve_more()<2)
 265                                 update_speed();
 266                 }
 267         }
 268         else
 269         {
 270                 // Find the first sensor in our current blocks that's still active
 271                 list<BlockRef>::iterator end = cur_blocks.begin();
 272                 for(list<BlockRef>::iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 273                         if(i->block->get_sensor_id())
 274                         {
 275                                 if(trfc_mgr.get_control().get_sensor(i->block->get_sensor_id()).get_state())
 276                                         break;
 277                                 else
 278                                         end = i;
 279                         }
 280
 281                 if(end!=cur_blocks.begin())
 282                 {
 283                         // Free blocks up to the last inactive sensor
 284                         ++end;
 285                         release_blocks(cur_blocks, cur_blocks.begin(), end);
 286                 }
 287         }
 288 }
 289
 290 void Train::turnout_path_changing(unsigned, Turnout *turnout)
 291 {
 292         unsigned tid = turnout->get_address();
 293         for(list<BlockRef>::const_iterator i=cur_blocks.begin(); i!=cur_blocks.end(); ++i)
 294                 if(i->block->get_turnout_id()==tid)
 295                         throw TurnoutBusy(this);
 296
 297         unsigned nsens = 0;
 298         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 299         {
 300                 if(i->block->get_turnout_id()==tid)
 301                 {
 302                         if(nsens<1)
 303                                 throw TurnoutBusy(this);
 304                         break;
 305                 }
 306                 else if(i->block->get_sensor_id())
 307                         ++nsens;
 308         }
 309 }
 310
 311 void Train::turnout_path_changed(unsigned, Turnout *turnout)
 312 {
 313         unsigned tid = turnout->get_address();
 314         for(list<BlockRef>::iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 315                 if(i->block->get_turnout_id()==tid)
 316                 {
 317                         release_blocks(rsv_blocks, i, rsv_blocks.end());
 318                         reserve_more();
 319                         return;
 320                 }
 321
 322         if(pending_block && tid==pending_block->get_turnout_id())
 323                 reserve_more();
 324 }
 325
 326 void Train::block_reserved(const Block &block, const Train *train)
 327 {
 328         if(&block==pending_block && !train)
 329                 reserve_more();
 330 }
 331
 332 unsigned Train::reserve_more()
 333 {
 334         BlockRef *last = 0;
 335         if(!rsv_blocks.empty())
 336                 last = &rsv_blocks.back();
 337         else if(!cur_blocks.empty())
 338                 last = &cur_blocks.back();
 339         if(!last)
 340                 return 0;
 341
 342         pending_block = 0;
 343
 344         // See how many blocks we already have
 345         unsigned nsens = 0;
 346         for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 347                 if(i->block->get_sensor_id())
 348                         ++nsens;
 349
 350         bool got_more = false;
 351         BlockRef *good = last;
 352         unsigned good_sens = nsens;
 353         while(good_sens<3)
 354         {
 355                 // Traverse to the next block
 356                 unsigned exit = last->block->traverse(last->entry);
 357                 Block *link = last->block->get_link(exit);
 358                 if(!link)
 359                         break;
 360
 361                 int entry = link->get_endpoint_by_link(*last->block);
 362                 if(entry<0)
 363                         throw LogicError("Block links are inconsistent!");
 364                 if(!link->reserve(this))
 365                 {
 366                         // If we found another train and it's not headed straight for us, we can keep the blocks we got
 367                         int other_entry = link->get_train()->get_entry_to_block(*link);
 368                         if(other_entry<0)
 369                                 throw LogicError("Block reservation inconsistency");
 370                         if(static_cast<unsigned>(entry)!=link->traverse(other_entry))
 371                         {
 372                                 good = last;
 373                                 good_sens = nsens;
 374                         }
 375                         pending_block = link;
 376                         break;
 377                 }
 378
 379                 if(link->get_turnout_id())
 380                 {
 381                         const Block::Endpoint &ep = link->get_endpoints()[entry];
 382                         const Endpoint &track_ep = ep.track->get_type().get_endpoints()[ep.track_ep];
 383
 384                         // Keep the blocks reserved so far, as either us or the other train can diverge
 385                         good = last;
 386                         good_sens = nsens;
 387
 388                         Turnout &turnout = trfc_mgr.get_control().get_turnout(link->get_turnout_id());
 389
 390                         // Figure out what path we'd like to take on the turnout
 391                         int path = -1;
 392                         if(route)
 393                                 path = route->get_turnout(link->get_turnout_id());
 394                         if(path<0)
 395                                 path = turnout.get_path();
 396                         if(!((track_ep.paths>>path)&1))
 397                         {
 398                                 for(unsigned i=0; track_ep.paths>>i; ++i)
 399                                         if((track_ep.paths>>i)&1)
 400                                                 path = i;
 401                         }
 402
 403                         if(path!=turnout.get_path())
 404                         {
 405                                 // The turnout is set to wrong path - switch and wait for it
 406                                 link->reserve(0);
 407                                 pending_block = link;
 408                                 turnout.set_path(path);
 409                                 break;
 410                         }
 411                 }
 412
 413                 rsv_blocks.push_back(BlockRef(link, entry));
 414                 last = &rsv_blocks.back();
 415                 if(last->block->get_sensor_id())
 416                 {
 417                         ++nsens;
 418                         got_more = true;
 419                 }
 420         }
 421
 422         // Unreserve blocks that were not good
 423         while(!rsv_blocks.empty() && last!=good)
 424         {
 425                 last->block->reserve(0);
 426                 rsv_blocks.erase(--rsv_blocks.end());
 427                 if(!rsv_blocks.empty())
 428                         last = &rsv_blocks.back();
 429         }
 430
 431         if(got_more)
 432                 update_speed();
 433
 434         return nsens;
 435 }
 436
 437 void Train::update_speed()
 438 {
 439         if(!target_speed)
 440         {
 441                 loco.set_speed(0);
 442                 set_status("Stopped");
 443         }
 444         else
 445         {
 446                 unsigned nsens = 0;
 447                 for(list<BlockRef>::const_iterator i=rsv_blocks.begin(); i!=rsv_blocks.end(); ++i)
 448                         if(i->block->get_sensor_id())
 449                                 ++nsens;
 450
 451                 unsigned slow_speed = find_speed(0.1);  // 31.3 km/h
 452                 if(nsens==0)
 453                 {
 454                         loco.set_speed(0);
 455                         pure_speed = false;
 456                         set_status("Blocked");
 457                 }
 458                 else if(nsens==1 && target_speed>slow_speed)
 459                 {
 460                         loco.set_speed(slow_speed);
 461                         pure_speed = false;
 462                         set_status("Slow");
 463                 }
 464                 else
 465                 {
 466                         loco.set_speed(target_speed);
 467                         set_status(format("Traveling %d kmh", travel_speed));
 468                 }
 469         }
 470 }
 471
 472 float Train::get_real_speed(unsigned i) const
 473 {
 474         if(real_speed[i].weight)
 475                 return real_speed[i].speed;
 476
 477         unsigned low;
 478         unsigned high;
 479         for(low=i; low>0; --low)
 480                 if(real_speed[low].weight)
 481                         break;
 482         for(high=i; high<14; ++high)
 483                 if(real_speed[high].weight)
 484                         break;
 485
 486         if(real_speed[high].weight)
 487         {
 488                 if(real_speed[low].weight)
 489                 {
 490                         float f = float(i-low)/(high-low);
 491                         return real_speed[low].speed*(1-f)+real_speed[high].speed*f;
 492                 }
 493                 else
 494                         return real_speed[high].speed*float(i)/high;
 495         }
 496         else if(real_speed[low].weight)
 497                 return real_speed[low].speed*float(i)/low;
 498         else
 499                 return 0;
 500 }
 501
 502 unsigned Train::find_speed(float real) const
 503 {
 504         if(real<=real_speed[0].speed)
 505                 return 0;
 506
 507         unsigned low = 0;
 508         unsigned high = 0;
 509         for(unsigned i=0; (!high && i<=14); ++i)
 510                 if(real_speed[i].weight)
 511                 {
 512                         if(real_speed[i].speed<real)
 513                                 low = i;
 514                         else
 515                                 high = i;
 516                 }
 517         if(!high)
 518         {
 519                 if(!low)
 520                         return 0;
 521                 return min(static_cast<unsigned>(low*real/real_speed[low].speed), 14U);
 522         }
 523
 524         float f = (real-real_speed[low].speed)/(real_speed[high].speed-real_speed[low].speed);
 525         return static_cast<unsigned>(low*(1-f)+high*f+0.5);
 526 }
 527
 528 void Train::set_status(const string &s)
 529 {
 530         status = s;
 531         signal_status_changed.emit(s);
 532 }
 533
 534 void Train::set_position(const Block::Endpoint &bep)
 535 {
 536         cur_track = bep.track;
 537         cur_track_ep = bep.track_ep;
 538         offset = 0;
 539         pos = cur_track->get_endpoint_position(cur_track_ep);
 540 }
 541
 542 void Train::release_blocks(list<BlockRef> &blocks)
 543 {
 544         release_blocks(blocks, blocks.begin(), blocks.end());
 545 }
 546
 547 void Train::release_blocks(list<BlockRef> &blocks, list<BlockRef>::iterator begin, list<BlockRef>::iterator end)
 548 {
 549         while(begin!=end)
 550         {
 551                 Block *block = begin->block;
 552                 blocks.erase(begin++);
 553                 block->reserve(0);
 554         }
 555 }
 556
 557 void Train::reverse_blocks(list<BlockRef> &blocks) const
 558 {
 559         blocks.reverse();
 560         for(list<BlockRef>::iterator i=blocks.begin(); i!=blocks.end(); ++i)
 561                 i->entry = i->block->traverse(i->entry);
 562 }
 563
 564
 565 Train::RealSpeed::RealSpeed():
 566         speed(0),
 567         weight(0)
 568 { }
 569
 570 void Train::RealSpeed::add(float s, float w)
 571 {
 572         speed = (speed*weight+s*w)/(weight+w);
 573         weight = min(weight+w, 300.0f);
 574 }
 575
 576
 577 Train::Loader::Loader(Train &t):
 578         DataFile::BasicLoader<Train>(t),
 579         prev_block(0)
 580 {
 581         add("block",       &Loader::block);
 582         add("block_hint",  &Loader::block_hint);
 583         add("name",        &Loader::name);
 584         add("real_speed",  &Loader::real_speed);
 585         add("route",       &Loader::route);
 586 }
 587
 588 void Train::Loader::block(unsigned id)
 589 {
 590         Block &blk = obj.trfc_mgr.get_block(id);
 591         int entry = -1;
 592         if(prev_block)
 593                 entry = blk.get_endpoint_by_link(*prev_block);
 594         if(entry<0)
 595                 entry = 0;
 596
 597         blk.reserve(&obj);
 598         obj.cur_blocks.push_back(BlockRef(&blk, entry));
 599         obj.set_status("Stopped");
 600         obj.set_position(blk.get_endpoints()[entry]);
 601
 602         prev_block = &blk;
 603 }
 604
 605 void Train::Loader::block_hint(unsigned id)
 606 {
 607         prev_block = &obj.trfc_mgr.get_block(id);
 608 }
 609
 610 void Train::Loader::name(const string &n)
 611 {
 612         obj.set_name(n);
 613 }
 614
 615 void Train::Loader::real_speed(unsigned i, float speed, float weight)
 616 {
 617         obj.real_speed[i].speed = speed;
 618         obj.real_speed[i].weight = weight;
 619 }
 620
 621 void Train::Loader::route(const string &n)
 622 {
 623         obj.set_route(&obj.trfc_mgr.get_layout().get_route(n));
 624 }
 625
 626 } // namespace Marklin