source/libr2c2/aicontrol.cpp

   1 /* $Id$
   2
   3 This file is part of R²C²
   4 Copyright © 2010-2011  Mikkosoft Productions, Mikko Rasa
   5 Distributed under the GPL
   6 */
   7
   8 #include "aicontrol.h"
   9 #include "catalogue.h"
  10 #include "layout.h"
  11 #include "train.h"
  12
  13 using namespace std;
  14 using namespace Msp;
  15
  16 namespace R2C2 {
  17
  18 AIControl::AIControl(Train &t):
  19         TrainAI(t),
  20         target_speed(0),
  21         reverse(false),
  22         pending_reverse(false),
  23         state(NORMAL),
  24         need_update(false)
  25 {
  26         train.signal_arrived.connect(sigc::mem_fun(this, &AIControl::arrived));
  27 }
  28
  29 void AIControl::set_target_speed(float s)
  30 {
  31         if(s && !train.is_active())
  32                 train.set_active(true);
  33
  34         target_speed = s;
  35         need_update = true;
  36         signal_event.emit(Message("target-speed-changed", target_speed));
  37 }
  38
  39 void AIControl::set_reverse(bool r)
  40 {
  41         pending_reverse = r;
  42         if(train.get_controller().get_speed())
  43                 set_target_speed(0);
  44         else
  45         {
  46                 reverse = r;
  47                 train.set_control("reverse", reverse);
  48                 signal_event.emit(Message("reverse-changed", reverse));
  49         }
  50 }
  51
  52 void AIControl::message(const Message &msg)
  53 {
  54         if(msg.type=="set-target-speed")
  55                 set_target_speed(msg.value.value<float>());
  56         else if(msg.type=="set-reverse")
  57                 set_reverse(msg.value.value<bool>());
  58         else if(msg.type=="toggle-reverse")
  59                 set_reverse(!reverse);
  60 }
  61
  62 void AIControl::tick(const Time::TimeStamp &, const Time::TimeDelta &)
  63 {
  64         float scale = train.get_layout().get_catalogue().get_scale();
  65         float rsv_dist = train.get_reserved_distance();
  66         float brake_dist = train.get_controller().get_braking_distance();
  67         float approach_margin = 50*scale;
  68         float approach_speed = 5*scale;
  69         float margin = 1*scale;
  70
  71         State old_state = state;
  72
  73         if(state==FOLLOW && !train.get_preceding_train())
  74                 state = NORMAL;
  75
  76         if(rsv_dist<brake_dist+margin)
  77                 state = BLOCKED;
  78         else if(rsv_dist>brake_dist+margin*2 && rsv_dist<brake_dist*1.3+approach_margin)
  79                 state = APPROACH;
  80         else if(rsv_dist>brake_dist*1.3+approach_margin*2)
  81                 state = NORMAL;
  82
  83         if(state==NORMAL && train.get_preceding_train())
  84                 state = FOLLOW;
  85
  86         if(state!=old_state || state==FOLLOW || need_update)
  87         {
  88                 float speed_limit = -1;
  89                 if(state==BLOCKED)
  90                         speed_limit = 0;
  91                 else if(state==APPROACH)
  92                         speed_limit = approach_speed;
  93                 else if(state==FOLLOW && train.get_preceding_train()->is_active())
  94                         speed_limit = train.get_preceding_train()->get_speed();
  95
  96                 if(speed_limit>=0 && target_speed>speed_limit)
  97                         train.set_control("speed", speed_limit);
  98                 else
  99                         train.set_control("speed", target_speed);
 100
 101                 need_update = false;
 102         }
 103
 104         if(pending_reverse!=reverse && !train.get_controller().get_speed())
 105         {
 106                 reverse = pending_reverse;
 107                 train.set_control("reverse", reverse);
 108         }
 109
 110         if(!target_speed && !train.get_controller().get_speed() && train.is_active())
 111                 train.set_active(false);
 112 }
 113
 114 void AIControl::arrived()
 115 {
 116         set_target_speed(0);
 117 }
 118
 119 } // namespace R2C2