source/libr2c2/train.cpp

   1 #include <algorithm>
   2 #include <cmath>
   3 #include <msp/core/maputils.h>
   4 #include <msp/core/raii.h>
   5 #include <msp/strings/format.h>
   6 #include <msp/time/units.h>
   7 #include <msp/time/utils.h>
   8 #include "aicontrol.h"
   9 #include "beamgate.h"
  10 #include "block.h"
  11 #include "catalogue.h"
  12 #include "driver.h"
  13 #include "layout.h"
  14 #include "route.h"
  15 #include "simplecontroller.h"
  16 #include "speedquantizer.h"
  17 #include "timetable.h"
  18 #include "trackcircuit.h"
  19 #include "trackiter.h"
  20 #include "tracktype.h"
  21 #include "train.h"
  22 #include "trainrouter.h"
  23 #include "vehicle.h"
  24 #include "vehicletype.h"
  25 #include "zone.h"
  26
  27 using namespace std;
  28 using namespace Msp;
  29
  30 namespace R2C2 {
  31
  32 Train::Train(Layout &l, const VehicleType &t, unsigned a, const string &p):
  33         layout(l),
  34         loco_type(t),
  35         address(a),
  36         protocol(p),
  37         preceding_train(0),
  38         allocator(*this),
  39         advancing(false),
  40         controller(new SimpleController),
  41         current_speed_step(0),
  42         speed_changing(false),
  43         reverse(false),
  44         functions(0),
  45         pure_speed(false),
  46         speed_quantizer(0),
  47         accurate_position(false),
  48         overshoot_dist(false)
  49 {
  50         if(!loco_type.is_locomotive())
  51                 throw invalid_argument("Train::Train");
  52
  53         unsigned speed_steps = layout.get_driver().get_protocol_speed_steps(protocol);
  54         if(speed_steps)
  55                 speed_quantizer = new SpeedQuantizer(speed_steps);
  56
  57         vehicles.push_back(new Vehicle(layout, loco_type));
  58         vehicles.back()->set_train(this);
  59
  60         layout.add_train(*this);
  61
  62         loco_id = layout.get_driver().add_loco(address, protocol, loco_type);
  63         layout.get_driver().signal_loco_speed.connect(sigc::mem_fun(this, &Train::loco_speed_event));
  64         layout.get_driver().signal_loco_function.connect(sigc::mem_fun(this, &Train::loco_func_event));
  65
  66         layout.signal_sensor_state_changed.connect(sigc::mem_fun(this, &Train::sensor_state_changed));
  67
  68         layout.get_driver().signal_halt.connect(sigc::mem_fun(this, &Train::halt_event));
  69
  70         controller->signal_control_changed.connect(sigc::mem_fun(this, &Train::control_changed));
  71 }
  72
  73 Train::~Train()
  74 {
  75         delete controller;
  76         for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
  77                 delete *i;
  78         layout.remove_train(*this);
  79 }
  80
  81 void Train::set_name(const string &n)
  82 {
  83         name = n;
  84
  85         signal_name_changed.emit(name);
  86 }
  87
  88 void Train::add_vehicle(const VehicleType &vt)
  89 {
  90         Vehicle *veh = new Vehicle(layout, vt);
  91         vehicles.back()->attach_back(*veh);
  92         vehicles.push_back(veh);
  93         veh->set_train(this);
  94         signal_vehicle_added.emit(vehicles.size()-1, *veh);
  95 }
  96
  97 void Train::remove_vehicle(unsigned i)
  98 {
  99         if(i>=vehicles.size())
 100                 throw out_of_range("Train::remove_vehicle");
 101         if(i==0)
 102                 throw logic_error("can't remove locomotive");
 103
 104         Vehicle *veh = vehicles[i];
 105         vehicles.erase(vehicles.begin()+i);
 106         veh->detach_front();
 107         if(i<vehicles.size())
 108         {
 109                 veh->detach_back();
 110                 vehicles[i-1]->attach_back(*vehicles[i]);
 111         }
 112         signal_vehicle_removed.emit(i, *veh);
 113         delete veh;
 114 }
 115
 116 unsigned Train::get_n_vehicles() const
 117 {
 118         return vehicles.size();
 119 }
 120
 121 Vehicle &Train::get_vehicle(unsigned i)
 122 {
 123         if(i>=vehicles.size())
 124                 throw out_of_range("Train::get_vehicle");
 125         return *vehicles[i];
 126 }
 127
 128 const Vehicle &Train::get_vehicle(unsigned i) const
 129 {
 130         if(i>=vehicles.size())
 131                 throw out_of_range("Train::get_vehicle");
 132         return *vehicles[i];
 133 }
 134
 135 void Train::set_control(const string &n, float v)
 136 {
 137         controller->set_control(n, v);
 138 }
 139
 140 void Train::set_function(unsigned func, bool state)
 141 {
 142         if(!loco_type.get_functions().count(func))
 143                 throw invalid_argument("Train::set_function");
 144         layout.get_driver().set_loco_function(loco_id, func, state);
 145 }
 146
 147 float Train::get_control(const string &ctrl) const
 148 {
 149         return controller->get_control(ctrl).value;
 150 }
 151
 152 float Train::get_speed() const
 153 {
 154         return controller->get_speed();
 155 }
 156
 157 float Train::get_quantized_speed() const
 158 {
 159         if(speed_quantizer)
 160                 return speed_quantizer->quantize_speed(controller->get_speed());
 161         else
 162                 return controller->get_speed();
 163 }
 164
 165 float Train::get_maximum_speed() const
 166 {
 167         float ms = 0;
 168         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 169         {
 170                 float vms = (*i)->get_type().get_maximum_speed();
 171                 if(ms<=0 || (vms>0 && vms<ms))
 172                         ms = vms;
 173         }
 174         return ms;
 175 }
 176
 177 bool Train::get_function(unsigned func) const
 178 {
 179         return (functions>>func)&1;
 180 }
 181
 182 void Train::add_ai(TrainAI &ai)
 183 {
 184         ais.push_back(&ai);
 185         ai.signal_event.connect(sigc::bind<0>(signal_ai_event, sigc::ref(ai)));
 186 }
 187
 188 void Train::remove_ai(TrainAI &ai)
 189 {
 190         list<TrainAI *>::iterator i = find(ais.begin(), ais.end(), &ai);
 191         if(i!=ais.end())
 192                 ais.erase(i);
 193 }
 194
 195 void Train::ai_message(const TrainAI::Message &msg)
 196 {
 197         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 198                 (*i)->message(msg);
 199 }
 200
 201 bool Train::place(const BlockIter &block)
 202 {
 203         if(!block)
 204                 throw invalid_argument("Train::place");
 205         if(controller->get_speed())
 206                 throw logic_error("moving");
 207
 208         accurate_position = false;
 209         last_entry_block = BlockIter();
 210
 211         if(allocator.start_from(block))
 212         {
 213                 if(reverse)
 214                         vehicles.front()->place(block.reverse().track_iter(), VehiclePlacement::FRONT_BUFFER);
 215                 else
 216                         vehicles.back()->place(block.track_iter(), VehiclePlacement::BACK_BUFFER);
 217                 return true;
 218         }
 219         else
 220         {
 221                 unplace();
 222                 return false;
 223         }
 224 }
 225
 226 void Train::unplace()
 227 {
 228         if(controller->get_speed())
 229                 throw logic_error("moving");
 230
 231         allocator.clear();
 232         accurate_position = false;
 233         last_entry_block = BlockIter();
 234
 235         for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 236                 (*i)->unplace();
 237 }
 238
 239 void Train::stop_at(Block *block)
 240 {
 241         allocator.stop_at(block);
 242 }
 243
 244 bool Train::is_block_critical(const Block &block) const
 245 {
 246         return get_reserved_distance_until(&block)<=controller->get_braking_distance()*1.3;
 247 }
 248
 249 BlockIter Train::get_first_noncritical_block() const
 250 {
 251         if(allocator.empty())
 252                 return BlockIter();
 253
 254         BlockIter i = allocator.last_current().next();
 255
 256         if(controller->get_speed()==0)
 257                 return i;
 258
 259         float margin = 10*layout.get_catalogue().get_scale();
 260         float min_dist = controller->get_braking_distance()*1.3+margin;
 261
 262         float dist = 0;
 263         bool sensor_seen = false;
 264         for(; i->get_train()==this; i=i.next())
 265         {
 266                 if(dist>min_dist && sensor_seen)
 267                         return i;
 268
 269                 dist += i->get_path_length(i.entry());
 270
 271                 if(i->get_sensor_address())
 272                         sensor_seen = true;
 273         }
 274
 275         return i;
 276 }
 277
 278 void Train::refresh_blocks_from(Block &block)
 279 {
 280         if(is_block_critical(block))
 281                 allocator.rewind_to(*get_first_noncritical_block());
 282         else
 283                 allocator.rewind_to(block);
 284 }
 285
 286 float Train::get_reserved_distance() const
 287 {
 288         if(allocator.empty())
 289                 return 0;
 290
 291         float margin = 0;
 292         TrackIter next = allocator.last().next().track_iter();
 293         if(next && next->get_type().is_turnout())
 294                 margin = 15*layout.get_catalogue().get_scale();
 295
 296         return max(get_reserved_distance_until(0)-margin, 0.0f);
 297 }
 298
 299 void Train::tick(const Time::TimeDelta &dt)
 300 {
 301         if(stop_timeout)
 302         {
 303                 stop_timeout -= dt;
 304                 if(stop_timeout<=Time::zero)
 305                 {
 306                         allocator.set_active(false);
 307                         stop_timeout = Time::TimeDelta();
 308                 }
 309         }
 310
 311         travel_time += dt;
 312
 313         Driver &driver = layout.get_driver();
 314
 315         bool intent_to_move = false;
 316         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 317         {
 318                 (*i)->tick(dt);
 319                 if((*i)->has_intent_to_move())
 320                         intent_to_move = true;
 321         }
 322
 323         controller->tick(dt);
 324         float speed = controller->get_speed();
 325         bool moving = speed>0;
 326
 327         if(controller->get_reverse()!=reverse)
 328         {
 329                 reverse = controller->get_reverse();
 330                 bool r = reverse;
 331                 if(loco_type.get_swap_direction())
 332                         r = !r;
 333                 driver.set_loco_reverse(loco_id, r);
 334
 335                 allocator.reverse();
 336                 last_entry_block = BlockIter();
 337         }
 338
 339         if(speed_quantizer)
 340         {
 341                 unsigned speed_step = speed_quantizer->find_speed_step(speed);
 342                 if(speed_step!=current_speed_step && !speed_changing && !driver.is_halted() && driver.get_power())
 343                 {
 344                         speed_changing = true;
 345                         driver.set_loco_speed(loco_id, speed_step);
 346
 347                         pure_speed = false;
 348                 }
 349
 350                 speed = speed_quantizer->get_speed(current_speed_step);
 351         }
 352
 353         if(moving)
 354         {
 355                 if(!allocator.is_active())
 356                         allocator.set_active(true);
 357
 358                 Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
 359
 360                 float d = speed*(dt/Time::sec);
 361                 Block &block = vehicle.get_placement().get_position(reverse ? VehiclePlacement::BACK_AXLE : VehiclePlacement::FRONT_AXLE)->get_block();
 362                 if(allocator.is_block_current(block))
 363                 {
 364                         SetFlag setf(advancing);
 365                         vehicle.advance(reverse ? -d : d);
 366                 }
 367                 else if(accurate_position)
 368                 {
 369                         overshoot_dist += d;
 370                         if(overshoot_dist>40*layout.get_catalogue().get_scale())
 371                         {
 372                                 layout.emergency(&block, name+" has not arrived at sensor");
 373                                 accurate_position = false;
 374                         }
 375                 }
 376         }
 377         else if(intent_to_move && !allocator.is_active())
 378                 allocator.set_active(true);
 379         else if(allocator.is_active() && !intent_to_move && !stop_timeout)
 380                 stop_timeout = 2*Time::sec;
 381 }
 382
 383 void Train::save(list<DataFile::Statement> &st) const
 384 {
 385         st.push_back((DataFile::Statement("name"), name));
 386
 387         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 388                 if(i!=vehicles.begin())
 389                         st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
 390
 391         if(speed_quantizer)
 392         {
 393                 DataFile::Statement ss("quantized_speed");
 394                 speed_quantizer->save(ss.sub);
 395                 st.push_back(ss);
 396         }
 397
 398         {
 399                 DataFile::Statement ss("blocks");
 400                 allocator.save(ss.sub);
 401                 st.push_back(ss);
 402         }
 403
 404         // XXX Need more generic way of saving AI state
 405         for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
 406         {
 407                 if(TrainRouter *router = dynamic_cast<TrainRouter *>(*i))
 408                 {
 409                         DataFile::Statement ss("router");
 410                         router->save(ss.sub);
 411                         st.push_back(ss);
 412                 }
 413                 else if(Timetable *timetable = dynamic_cast<Timetable *>(*i))
 414                 {
 415                         DataFile::Statement ss("timetable");
 416                         timetable->save(ss.sub);
 417                         st.push_back(ss);
 418                 }
 419         }
 420 }
 421
 422 void Train::control_changed(const Controller::Control &ctrl)
 423 {
 424         signal_control_changed.emit(ctrl.name, ctrl.value);
 425 }
 426
 427 void Train::loco_speed_event(unsigned id, unsigned speed, bool rev)
 428 {
 429         if(id==loco_id)
 430         {
 431                 current_speed_step = speed;
 432                 bool r = reverse;
 433                 if(loco_type.get_swap_direction())
 434                         r = !r;
 435                 if(rev!=r)
 436                         layout.get_driver().set_loco_reverse(loco_id, r);
 437                 speed_changing = false;
 438                 pure_speed = false;
 439         }
 440 }
 441
 442 void Train::loco_func_event(unsigned id, unsigned func, bool state)
 443 {
 444         if(id==loco_id)
 445         {
 446                 if(state)
 447                         functions |= 1<<func;
 448                 else
 449                         functions &= ~(1<<func);
 450
 451                 signal_function_changed.emit(func, state);
 452         }
 453 }
 454
 455 void Train::sensor_state_changed(Sensor &sensor, Sensor::State state)
 456 {
 457         if(!current_speed_step || state!=Sensor::MAYBE_ACTIVE)
 458                 return;
 459
 460         Block *block = sensor.get_block();
 461         if(!block || block->get_train()!=this)
 462                 return;
 463
 464         if(last_entry_block && &*last_entry_block!=block)
 465         {
 466                 for(BlockIter i=last_entry_block.next(); (i && &*i!=block); i=i.next())
 467                         if(i->get_train()!=this || i->get_sensor_address())
 468                                 return;
 469         }
 470
 471         if(dynamic_cast<TrackCircuit *>(&sensor))
 472         {
 473                 if(last_entry_block && pure_speed && speed_quantizer)
 474                 {
 475                         float travel_distance = 0;
 476
 477                         for(BlockIter i=last_entry_block; &*i!=block; i=i.next())
 478                                 travel_distance += i->get_path_length(i.entry());
 479
 480                         if(travel_distance>0)
 481                         {
 482                                 float travel_time_secs = travel_time/Time::sec;
 483
 484                                 if(travel_time_secs>=2)
 485                                         speed_quantizer->learn(current_speed_step, travel_distance/travel_time_secs, travel_time_secs);
 486                         }
 487                 }
 488
 489                 last_entry_block = allocator.iter_for(*block);
 490                 travel_time = Time::zero;
 491                 if(!layout.get_driver().is_halted())
 492                 {
 493                         pure_speed = true;
 494                         accurate_position = true;
 495                 }
 496                 overshoot_dist = 0;
 497
 498                 if(!advancing && vehicles.front()->is_placed())
 499                 {
 500                         TrackIter track = last_entry_block.track_iter();
 501                         if(reverse)
 502                         {
 503                                 track = track.flip();
 504                                 vehicles.back()->place(track, VehiclePlacement::BACK_AXLE);
 505                         }
 506                         else
 507                                 vehicles.front()->place(track, VehiclePlacement::FRONT_AXLE);
 508                 }
 509         }
 510         else if(BeamGate *gate = dynamic_cast<BeamGate *>(&sensor))
 511         {
 512                 if(!advancing && vehicles.front()->is_placed())
 513                 {
 514                         TrackIter track = allocator.iter_for(*block).track_iter();
 515                         for(; (track && &track->get_block()==block); track=track.next())
 516                                 if(track.track()==gate->get_track())
 517                                 {
 518                                         if(reverse)
 519                                                 track = track.reverse();
 520                                         float offset = gate->get_offset_from_endpoint(track.entry());
 521                                         if(reverse)
 522                                                 vehicles.back()->place(TrackOffsetIter(track, offset), VehiclePlacement::BACK_BUFFER);
 523                                         else
 524                                                 vehicles.front()->place(TrackOffsetIter(track, offset), VehiclePlacement::FRONT_BUFFER);
 525                                         break;
 526                                 }
 527                 }
 528         }
 529 }
 530
 531 void Train::halt_event(bool h)
 532 {
 533         if(h)
 534                 accurate_position = false;
 535 }
 536
 537 float Train::get_reserved_distance_until(const Block *until_block) const
 538 {
 539         if(allocator.empty())
 540                 return 0;
 541
 542         Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
 543
 544         TrackOffsetIter track = veh.get_placement().get_position(reverse ? VehiclePlacement::BACK_AXLE : VehiclePlacement::FRONT_AXLE);
 545         if(!track)  // XXX Probably unnecessary
 546                 return 0;
 547
 548         if(&track->get_block()==until_block)
 549                 return 0;
 550
 551         // Account for the vehicle's offset on its current track
 552         float result = track.offset();
 553         if(reverse)
 554                 track = track.reverse();
 555         else
 556                 result = track->get_path_length()-result;
 557         result -= veh.get_type().get_length()/2;
 558
 559         BlockIter block = track.block_iter();
 560
 561         // Count remaining distance in the vehicle's current block
 562         for(track=track.next(); &track->get_block()==&*block; track=track.next())
 563                 result += track->get_path_length();
 564
 565         const BlockIter &last = allocator.last();
 566         if(&*block==&*last)
 567                 return result;
 568
 569         // Count any remaining blocks
 570         for(block=block.next(); (&*block!=until_block && block->get_train()==this); block=block.next())
 571         {
 572                 result += block->get_path_length(block.entry());
 573
 574                 if(&*block==&*last)
 575                         break;
 576         }
 577
 578         return result;
 579 }
 580
 581
 582 Train::Loader::Loader(Train &t):
 583         DataFile::ObjectLoader<Train>(t),
 584         prev_block(0),
 585         blocks_valid(true)
 586 {
 587         add("blocks",      &Loader::blocks);
 588         add("name",        &Loader::name);
 589         add("quantized_speed",  &Loader::quantized_speed);
 590         add("router",      &Loader::router);
 591         add("timetable",   &Loader::timetable);
 592         add("vehicle",     &Loader::vehicle);
 593 }
 594
 595 void Train::Loader::finish()
 596 {
 597         if(!obj.allocator.empty())
 598         {
 599                 TrackIter track = obj.allocator.first().track_iter();
 600                 float offset = 2*obj.layout.get_catalogue().get_scale();
 601                 obj.vehicles.back()->place(TrackOffsetIter(track, offset), VehiclePlacement::BACK_BUFFER);
 602         }
 603 }
 604
 605 void Train::Loader::blocks()
 606 {
 607         load_sub(obj.allocator);
 608 }
 609
 610 void Train::Loader::name(const string &n)
 611 {
 612         obj.set_name(n);
 613 }
 614
 615 void Train::Loader::quantized_speed()
 616 {
 617         if(obj.speed_quantizer)
 618                 load_sub(*obj.speed_quantizer);
 619 }
 620
 621 void Train::Loader::router()
 622 {
 623         TrainRouter *rtr = new TrainRouter(obj);
 624         load_sub(*rtr);
 625 }
 626
 627 void Train::Loader::timetable()
 628 {
 629         Timetable *ttbl = new Timetable(obj);
 630         load_sub(*ttbl, obj.layout);
 631 }
 632
 633 void Train::Loader::vehicle(ArticleNumber art_nr)
 634 {
 635         const VehicleType &vtype = obj.layout.get_catalogue().get<VehicleType>(art_nr);
 636         Vehicle *veh = new Vehicle(obj.layout, vtype);
 637         obj.vehicles.back()->attach_back(*veh);
 638         obj.vehicles.push_back(veh);
 639         veh->set_train(&obj);
 640 }
 641
 642 } // namespace R2C2