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