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                 if(allocator.is_block_current(vehicle.get_placement().get_position(reverse ? VehiclePlacement::BACK_AXLE : VehiclePlacement::FRONT_AXLE)->get_block()))
 362                 {
 363                         SetFlag setf(advancing);
 364                         vehicle.advance(reverse ? -d : d);
 365                 }
 366                 else if(accurate_position)
 367                 {
 368                         overshoot_dist += d;
 369                         if(overshoot_dist>40*layout.get_catalogue().get_scale())
 370                         {
 371                                 layout.emergency(name+" has not arrived at sensor");
 372                                 accurate_position = false;
 373                         }
 374                 }
 375         }
 376         else if(intent_to_move && !allocator.is_active())
 377                 allocator.set_active(true);
 378         else if(allocator.is_active() && !intent_to_move && !stop_timeout)
 379                 stop_timeout = 2*Time::sec;
 380 }
 381
 382 void Train::save(list<DataFile::Statement> &st) const
 383 {
 384         st.push_back((DataFile::Statement("name"), name));
 385
 386         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 387                 if(i!=vehicles.begin())
 388                         st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
 389
 390         if(speed_quantizer)
 391         {
 392                 DataFile::Statement ss("quantized_speed");
 393                 speed_quantizer->save(ss.sub);
 394                 st.push_back(ss);
 395         }
 396
 397         {
 398                 DataFile::Statement ss("blocks");
 399                 allocator.save(ss.sub);
 400                 st.push_back(ss);
 401         }
 402
 403         // XXX Need more generic way of saving AI state
 404         for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
 405         {
 406                 if(TrainRouter *router = dynamic_cast<TrainRouter *>(*i))
 407                 {
 408                         DataFile::Statement ss("router");
 409                         router->save(ss.sub);
 410                         st.push_back(ss);
 411                 }
 412                 else if(Timetable *timetable = dynamic_cast<Timetable *>(*i))
 413                 {
 414                         DataFile::Statement ss("timetable");
 415                         timetable->save(ss.sub);
 416                         st.push_back(ss);
 417                 }
 418         }
 419 }
 420
 421 void Train::control_changed(const Controller::Control &ctrl)
 422 {
 423         signal_control_changed.emit(ctrl.name, ctrl.value);
 424 }
 425
 426 void Train::loco_speed_event(unsigned id, unsigned speed, bool rev)
 427 {
 428         if(id==loco_id)
 429         {
 430                 current_speed_step = speed;
 431                 bool r = reverse;
 432                 if(loco_type.get_swap_direction())
 433                         r = !r;
 434                 if(rev!=r)
 435                         layout.get_driver().set_loco_reverse(loco_id, r);
 436                 speed_changing = false;
 437                 pure_speed = false;
 438         }
 439 }
 440
 441 void Train::loco_func_event(unsigned id, unsigned func, bool state)
 442 {
 443         if(id==loco_id)
 444         {
 445                 if(state)
 446                         functions |= 1<<func;
 447                 else
 448                         functions &= ~(1<<func);
 449
 450                 signal_function_changed.emit(func, state);
 451         }
 452 }
 453
 454 void Train::sensor_state_changed(Sensor &sensor, Sensor::State state)
 455 {
 456         if(!current_speed_step || state!=Sensor::MAYBE_ACTIVE)
 457                 return;
 458
 459         Block *block = sensor.get_block();
 460         if(!block || block->get_train()!=this)
 461                 return;
 462
 463         if(last_entry_block && &*last_entry_block!=block)
 464         {
 465                 for(BlockIter i=last_entry_block.next(); (i && &*i!=block); i=i.next())
 466                         if(i->get_train()!=this || i->get_sensor_address())
 467                                 return;
 468         }
 469
 470         if(dynamic_cast<TrackCircuit *>(&sensor))
 471         {
 472                 if(last_entry_block && pure_speed && speed_quantizer)
 473                 {
 474                         float travel_distance = 0;
 475
 476                         for(BlockIter i=last_entry_block; &*i!=block; i=i.next())
 477                                 travel_distance += i->get_path_length(i.entry());
 478
 479                         if(travel_distance>0)
 480                         {
 481                                 float travel_time_secs = travel_time/Time::sec;
 482
 483                                 if(travel_time_secs>=2)
 484                                         speed_quantizer->learn(current_speed_step, travel_distance/travel_time_secs, travel_time_secs);
 485                         }
 486                 }
 487
 488                 last_entry_block = allocator.iter_for(*block);
 489                 travel_time = Time::zero;
 490                 if(!layout.get_driver().is_halted())
 491                 {
 492                         pure_speed = true;
 493                         accurate_position = true;
 494                 }
 495                 overshoot_dist = 0;
 496
 497                 if(!advancing && vehicles.front()->is_placed())
 498                 {
 499                         TrackIter track = last_entry_block.track_iter();
 500                         if(reverse)
 501                         {
 502                                 track = track.flip();
 503                                 vehicles.back()->place(track, VehiclePlacement::BACK_AXLE);
 504                         }
 505                         else
 506                                 vehicles.front()->place(track, VehiclePlacement::FRONT_AXLE);
 507                 }
 508         }
 509         else if(BeamGate *gate = dynamic_cast<BeamGate *>(&sensor))
 510         {
 511                 if(!advancing && vehicles.front()->is_placed())
 512                 {
 513                         TrackIter track = allocator.iter_for(*block).track_iter();
 514                         for(; (track && &track->get_block()==block); track=track.next())
 515                                 if(track.track()==gate->get_track())
 516                                 {
 517                                         if(reverse)
 518                                                 track = track.reverse();
 519                                         float offset = gate->get_offset_from_endpoint(track.entry());
 520                                         if(reverse)
 521                                                 vehicles.back()->place(TrackOffsetIter(track, offset), VehiclePlacement::BACK_BUFFER);
 522                                         else
 523                                                 vehicles.front()->place(TrackOffsetIter(track, offset), VehiclePlacement::FRONT_BUFFER);
 524                                         break;
 525                                 }
 526                 }
 527         }
 528 }
 529
 530 void Train::halt_event(bool h)
 531 {
 532         if(h)
 533                 accurate_position = false;
 534 }
 535
 536 float Train::get_reserved_distance_until(const Block *until_block) const
 537 {
 538         if(allocator.empty())
 539                 return 0;
 540
 541         Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
 542
 543         TrackOffsetIter track = veh.get_placement().get_position(reverse ? VehiclePlacement::BACK_AXLE : VehiclePlacement::FRONT_AXLE);
 544         if(!track)  // XXX Probably unnecessary
 545                 return 0;
 546
 547         if(&track->get_block()==until_block)
 548                 return 0;
 549
 550         // Account for the vehicle's offset on its current track
 551         float result = track.offset();
 552         if(reverse)
 553                 track = track.reverse();
 554         else
 555                 result = track->get_path_length()-result;
 556         result -= veh.get_type().get_length()/2;
 557
 558         BlockIter block = track.block_iter();
 559
 560         // Count remaining distance in the vehicle's current block
 561         for(track=track.next(); &track->get_block()==&*block; track=track.next())
 562                 result += track->get_path_length();
 563
 564         const BlockIter &last = allocator.last();
 565         if(&*block==&*last)
 566                 return result;
 567
 568         // Count any remaining blocks
 569         for(block=block.next(); (&*block!=until_block && block->get_train()==this); block=block.next())
 570         {
 571                 result += block->get_path_length(block.entry());
 572
 573                 if(&*block==&*last)
 574                         break;
 575         }
 576
 577         return result;
 578 }
 579
 580
 581 Train::Loader::Loader(Train &t):
 582         DataFile::ObjectLoader<Train>(t),
 583         prev_block(0),
 584         blocks_valid(true)
 585 {
 586         add("blocks",      &Loader::blocks);
 587         add("name",        &Loader::name);
 588         add("quantized_speed",  &Loader::quantized_speed);
 589         add("router",      &Loader::router);
 590         add("timetable",   &Loader::timetable);
 591         add("vehicle",     &Loader::vehicle);
 592 }
 593
 594 void Train::Loader::finish()
 595 {
 596         if(!obj.allocator.empty())
 597         {
 598                 TrackIter track = obj.allocator.first().track_iter();
 599                 float offset = 2*obj.layout.get_catalogue().get_scale();
 600                 obj.vehicles.back()->place(TrackOffsetIter(track, offset), VehiclePlacement::BACK_BUFFER);
 601         }
 602 }
 603
 604 void Train::Loader::blocks()
 605 {
 606         load_sub(obj.allocator);
 607 }
 608
 609 void Train::Loader::name(const string &n)
 610 {
 611         obj.set_name(n);
 612 }
 613
 614 void Train::Loader::quantized_speed()
 615 {
 616         if(obj.speed_quantizer)
 617                 load_sub(*obj.speed_quantizer);
 618 }
 619
 620 void Train::Loader::router()
 621 {
 622         TrainRouter *rtr = new TrainRouter(obj);
 623         load_sub(*rtr);
 624 }
 625
 626 void Train::Loader::timetable()
 627 {
 628         Timetable *ttbl = new Timetable(obj);
 629         load_sub(*ttbl, obj.layout);
 630 }
 631
 632 void Train::Loader::vehicle(ArticleNumber art_nr)
 633 {
 634         const VehicleType &vtype = obj.layout.get_catalogue().get<VehicleType>(art_nr);
 635         Vehicle *veh = new Vehicle(obj.layout, vtype);
 636         obj.vehicles.back()->attach_back(*veh);
 637         obj.vehicles.push_back(veh);
 638         veh->set_train(&obj);
 639 }
 640
 641 } // namespace R2C2