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         if(allocator.is_block_current(block))
 245                 return true;
 246
 247         BlockIter i = check_critical_blocks(&block);
 248         return i.block()==&block;
 249 }
 250
 251 BlockIter Train::get_last_critical_block() const
 252 {
 253         return check_critical_blocks(0);
 254 }
 255
 256 BlockIter Train::check_critical_blocks(const Block *check) const
 257 {
 258         if(allocator.empty())
 259                 return BlockIter();
 260
 261         BlockIter i = allocator.last_current();
 262
 263         if(controller->get_speed()==0)
 264                 return i;
 265
 266         BlockIter last = allocator.last();
 267         if(i.block()==last.block())
 268                 return i;
 269
 270         float margin = 10*layout.get_catalogue().get_scale();
 271         float min_dist = controller->get_braking_distance()*1.3+margin;
 272
 273         float dist = 0;
 274         bool sensor_seen = false;
 275         i = i.next();
 276         while(i.block()!=last.block() && i.block()!=check)
 277         {
 278                 dist += i->get_path_length(i.entry());
 279
 280                 if(i->get_sensor_address())
 281                         sensor_seen = true;
 282
 283                 if(dist>min_dist && sensor_seen)
 284                         break;
 285
 286                 BlockIter j = i.next();
 287                 if(j->get_train()!=this)
 288                         break;
 289
 290                 i = j;
 291         }
 292
 293         return i;
 294 }
 295
 296 void Train::refresh_blocks_from(Block &block)
 297 {
 298         if(is_block_critical(block))
 299                 allocator.rewind_to(*get_last_critical_block().next());
 300         else
 301                 allocator.rewind_to(block);
 302 }
 303
 304 float Train::get_reserved_distance() const
 305 {
 306         if(allocator.empty())
 307                 return 0;
 308
 309         float margin = 0;
 310         TrackIter next = allocator.last().next().track_iter();
 311         if(next && next->get_type().is_turnout())
 312                 margin = 15*layout.get_catalogue().get_scale();
 313
 314         return max(get_reserved_distance_until(0)-margin, 0.0f);
 315 }
 316
 317 void Train::tick(const Time::TimeDelta &dt)
 318 {
 319         if(stop_timeout)
 320         {
 321                 stop_timeout = max(stop_timeout-dt, Time::zero);
 322                 if(stop_timeout<=Time::zero)
 323                         allocator.set_active(false);
 324         }
 325
 326         travel_time += dt;
 327
 328         Driver &driver = layout.get_driver();
 329
 330         bool intent_to_move = false;
 331         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 332         {
 333                 (*i)->tick(dt);
 334                 if((*i)->has_intent_to_move())
 335                         intent_to_move = true;
 336         }
 337
 338         controller->tick(dt);
 339         float speed = controller->get_speed();
 340         bool moving = speed>0;
 341
 342         if(controller->get_reverse()!=reverse)
 343         {
 344                 reverse = controller->get_reverse();
 345                 bool r = reverse;
 346                 if(loco_type.get_swap_direction())
 347                         r = !r;
 348                 driver.set_loco_reverse(loco_id, r);
 349
 350                 allocator.reverse();
 351                 last_entry_block = BlockIter();
 352         }
 353
 354         if(speed_quantizer)
 355         {
 356                 unsigned speed_step = speed_quantizer->find_speed_step(speed);
 357                 if(speed_step!=current_speed_step && !speed_changing && !driver.is_halted() && driver.get_power())
 358                 {
 359                         speed_changing = true;
 360                         driver.set_loco_speed(loco_id, speed_step);
 361
 362                         pure_speed = false;
 363                 }
 364
 365                 speed = speed_quantizer->get_speed(current_speed_step);
 366         }
 367
 368         if(moving)
 369         {
 370                 if(!allocator.is_active())
 371                         allocator.set_active(true);
 372
 373                 Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
 374
 375                 float d = speed*(dt/Time::sec);
 376                 Block &block = vehicle.get_placement().get_position(reverse ? VehiclePlacement::BACK_AXLE : VehiclePlacement::FRONT_AXLE)->get_block();
 377                 if(allocator.is_block_current(block))
 378                 {
 379                         SetFlag setf(advancing);
 380                         vehicle.advance(reverse ? -d : d);
 381                 }
 382                 else if(accurate_position)
 383                 {
 384                         overshoot_dist += d;
 385                         if(overshoot_dist>40*layout.get_catalogue().get_scale())
 386                         {
 387                                 layout.emergency(&block, name+" has not arrived at sensor");
 388                                 accurate_position = false;
 389                         }
 390                 }
 391         }
 392         else if(intent_to_move && !allocator.is_active())
 393                 allocator.set_active(true);
 394         else if(allocator.is_active() && !intent_to_move && !stop_timeout)
 395                 stop_timeout = 2*Time::sec;
 396 }
 397
 398 void Train::save(list<DataFile::Statement> &st) const
 399 {
 400         st.push_back((DataFile::Statement("name"), name));
 401
 402         const Catalogue &cat = layout.get_catalogue();
 403         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 404                 if(i!=vehicles.begin())
 405                         st.push_back((DataFile::Statement("vehicle"), cat.get_name(&(*i)->get_type())));
 406
 407         if(speed_quantizer)
 408         {
 409                 DataFile::Statement ss("quantized_speed");
 410                 speed_quantizer->save(ss.sub);
 411                 st.push_back(ss);
 412         }
 413
 414         {
 415                 DataFile::Statement ss("blocks");
 416                 allocator.save(ss.sub);
 417                 st.push_back(ss);
 418         }
 419
 420         // XXX Need more generic way of saving AI state
 421         for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
 422         {
 423                 if(TrainRouter *router = dynamic_cast<TrainRouter *>(*i))
 424                 {
 425                         DataFile::Statement ss("router");
 426                         router->save(ss.sub);
 427                         st.push_back(ss);
 428                 }
 429                 else if(Timetable *timetable = dynamic_cast<Timetable *>(*i))
 430                 {
 431                         DataFile::Statement ss("timetable");
 432                         timetable->save(ss.sub);
 433                         st.push_back(ss);
 434                 }
 435         }
 436 }
 437
 438 void Train::control_changed(const Controller::Control &ctrl)
 439 {
 440         signal_control_changed.emit(ctrl.name, ctrl.value);
 441 }
 442
 443 void Train::loco_speed_event(unsigned id, unsigned speed, bool rev)
 444 {
 445         if(id==loco_id)
 446         {
 447                 current_speed_step = speed;
 448                 bool r = reverse;
 449                 if(loco_type.get_swap_direction())
 450                         r = !r;
 451                 if(rev!=r)
 452                         layout.get_driver().set_loco_reverse(loco_id, r);
 453                 speed_changing = false;
 454                 pure_speed = false;
 455         }
 456 }
 457
 458 void Train::loco_func_event(unsigned id, unsigned func, bool state)
 459 {
 460         if(id==loco_id)
 461         {
 462                 if(state)
 463                         functions |= 1<<func;
 464                 else
 465                         functions &= ~(1<<func);
 466
 467                 signal_function_changed.emit(func, state);
 468         }
 469 }
 470
 471 void Train::advanced(Block &block, Sensor *sensor)
 472 {
 473         if(!sensor || sensor==block.get_sensor())
 474                 signal_advanced.emit(block);
 475
 476         if(!sensor)
 477                 return;
 478
 479         if(sensor==block.get_sensor())
 480         {
 481                 if(last_entry_block && pure_speed && speed_quantizer)
 482                 {
 483                         float travel_distance = 0;
 484
 485                         for(BlockIter i=last_entry_block; &*i!=&block; i=i.next())
 486                                 travel_distance += i->get_path_length(i.entry());
 487
 488                         if(travel_distance>0)
 489                         {
 490                                 float travel_time_secs = travel_time/Time::sec;
 491
 492                                 if(travel_time_secs>=2)
 493                                         speed_quantizer->learn(current_speed_step, travel_distance/travel_time_secs, travel_time_secs);
 494                         }
 495                 }
 496
 497                 last_entry_block = allocator.iter_for(block);
 498                 travel_time = Time::zero;
 499                 if(!layout.get_driver().is_halted())
 500                 {
 501                         pure_speed = true;
 502                         accurate_position = true;
 503                 }
 504                 overshoot_dist = 0;
 505
 506                 if(!advancing && vehicles.front()->is_placed())
 507                 {
 508                         TrackIter track = last_entry_block.track_iter();
 509                         if(reverse)
 510                         {
 511                                 track = track.flip();
 512                                 vehicles.back()->place(track, VehiclePlacement::BACK_AXLE);
 513                         }
 514                         else
 515                                 vehicles.front()->place(track, VehiclePlacement::FRONT_AXLE);
 516                 }
 517         }
 518         else if(BeamGate *gate = dynamic_cast<BeamGate *>(sensor))
 519         {
 520                 if(!advancing && vehicles.front()->is_placed())
 521                 {
 522                         TrackIter track = allocator.iter_for(block).track_iter();
 523                         for(; (track && &track->get_block()==&block); track=track.next())
 524                                 if(track.track()==gate->get_track())
 525                                 {
 526                                         if(reverse)
 527                                                 track = track.reverse();
 528                                         float offset = gate->get_offset_from_endpoint(track.entry());
 529                                         if(reverse)
 530                                                 vehicles.back()->place(TrackOffsetIter(track, offset), VehiclePlacement::BACK_BUFFER);
 531                                         else
 532                                                 vehicles.front()->place(TrackOffsetIter(track, offset), VehiclePlacement::FRONT_BUFFER);
 533                                         break;
 534                                 }
 535                 }
 536         }
 537 }
 538
 539 void Train::halt_event(bool h)
 540 {
 541         if(h)
 542                 accurate_position = false;
 543 }
 544
 545 float Train::get_reserved_distance_until(const Block *until_block) const
 546 {
 547         if(allocator.empty())
 548                 return 0;
 549
 550         Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
 551
 552         TrackOffsetIter track = veh.get_placement().get_position(reverse ? VehiclePlacement::BACK_AXLE : VehiclePlacement::FRONT_AXLE);
 553         if(!track)  // XXX Probably unnecessary
 554                 return 0;
 555
 556         if(&track->get_block()==until_block)
 557                 return 0;
 558
 559         // Account for the vehicle's offset on its current track
 560         float result = track.offset();
 561         if(reverse)
 562                 track = track.reverse();
 563         else
 564                 result = track->get_path_length()-result;
 565         result -= veh.get_type().get_length()/2;
 566
 567         BlockIter block = track.block_iter();
 568
 569         // Count remaining distance in the vehicle's current block
 570         for(track=track.next(); &track->get_block()==&*block; track=track.next())
 571                 result += track->get_path_length();
 572
 573         const BlockIter &last = allocator.last();
 574         if(&*block==&*last)
 575                 return result;
 576
 577         // Count any remaining blocks
 578         for(block=block.next(); (&*block!=until_block && block->get_train()==this); block=block.next())
 579         {
 580                 result += block->get_path_length(block.entry());
 581
 582                 if(&*block==&*last)
 583                         break;
 584         }
 585
 586         return result;
 587 }
 588
 589
 590 Train::Loader::Loader(Train &t):
 591         DataFile::ObjectLoader<Train>(t),
 592         prev_block(0),
 593         blocks_valid(true)
 594 {
 595         add("blocks",      &Loader::blocks);
 596         add("name",        &Loader::name);
 597         add("quantized_speed",  &Loader::quantized_speed);
 598         add("router",      &Loader::router);
 599         add("timetable",   &Loader::timetable);
 600         add("vehicle",     &Loader::vehicle);
 601 }
 602
 603 void Train::Loader::finish()
 604 {
 605         if(!obj.allocator.empty())
 606         {
 607                 TrackIter track = obj.allocator.first().track_iter();
 608                 float offset = 2*obj.layout.get_catalogue().get_scale();
 609                 obj.vehicles.back()->place(TrackOffsetIter(track, offset), VehiclePlacement::BACK_BUFFER);
 610         }
 611 }
 612
 613 void Train::Loader::blocks()
 614 {
 615         load_sub(obj.allocator);
 616 }
 617
 618 void Train::Loader::name(const string &n)
 619 {
 620         obj.set_name(n);
 621 }
 622
 623 void Train::Loader::quantized_speed()
 624 {
 625         if(obj.speed_quantizer)
 626                 load_sub(*obj.speed_quantizer);
 627 }
 628
 629 void Train::Loader::router()
 630 {
 631         TrainRouter *rtr = new TrainRouter(obj);
 632         load_sub(*rtr);
 633 }
 634
 635 void Train::Loader::timetable()
 636 {
 637         Timetable *ttbl = new Timetable(obj);
 638         load_sub(*ttbl, obj.layout);
 639 }
 640
 641 void Train::Loader::vehicle(const string &n)
 642 {
 643         const VehicleType &vtype = obj.layout.get_catalogue().get<VehicleType>(n);
 644         Vehicle *veh = new Vehicle(obj.layout, vtype);
 645         obj.vehicles.back()->attach_back(*veh);
 646         obj.vehicles.push_back(veh);
 647         veh->set_train(&obj);
 648 }
 649
 650 } // namespace R2C2