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         allocator.signal_advanced.connect(signal_advanced);
  73 }
  74
  75 Train::~Train()
  76 {
  77         delete controller;
  78         for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
  79                 delete *i;
  80         layout.remove_train(*this);
  81 }
  82
  83 void Train::set_name(const string &n)
  84 {
  85         name = n;
  86
  87         signal_name_changed.emit(name);
  88 }
  89
  90 void Train::add_vehicle(const VehicleType &vt)
  91 {
  92         Vehicle *veh = new Vehicle(layout, vt);
  93         vehicles.back()->attach_back(*veh);
  94         vehicles.push_back(veh);
  95         veh->set_train(this);
  96         signal_vehicle_added.emit(vehicles.size()-1, *veh);
  97 }
  98
  99 void Train::remove_vehicle(unsigned i)
 100 {
 101         if(i>=vehicles.size())
 102                 throw out_of_range("Train::remove_vehicle");
 103         if(i==0)
 104                 throw logic_error("can't remove locomotive");
 105
 106         Vehicle *veh = vehicles[i];
 107         vehicles.erase(vehicles.begin()+i);
 108         veh->detach_front();
 109         if(i<vehicles.size())
 110         {
 111                 veh->detach_back();
 112                 vehicles[i-1]->attach_back(*vehicles[i]);
 113         }
 114         signal_vehicle_removed.emit(i, *veh);
 115         delete veh;
 116 }
 117
 118 unsigned Train::get_n_vehicles() const
 119 {
 120         return vehicles.size();
 121 }
 122
 123 Vehicle &Train::get_vehicle(unsigned i)
 124 {
 125         if(i>=vehicles.size())
 126                 throw out_of_range("Train::get_vehicle");
 127         return *vehicles[i];
 128 }
 129
 130 const Vehicle &Train::get_vehicle(unsigned i) const
 131 {
 132         if(i>=vehicles.size())
 133                 throw out_of_range("Train::get_vehicle");
 134         return *vehicles[i];
 135 }
 136
 137 void Train::set_control(const string &n, float v)
 138 {
 139         controller->set_control(n, v);
 140 }
 141
 142 void Train::set_function(unsigned func, bool state)
 143 {
 144         if(!loco_type.get_functions().count(func))
 145                 throw invalid_argument("Train::set_function");
 146         layout.get_driver().set_loco_function(loco_id, func, state);
 147 }
 148
 149 float Train::get_control(const string &ctrl) const
 150 {
 151         return controller->get_control(ctrl).value;
 152 }
 153
 154 float Train::get_speed() const
 155 {
 156         return controller->get_speed();
 157 }
 158
 159 float Train::get_quantized_speed() const
 160 {
 161         if(speed_quantizer)
 162                 return speed_quantizer->quantize_speed(controller->get_speed());
 163         else
 164                 return controller->get_speed();
 165 }
 166
 167 float Train::get_maximum_speed() const
 168 {
 169         float ms = 0;
 170         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 171         {
 172                 float vms = (*i)->get_type().get_maximum_speed();
 173                 if(ms<=0 || (vms>0 && vms<ms))
 174                         ms = vms;
 175         }
 176         return ms;
 177 }
 178
 179 bool Train::get_function(unsigned func) const
 180 {
 181         return (functions>>func)&1;
 182 }
 183
 184 void Train::add_ai(TrainAI &ai)
 185 {
 186         ais.push_back(&ai);
 187         ai.signal_event.connect(sigc::bind<0>(signal_ai_event, sigc::ref(ai)));
 188 }
 189
 190 void Train::remove_ai(TrainAI &ai)
 191 {
 192         list<TrainAI *>::iterator i = find(ais.begin(), ais.end(), &ai);
 193         if(i!=ais.end())
 194                 ais.erase(i);
 195 }
 196
 197 void Train::ai_message(const TrainAI::Message &msg)
 198 {
 199         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 200                 (*i)->message(msg);
 201 }
 202
 203 bool Train::place(const BlockIter &block)
 204 {
 205         if(!block)
 206                 throw invalid_argument("Train::place");
 207         if(controller->get_speed())
 208                 throw logic_error("moving");
 209
 210         accurate_position = false;
 211         last_entry_block = BlockIter();
 212
 213         if(allocator.start_from(block))
 214         {
 215                 if(reverse)
 216                         vehicles.front()->place(block.reverse().track_iter(), VehiclePlacement::FRONT_BUFFER);
 217                 else
 218                         vehicles.back()->place(block.track_iter(), VehiclePlacement::BACK_BUFFER);
 219                 return true;
 220         }
 221         else
 222         {
 223                 unplace();
 224                 return false;
 225         }
 226 }
 227
 228 void Train::unplace()
 229 {
 230         if(controller->get_speed())
 231                 throw logic_error("moving");
 232
 233         allocator.clear();
 234         accurate_position = false;
 235         last_entry_block = BlockIter();
 236
 237         for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 238                 (*i)->unplace();
 239 }
 240
 241 void Train::stop_at(Block *block)
 242 {
 243         allocator.stop_at(block);
 244 }
 245
 246 bool Train::is_block_critical(const Block &block) const
 247 {
 248         return get_reserved_distance_until(&block)<=controller->get_braking_distance()*1.3;
 249 }
 250
 251 BlockIter Train::get_first_noncritical_block() const
 252 {
 253         if(allocator.empty())
 254                 return BlockIter();
 255
 256         BlockIter i = allocator.last_current().next();
 257
 258         if(controller->get_speed()==0)
 259                 return i;
 260
 261         float margin = 10*layout.get_catalogue().get_scale();
 262         float min_dist = controller->get_braking_distance()*1.3+margin;
 263
 264         float dist = 0;
 265         bool sensor_seen = false;
 266         for(; i->get_train()==this; i=i.next())
 267         {
 268                 if(dist>min_dist && sensor_seen)
 269                         return i;
 270
 271                 dist += i->get_path_length(i.entry());
 272
 273                 if(i->get_sensor_address())
 274                         sensor_seen = true;
 275         }
 276
 277         return i;
 278 }
 279
 280 void Train::refresh_blocks_from(Block &block)
 281 {
 282         if(is_block_critical(block))
 283                 allocator.rewind_to(*get_first_noncritical_block());
 284         else
 285                 allocator.rewind_to(block);
 286 }
 287
 288 float Train::get_reserved_distance() const
 289 {
 290         if(allocator.empty())
 291                 return 0;
 292
 293         float margin = 0;
 294         TrackIter next = allocator.last().next().track_iter();
 295         if(next && next->get_type().is_turnout())
 296                 margin = 15*layout.get_catalogue().get_scale();
 297
 298         return max(get_reserved_distance_until(0)-margin, 0.0f);
 299 }
 300
 301 void Train::tick(const Time::TimeDelta &dt)
 302 {
 303         if(stop_timeout)
 304         {
 305                 stop_timeout -= dt;
 306                 if(stop_timeout<=Time::zero)
 307                 {
 308                         allocator.set_active(false);
 309                         stop_timeout = Time::TimeDelta();
 310                 }
 311         }
 312
 313         travel_time += dt;
 314
 315         Driver &driver = layout.get_driver();
 316
 317         bool intent_to_move = false;
 318         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 319         {
 320                 (*i)->tick(dt);
 321                 if((*i)->has_intent_to_move())
 322                         intent_to_move = true;
 323         }
 324
 325         controller->tick(dt);
 326         float speed = controller->get_speed();
 327         bool moving = speed>0;
 328
 329         if(controller->get_reverse()!=reverse)
 330         {
 331                 reverse = controller->get_reverse();
 332                 bool r = reverse;
 333                 if(loco_type.get_swap_direction())
 334                         r = !r;
 335                 driver.set_loco_reverse(loco_id, r);
 336
 337                 allocator.reverse();
 338                 last_entry_block = BlockIter();
 339         }
 340
 341         if(speed_quantizer)
 342         {
 343                 unsigned speed_step = speed_quantizer->find_speed_step(speed);
 344                 if(speed_step!=current_speed_step && !speed_changing && !driver.is_halted() && driver.get_power())
 345                 {
 346                         speed_changing = true;
 347                         driver.set_loco_speed(loco_id, speed_step);
 348
 349                         pure_speed = false;
 350                 }
 351
 352                 speed = speed_quantizer->get_speed(current_speed_step);
 353         }
 354
 355         if(moving)
 356         {
 357                 if(!allocator.is_active())
 358                         allocator.set_active(true);
 359
 360                 Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
 361
 362                 float d = speed*(dt/Time::sec);
 363                 Block &block = vehicle.get_placement().get_position(reverse ? VehiclePlacement::BACK_AXLE : VehiclePlacement::FRONT_AXLE)->get_block();
 364                 if(allocator.is_block_current(block))
 365                 {
 366                         SetFlag setf(advancing);
 367                         vehicle.advance(reverse ? -d : d);
 368                 }
 369                 else if(accurate_position)
 370                 {
 371                         overshoot_dist += d;
 372                         if(overshoot_dist>40*layout.get_catalogue().get_scale())
 373                         {
 374                                 layout.emergency(&block, name+" has not arrived at sensor");
 375                                 accurate_position = false;
 376                         }
 377                 }
 378         }
 379         else if(intent_to_move && !allocator.is_active())
 380                 allocator.set_active(true);
 381         else if(allocator.is_active() && !intent_to_move && !stop_timeout)
 382                 stop_timeout = 2*Time::sec;
 383 }
 384
 385 void Train::save(list<DataFile::Statement> &st) const
 386 {
 387         st.push_back((DataFile::Statement("name"), name));
 388
 389         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 390                 if(i!=vehicles.begin())
 391                         st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
 392
 393         if(speed_quantizer)
 394         {
 395                 DataFile::Statement ss("quantized_speed");
 396                 speed_quantizer->save(ss.sub);
 397                 st.push_back(ss);
 398         }
 399
 400         {
 401                 DataFile::Statement ss("blocks");
 402                 allocator.save(ss.sub);
 403                 st.push_back(ss);
 404         }
 405
 406         // XXX Need more generic way of saving AI state
 407         for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
 408         {
 409                 if(TrainRouter *router = dynamic_cast<TrainRouter *>(*i))
 410                 {
 411                         DataFile::Statement ss("router");
 412                         router->save(ss.sub);
 413                         st.push_back(ss);
 414                 }
 415                 else if(Timetable *timetable = dynamic_cast<Timetable *>(*i))
 416                 {
 417                         DataFile::Statement ss("timetable");
 418                         timetable->save(ss.sub);
 419                         st.push_back(ss);
 420                 }
 421         }
 422 }
 423
 424 void Train::control_changed(const Controller::Control &ctrl)
 425 {
 426         signal_control_changed.emit(ctrl.name, ctrl.value);
 427 }
 428
 429 void Train::loco_speed_event(unsigned id, unsigned speed, bool rev)
 430 {
 431         if(id==loco_id)
 432         {
 433                 current_speed_step = speed;
 434                 bool r = reverse;
 435                 if(loco_type.get_swap_direction())
 436                         r = !r;
 437                 if(rev!=r)
 438                         layout.get_driver().set_loco_reverse(loco_id, r);
 439                 speed_changing = false;
 440                 pure_speed = false;
 441         }
 442 }
 443
 444 void Train::loco_func_event(unsigned id, unsigned func, bool state)
 445 {
 446         if(id==loco_id)
 447         {
 448                 if(state)
 449                         functions |= 1<<func;
 450                 else
 451                         functions &= ~(1<<func);
 452
 453                 signal_function_changed.emit(func, state);
 454         }
 455 }
 456
 457 void Train::sensor_state_changed(Sensor &sensor, Sensor::State state)
 458 {
 459         if(!current_speed_step || state!=Sensor::MAYBE_ACTIVE)
 460                 return;
 461
 462         Block *block = sensor.get_block();
 463         if(!block || block->get_train()!=this)
 464                 return;
 465
 466         if(last_entry_block && &*last_entry_block!=block)
 467         {
 468                 for(BlockIter i=last_entry_block.next(); (i && &*i!=block); i=i.next())
 469                         if(i->get_train()!=this || i->get_sensor_address())
 470                                 return;
 471         }
 472
 473         if(dynamic_cast<TrackCircuit *>(&sensor))
 474         {
 475                 if(last_entry_block && pure_speed && speed_quantizer)
 476                 {
 477                         float travel_distance = 0;
 478
 479                         for(BlockIter i=last_entry_block; &*i!=block; i=i.next())
 480                                 travel_distance += i->get_path_length(i.entry());
 481
 482                         if(travel_distance>0)
 483                         {
 484                                 float travel_time_secs = travel_time/Time::sec;
 485
 486                                 if(travel_time_secs>=2)
 487                                         speed_quantizer->learn(current_speed_step, travel_distance/travel_time_secs, travel_time_secs);
 488                         }
 489                 }
 490
 491                 last_entry_block = allocator.iter_for(*block);
 492                 travel_time = Time::zero;
 493                 if(!layout.get_driver().is_halted())
 494                 {
 495                         pure_speed = true;
 496                         accurate_position = true;
 497                 }
 498                 overshoot_dist = 0;
 499
 500                 if(!advancing && vehicles.front()->is_placed())
 501                 {
 502                         TrackIter track = last_entry_block.track_iter();
 503                         if(reverse)
 504                         {
 505                                 track = track.flip();
 506                                 vehicles.back()->place(track, VehiclePlacement::BACK_AXLE);
 507                         }
 508                         else
 509                                 vehicles.front()->place(track, VehiclePlacement::FRONT_AXLE);
 510                 }
 511         }
 512         else if(BeamGate *gate = dynamic_cast<BeamGate *>(&sensor))
 513         {
 514                 if(!advancing && vehicles.front()->is_placed())
 515                 {
 516                         TrackIter track = allocator.iter_for(*block).track_iter();
 517                         for(; (track && &track->get_block()==block); track=track.next())
 518                                 if(track.track()==gate->get_track())
 519                                 {
 520                                         if(reverse)
 521                                                 track = track.reverse();
 522                                         float offset = gate->get_offset_from_endpoint(track.entry());
 523                                         if(reverse)
 524                                                 vehicles.back()->place(TrackOffsetIter(track, offset), VehiclePlacement::BACK_BUFFER);
 525                                         else
 526                                                 vehicles.front()->place(TrackOffsetIter(track, offset), VehiclePlacement::FRONT_BUFFER);
 527                                         break;
 528                                 }
 529                 }
 530         }
 531 }
 532
 533 void Train::halt_event(bool h)
 534 {
 535         if(h)
 536                 accurate_position = false;
 537 }
 538
 539 float Train::get_reserved_distance_until(const Block *until_block) const
 540 {
 541         if(allocator.empty())
 542                 return 0;
 543
 544         Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
 545
 546         TrackOffsetIter track = veh.get_placement().get_position(reverse ? VehiclePlacement::BACK_AXLE : VehiclePlacement::FRONT_AXLE);
 547         if(!track)  // XXX Probably unnecessary
 548                 return 0;
 549
 550         if(&track->get_block()==until_block)
 551                 return 0;
 552
 553         // Account for the vehicle's offset on its current track
 554         float result = track.offset();
 555         if(reverse)
 556                 track = track.reverse();
 557         else
 558                 result = track->get_path_length()-result;
 559         result -= veh.get_type().get_length()/2;
 560
 561         BlockIter block = track.block_iter();
 562
 563         // Count remaining distance in the vehicle's current block
 564         for(track=track.next(); &track->get_block()==&*block; track=track.next())
 565                 result += track->get_path_length();
 566
 567         const BlockIter &last = allocator.last();
 568         if(&*block==&*last)
 569                 return result;
 570
 571         // Count any remaining blocks
 572         for(block=block.next(); (&*block!=until_block && block->get_train()==this); block=block.next())
 573         {
 574                 result += block->get_path_length(block.entry());
 575
 576                 if(&*block==&*last)
 577                         break;
 578         }
 579
 580         return result;
 581 }
 582
 583
 584 Train::Loader::Loader(Train &t):
 585         DataFile::ObjectLoader<Train>(t),
 586         prev_block(0),
 587         blocks_valid(true)
 588 {
 589         add("blocks",      &Loader::blocks);
 590         add("name",        &Loader::name);
 591         add("quantized_speed",  &Loader::quantized_speed);
 592         add("router",      &Loader::router);
 593         add("timetable",   &Loader::timetable);
 594         add("vehicle",     &Loader::vehicle);
 595 }
 596
 597 void Train::Loader::finish()
 598 {
 599         if(!obj.allocator.empty())
 600         {
 601                 TrackIter track = obj.allocator.first().track_iter();
 602                 float offset = 2*obj.layout.get_catalogue().get_scale();
 603                 obj.vehicles.back()->place(TrackOffsetIter(track, offset), VehiclePlacement::BACK_BUFFER);
 604         }
 605 }
 606
 607 void Train::Loader::blocks()
 608 {
 609         load_sub(obj.allocator);
 610 }
 611
 612 void Train::Loader::name(const string &n)
 613 {
 614         obj.set_name(n);
 615 }
 616
 617 void Train::Loader::quantized_speed()
 618 {
 619         if(obj.speed_quantizer)
 620                 load_sub(*obj.speed_quantizer);
 621 }
 622
 623 void Train::Loader::router()
 624 {
 625         TrainRouter *rtr = new TrainRouter(obj);
 626         load_sub(*rtr);
 627 }
 628
 629 void Train::Loader::timetable()
 630 {
 631         Timetable *ttbl = new Timetable(obj);
 632         load_sub(*ttbl, obj.layout);
 633 }
 634
 635 void Train::Loader::vehicle(ArticleNumber art_nr)
 636 {
 637         const VehicleType &vtype = obj.layout.get_catalogue().get<VehicleType>(art_nr);
 638         Vehicle *veh = new Vehicle(obj.layout, vtype);
 639         obj.vehicles.back()->attach_back(*veh);
 640         obj.vehicles.push_back(veh);
 641         veh->set_train(&obj);
 642 }
 643
 644 } // namespace R2C2