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