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