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