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