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