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 "catalogue.h"
  10 #include "driver.h"
  11 #include "layout.h"
  12 #include "route.h"
  13 #include "simplecontroller.h"
  14 #include "speedquantizer.h"
  15 #include "timetable.h"
  16 #include "trackiter.h"
  17 #include "tracktype.h"
  18 #include "train.h"
  19 #include "trainrouter.h"
  20 #include "vehicle.h"
  21 #include "vehicletype.h"
  22 #include "zone.h"
  23
  24 using namespace std;
  25 using namespace Msp;
  26
  27 namespace R2C2 {
  28
  29 Train::Train(Layout &l, const VehicleType &t, unsigned a, const string &p):
  30         layout(l),
  31         loco_type(t),
  32         address(a),
  33         protocol(p),
  34         preceding_train(0),
  35         allocator(*this),
  36         advancing(false),
  37         controller(new SimpleController),
  38         active(false),
  39         current_speed_step(0),
  40         speed_changing(false),
  41         reverse(false),
  42         functions(0),
  43         travel_dist(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
  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_block_state_changed.connect(sigc::mem_fun(this, &Train::block_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 }
  92
  93 void Train::remove_vehicle(unsigned i)
  94 {
  95         if(i>=vehicles.size())
  96                 throw out_of_range("Train::remove_vehicle");
  97         if(i==0)
  98                 throw logic_error("can't remove locomotive");
  99         delete vehicles[i];
 100         vehicles.erase(vehicles.begin()+i);
 101         if(i<vehicles.size())
 102                 vehicles[i-1]->attach_back(*vehicles[i]);
 103 }
 104
 105 unsigned Train::get_n_vehicles() const
 106 {
 107         return vehicles.size();
 108 }
 109
 110 Vehicle &Train::get_vehicle(unsigned i)
 111 {
 112         if(i>=vehicles.size())
 113                 throw out_of_range("Train::get_vehicle");
 114         return *vehicles[i];
 115 }
 116
 117 const Vehicle &Train::get_vehicle(unsigned i) const
 118 {
 119         if(i>=vehicles.size())
 120                 throw out_of_range("Train::get_vehicle");
 121         return *vehicles[i];
 122 }
 123
 124 void Train::set_control(const string &n, float v)
 125 {
 126         controller->set_control(n, v);
 127 }
 128
 129 void Train::set_active(bool a)
 130 {
 131         if(a==active)
 132                 return;
 133         if(!a && controller->get_speed())
 134                 throw logic_error("moving");
 135
 136         active = a;
 137         if(active)
 138         {
 139                 stop_timeout = Time::TimeStamp();
 140                 allocator.reserve_more();
 141         }
 142         else
 143                 stop_timeout = Time::now()+2*Time::sec;
 144 }
 145
 146 void Train::set_function(unsigned func, bool state)
 147 {
 148         if(!loco_type.get_functions().count(func))
 149                 throw invalid_argument("Train::set_function");
 150         layout.get_driver().set_loco_function(address, func, state);
 151 }
 152
 153 float Train::get_control(const string &ctrl) const
 154 {
 155         return controller->get_control(ctrl).value;
 156 }
 157
 158 float Train::get_speed() const
 159 {
 160         return controller->get_speed();
 161 }
 162
 163 float Train::get_quantized_speed() const
 164 {
 165         if(speed_quantizer)
 166                 return speed_quantizer->quantize_speed(controller->get_speed());
 167         else
 168                 return controller->get_speed();
 169 }
 170
 171 bool Train::get_function(unsigned func) const
 172 {
 173         return (functions>>func)&1;
 174 }
 175
 176 void Train::add_ai(TrainAI &ai)
 177 {
 178         ais.push_back(&ai);
 179         ai.signal_event.connect(sigc::bind<0>(signal_ai_event, sigc::ref(ai)));
 180 }
 181
 182 void Train::remove_ai(TrainAI &ai)
 183 {
 184         list<TrainAI *>::iterator i = find(ais.begin(), ais.end(), &ai);
 185         if(i!=ais.end())
 186                 ais.erase(i);
 187 }
 188
 189 void Train::ai_message(const TrainAI::Message &msg)
 190 {
 191         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 192                 (*i)->message(msg);
 193 }
 194
 195 void Train::place(const BlockIter &block)
 196 {
 197         if(!block)
 198                 throw invalid_argument("Train::place");
 199         if(controller->get_speed())
 200                 throw logic_error("moving");
 201
 202         set_active(false);
 203         accurate_position = false;
 204
 205         allocator.start_from(block);
 206
 207         if(reverse)
 208                 vehicles.front()->place(block.reverse().track_iter(), 0, Vehicle::FRONT_BUFFER);
 209         else
 210                 vehicles.back()->place(block.track_iter(), 0, Vehicle::BACK_BUFFER);
 211 }
 212
 213 void Train::unplace()
 214 {
 215         if(controller->get_speed())
 216                 throw logic_error("moving");
 217
 218         allocator.clear();
 219
 220         set_active(false);
 221         accurate_position = false;
 222
 223         for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 224                 (*i)->unplace();
 225 }
 226
 227 void Train::stop_at(Block *block)
 228 {
 229         allocator.stop_at(block);
 230         if(active && !block)
 231                 allocator.reserve_more();
 232 }
 233
 234 bool Train::free_block(Block &block)
 235 {
 236         if(get_reserved_distance_until(&block, false)<controller->get_braking_distance()*1.3)
 237                 return false;
 238
 239         return allocator.release_from(block);
 240 }
 241
 242 void Train::free_noncritical_blocks()
 243 {
 244         if(allocator.empty())
 245                 return;
 246
 247         if(controller->get_speed()==0)
 248         {
 249                 allocator.release_noncurrent();
 250                 return;
 251         }
 252
 253         float margin = 10*layout.get_catalogue().get_scale();
 254         float min_dist = controller->get_braking_distance()*1.3+margin;
 255
 256         Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
 257
 258         TrackIter track = veh.get_track_iter();
 259         BlockIter block = allocator.first();
 260         const BlockIter &last_cur = allocator.last_current();
 261         const BlockIter &last = allocator.last();
 262         bool in_rsv = false;
 263         while(!block->has_track(*track))
 264         {
 265                 if(&*block==&*last_cur)
 266                         in_rsv = true;
 267                 if(&*block==&*last)
 268                         break;
 269                 block = block.next();
 270         }
 271
 272         float dist = veh.get_offset();
 273         if(reverse)
 274                 track.reverse();
 275         else
 276                 dist = track->get_type().get_path_length(track->get_active_path())-dist;
 277         dist -= veh.get_type().get_length()/2;
 278
 279         bool nsens = 0;
 280         while(1)
 281         {
 282                 track = track.next();
 283
 284                 if(!block->has_track(*track))
 285                 {
 286                         if(&*block==&*last_cur)
 287                                 in_rsv = true;
 288                         if(&*block==&*last)
 289                                 return;
 290                         block = block.next();
 291
 292                         if(dist>min_dist && nsens>0)
 293                         {
 294                                 allocator.release_from(*block);
 295                                 return;
 296                         }
 297
 298                         if(in_rsv && block->get_sensor_id())
 299                                 ++nsens;
 300                 }
 301
 302                 dist += track->get_type().get_path_length(track->get_active_path());
 303         }
 304 }
 305
 306 float Train::get_reserved_distance() const
 307 {
 308         if(allocator.empty())
 309                 return 0;
 310
 311         float margin = 0;
 312         TrackIter next = allocator.last().next().track_iter();
 313         if(next && next->get_type().is_turnout())
 314                 margin = 15*layout.get_catalogue().get_scale();
 315
 316         return max(get_reserved_distance_until(0, false)-margin, 0.0f);
 317 }
 318
 319 void Train::reserve_more()
 320 {
 321         allocator.reserve_more();
 322 }
 323
 324 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 325 {
 326         if(!active && stop_timeout && t>=stop_timeout)
 327         {
 328                 allocator.release_noncurrent();
 329                 stop_timeout = Time::TimeStamp();
 330         }
 331
 332         Driver &driver = layout.get_driver();
 333
 334         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 335                 (*i)->tick(t, dt);
 336         controller->tick(dt);
 337         float speed = controller->get_speed();
 338         bool moving = speed>0;
 339
 340         if(controller->get_reverse()!=reverse)
 341         {
 342                 reverse = controller->get_reverse();
 343                 bool r = reverse;
 344                 if(loco_type.get_swap_direction())
 345                         r = !r;
 346                 driver.set_loco_reverse(address, r);
 347
 348                 allocator.reverse();
 349                 if(active)
 350                         allocator.reserve_more();
 351         }
 352
 353         if(speed_quantizer)
 354         {
 355                 unsigned speed_step = speed_quantizer->find_speed_step(speed);
 356                 if(speed_step!=current_speed_step && !speed_changing && !driver.is_halted() && driver.get_power())
 357                 {
 358                         speed_changing = true;
 359                         driver.set_loco_speed(address, speed_step);
 360
 361                         pure_speed = false;
 362                 }
 363
 364                 speed = speed_quantizer->get_speed(current_speed_step);
 365         }
 366
 367         if(moving)
 368         {
 369                 if(!active)
 370                         set_active(true);
 371
 372                 Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
 373                 Track *track = vehicle.get_track();
 374
 375                 BlockIter first = allocator.first();
 376                 BlockIter last_current = allocator.last_current();
 377                 bool ok = false;
 378                 for(BlockIter i=first; !ok; i=i.next())
 379                 {
 380                         ok = i->has_track(*track);
 381                         if(i==last_current)
 382                                 break;
 383                 }
 384
 385                 float d = speed*(dt/Time::sec);
 386                 if(ok)
 387                 {
 388                         SetFlag setf(advancing);
 389                         vehicle.advance(reverse ? -d : d);
 390                 }
 391                 else if(accurate_position)
 392                 {
 393                         overshoot_dist += d;
 394                         if(overshoot_dist>40*layout.get_catalogue().get_scale())
 395                         {
 396                                 layout.emergency(name+" has not arrived at sensor");
 397                                 accurate_position = false;
 398                         }
 399                 }
 400         }
 401
 402         if(!allocator.empty() && !allocator.first()->get_sensor_id())
 403         {
 404                 float dist = get_reserved_distance_until(&*allocator.first(), true);
 405
 406                 if(dist>10*layout.get_catalogue().get_scale())
 407                         allocator.release_until(*allocator.first());
 408         }
 409 }
 410
 411 void Train::save(list<DataFile::Statement> &st) const
 412 {
 413         st.push_back((DataFile::Statement("name"), name));
 414
 415         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 416                 if(i!=vehicles.begin())
 417                         st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
 418
 419         if(speed_quantizer)
 420         {
 421                 DataFile::Statement ss("quantized_speed");
 422                 speed_quantizer->save(ss.sub);
 423                 st.push_back(ss);
 424         }
 425
 426         {
 427                 DataFile::Statement ss("blocks");
 428                 allocator.save(ss.sub);
 429                 st.push_back(ss);
 430         }
 431
 432         // XXX Need more generic way of saving AI state
 433         for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
 434         {
 435                 if(TrainRouter *router = dynamic_cast<TrainRouter *>(*i))
 436                 {
 437                         DataFile::Statement ss("router");
 438                         router->save(ss.sub);
 439                         st.push_back(ss);
 440                 }
 441                 else if(Timetable *timetable = dynamic_cast<Timetable *>(*i))
 442                 {
 443                         DataFile::Statement ss("timetable");
 444                         timetable->save(ss.sub);
 445                         st.push_back(ss);
 446                 }
 447         }
 448 }
 449
 450 void Train::control_changed(const Controller::Control &ctrl)
 451 {
 452         signal_control_changed.emit(ctrl.name, ctrl.value);
 453 }
 454
 455 void Train::loco_speed_event(unsigned addr, unsigned speed, bool rev)
 456 {
 457         if(addr==address)
 458         {
 459                 current_speed_step = speed;
 460                 bool r = reverse;
 461                 if(loco_type.get_swap_direction())
 462                         r = !r;
 463                 if(rev!=r)
 464                         layout.get_driver().set_loco_reverse(address, r);
 465                 speed_changing = false;
 466                 pure_speed = false;
 467         }
 468 }
 469
 470 void Train::loco_func_event(unsigned addr, unsigned func, bool state)
 471 {
 472         if(addr==address)
 473         {
 474                 if(state)
 475                         functions |= 1<<func;
 476                 else
 477                         functions &= ~(1<<func);
 478
 479                 signal_function_changed.emit(func, state);
 480         }
 481 }
 482
 483 void Train::block_state_changed(Block &block, Block::State state)
 484 {
 485         if(state==Block::MAYBE_ACTIVE)
 486         {
 487                 const BlockIter &first = allocator.first();
 488                 const BlockIter &last_cur = allocator.last_current();
 489                 bool valid = false;
 490                 for(BlockIter i=first; !valid; i=i.next())
 491                 {
 492                         if(&*i==&block)
 493                                 valid = true;
 494                         if(&*i==&*last_cur)
 495                                 break;
 496                 }
 497
 498                 if(valid)
 499                 {
 500                         // Compute speed and update related state
 501                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 502
 503                         if(pure_speed && speed_quantizer && current_speed_step>0 && travel_time_secs>=2)
 504                                 speed_quantizer->learn(current_speed_step, travel_dist/travel_time_secs, travel_time_secs);
 505
 506                         travel_dist = 0;
 507                         unsigned entry = allocator.get_entry_to_block(block);
 508                         for(BlockIter i(&block, entry);; i=i.next())
 509                         {
 510                                 travel_dist += i->get_path_length(i.entry());
 511
 512                                 if(&*i==&block && !advancing && vehicles.front()->get_track())
 513                                 {
 514                                         TrackIter track = i.track_iter();
 515                                         if(reverse)
 516                                         {
 517                                                 track = track.flip();
 518                                                 vehicles.back()->place(track, 0, Vehicle::BACK_AXLE);
 519                                         }
 520                                         else
 521                                                 vehicles.front()->place(track, 0, Vehicle::FRONT_AXLE);
 522                                 }
 523
 524                                 if(i==last_cur)
 525                                         break;
 526                         }
 527                         last_entry_time = Time::now();
 528                         pure_speed = true;
 529                         accurate_position = true;
 530                         overshoot_dist = 0;
 531                 }
 532         }
 533 }
 534
 535 void Train::halt_event(bool h)
 536 {
 537         if(h)
 538                 accurate_position = false;
 539 }
 540
 541 float Train::get_reserved_distance_until(const Block *until_block, bool back) const
 542 {
 543         if(allocator.empty())
 544                 return 0;
 545
 546         Vehicle &veh = *(reverse!=back ? vehicles.back() : vehicles.front());
 547         const VehicleType &vtype = veh.get_type();
 548
 549         TrackIter track = veh.get_track_iter();
 550         if(!track)  // XXX Probably unnecessary
 551                 return 0;
 552
 553         const BlockIter &first = allocator.first();
 554         const BlockIter &last = allocator.last();
 555         BlockIter block = first;
 556         while(!block->has_track(*track))
 557         {
 558                 if(&*block==&*last)
 559                         return 0;
 560                 block = block.next();
 561         }
 562         if(&*block==until_block)
 563                 return 0;
 564
 565         if(back)
 566                 block = block.reverse();
 567
 568         float result = veh.get_offset();
 569         if(reverse!=back)
 570                 track = track.reverse();
 571         else
 572                 result = track->get_type().get_path_length(track->get_active_path())-result;
 573         result -= vtype.get_length()/2;
 574
 575         while(1)
 576         {
 577                 track = track.next();
 578                 if(!track)
 579                         break;
 580
 581                 if(!block->has_track(*track))
 582                 {
 583                         if(back)
 584                         {
 585                                 if(&*block==&*first)
 586                                         break;
 587                         }
 588                         else
 589                         {
 590                                 if(&*block==&*last)
 591                                         break;
 592                         }
 593                         block = block.next();
 594
 595                         if(&*block==until_block)
 596                                 break;
 597                 }
 598
 599                 result += track->get_type().get_path_length(track->get_active_path());
 600         }
 601
 602         return result;
 603 }
 604
 605
 606 Train::Loader::Loader(Train &t):
 607         DataFile::ObjectLoader<Train>(t),
 608         prev_block(0),
 609         blocks_valid(true)
 610 {
 611         add("blocks",      &Loader::blocks);
 612         add("name",        &Loader::name);
 613         add("quantized_speed",  &Loader::quantized_speed);
 614         add("router",      &Loader::router);
 615         add("timetable",   &Loader::timetable);
 616         add("vehicle",     &Loader::vehicle);
 617 }
 618
 619 void Train::Loader::finish()
 620 {
 621         if(!obj.allocator.empty())
 622         {
 623                 TrackIter track = obj.allocator.first().track_iter();
 624                 float offset = 2*obj.layout.get_catalogue().get_scale();
 625                 obj.vehicles.back()->place(track, offset, Vehicle::BACK_BUFFER);
 626         }
 627 }
 628
 629 void Train::Loader::blocks()
 630 {
 631         load_sub(obj.allocator);
 632 }
 633
 634 void Train::Loader::name(const string &n)
 635 {
 636         obj.set_name(n);
 637 }
 638
 639 void Train::Loader::quantized_speed()
 640 {
 641         if(obj.speed_quantizer)
 642                 load_sub(*obj.speed_quantizer);
 643 }
 644
 645 void Train::Loader::router()
 646 {
 647         TrainRouter *rtr = new TrainRouter(obj);
 648         load_sub(*rtr);
 649 }
 650
 651 void Train::Loader::timetable()
 652 {
 653         Timetable *ttbl = new Timetable(obj);
 654         load_sub(*ttbl);
 655 }
 656
 657 void Train::Loader::vehicle(ArticleNumber art_nr)
 658 {
 659         const VehicleType &vtype = obj.layout.get_catalogue().get_vehicle(art_nr);
 660         Vehicle *veh = new Vehicle(obj.layout, vtype);
 661         obj.vehicles.back()->attach_back(*veh);
 662         obj.vehicles.push_back(veh);
 663 }
 664
 665 } // namespace R2C2