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