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         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_block_state_changed.connect(sigc::mem_fun(this, &Train::block_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_active(bool a)
 129 {
 130         if(a==active)
 131                 return;
 132         if(!a && controller->get_speed())
 133                 throw logic_error("moving");
 134
 135         active = a;
 136         if(active)
 137         {
 138                 stop_timeout = Time::TimeStamp();
 139                 allocator.reserve_more();
 140         }
 141         else
 142                 stop_timeout = Time::now()+2*Time::sec;
 143 }
 144
 145 void Train::set_function(unsigned func, bool state)
 146 {
 147         if(!loco_type.get_functions().count(func))
 148                 throw invalid_argument("Train::set_function");
 149         layout.get_driver().set_loco_function(address, func, state);
 150 }
 151
 152 float Train::get_control(const string &ctrl) const
 153 {
 154         return controller->get_control(ctrl).value;
 155 }
 156
 157 float Train::get_speed() const
 158 {
 159         return controller->get_speed();
 160 }
 161
 162 float Train::get_quantized_speed() const
 163 {
 164         if(speed_quantizer)
 165                 return speed_quantizer->quantize_speed(controller->get_speed());
 166         else
 167                 return controller->get_speed();
 168 }
 169
 170 bool Train::get_function(unsigned func) const
 171 {
 172         return (functions>>func)&1;
 173 }
 174
 175 void Train::add_ai(TrainAI &ai)
 176 {
 177         ais.push_back(&ai);
 178         ai.signal_event.connect(sigc::bind<0>(signal_ai_event, sigc::ref(ai)));
 179 }
 180
 181 void Train::remove_ai(TrainAI &ai)
 182 {
 183         list<TrainAI *>::iterator i = find(ais.begin(), ais.end(), &ai);
 184         if(i!=ais.end())
 185                 ais.erase(i);
 186 }
 187
 188 void Train::ai_message(const TrainAI::Message &msg)
 189 {
 190         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 191                 (*i)->message(msg);
 192 }
 193
 194 void Train::place(const BlockIter &block)
 195 {
 196         if(!block)
 197                 throw invalid_argument("Train::place");
 198         if(controller->get_speed())
 199                 throw logic_error("moving");
 200
 201         set_active(false);
 202         accurate_position = false;
 203
 204         allocator.start_from(block);
 205
 206         if(reverse)
 207                 vehicles.front()->place(block.reverse().track_iter(), 0, Vehicle::FRONT_BUFFER);
 208         else
 209                 vehicles.back()->place(block.track_iter(), 0, Vehicle::BACK_BUFFER);
 210 }
 211
 212 void Train::unplace()
 213 {
 214         if(controller->get_speed())
 215                 throw logic_error("moving");
 216
 217         allocator.clear();
 218
 219         set_active(false);
 220         accurate_position = false;
 221
 222         for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 223                 (*i)->unplace();
 224 }
 225
 226 void Train::stop_at(Block *block)
 227 {
 228         allocator.stop_at(block);
 229         if(active && !block)
 230                 allocator.reserve_more();
 231 }
 232
 233 bool Train::free_block(Block &block)
 234 {
 235         if(get_reserved_distance_until(&block)<controller->get_braking_distance()*1.3)
 236                 return false;
 237
 238         return allocator.release_from(block);
 239 }
 240
 241 void Train::free_noncritical_blocks()
 242 {
 243         if(allocator.empty())
 244                 return;
 245
 246         if(controller->get_speed()==0)
 247         {
 248                 allocator.release_noncurrent();
 249                 return;
 250         }
 251
 252         float margin = 10*layout.get_catalogue().get_scale();
 253         float min_dist = controller->get_braking_distance()*1.3+margin;
 254
 255         BlockIter i = allocator.last_current().next();
 256         float dist = 0;
 257         bool sensor_seen = false;
 258         for(; i->get_train()==this; i=i.next())
 259         {
 260                 if(dist>min_dist && sensor_seen)
 261                 {
 262                         allocator.release_from(*i);
 263                         return;
 264                 }
 265
 266                 dist += i->get_path_length(i.entry());
 267
 268                 if(i->get_sensor_id())
 269                         sensor_seen = true;
 270         }
 271 }
 272
 273 float Train::get_reserved_distance() const
 274 {
 275         if(allocator.empty())
 276                 return 0;
 277
 278         float margin = 0;
 279         TrackIter next = allocator.last().next().track_iter();
 280         if(next && next->get_type().is_turnout())
 281                 margin = 15*layout.get_catalogue().get_scale();
 282
 283         return max(get_reserved_distance_until(0)-margin, 0.0f);
 284 }
 285
 286 void Train::reserve_more()
 287 {
 288         allocator.reserve_more();
 289 }
 290
 291 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 292 {
 293         if(!active && stop_timeout && t>=stop_timeout)
 294         {
 295                 allocator.release_noncurrent();
 296                 stop_timeout = Time::TimeStamp();
 297         }
 298
 299         Driver &driver = layout.get_driver();
 300
 301         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 302                 (*i)->tick(t, dt);
 303         controller->tick(dt);
 304         float speed = controller->get_speed();
 305         bool moving = speed>0;
 306
 307         if(controller->get_reverse()!=reverse)
 308         {
 309                 reverse = controller->get_reverse();
 310                 bool r = reverse;
 311                 if(loco_type.get_swap_direction())
 312                         r = !r;
 313                 driver.set_loco_reverse(address, r);
 314
 315                 allocator.reverse();
 316                 if(active)
 317                         allocator.reserve_more();
 318         }
 319
 320         if(speed_quantizer)
 321         {
 322                 unsigned speed_step = speed_quantizer->find_speed_step(speed);
 323                 if(speed_step!=current_speed_step && !speed_changing && !driver.is_halted() && driver.get_power())
 324                 {
 325                         speed_changing = true;
 326                         driver.set_loco_speed(address, speed_step);
 327
 328                         pure_speed = false;
 329                 }
 330
 331                 speed = speed_quantizer->get_speed(current_speed_step);
 332         }
 333
 334         if(moving)
 335         {
 336                 if(!active)
 337                         set_active(true);
 338
 339                 Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
 340
 341                 float d = speed*(dt/Time::sec);
 342                 if(allocator.is_block_current(vehicle.get_track()->get_block()))
 343                 {
 344                         SetFlag setf(advancing);
 345                         vehicle.advance(reverse ? -d : d);
 346                 }
 347                 else if(accurate_position)
 348                 {
 349                         overshoot_dist += d;
 350                         if(overshoot_dist>40*layout.get_catalogue().get_scale())
 351                         {
 352                                 layout.emergency(name+" has not arrived at sensor");
 353                                 accurate_position = false;
 354                         }
 355                 }
 356         }
 357 }
 358
 359 void Train::save(list<DataFile::Statement> &st) const
 360 {
 361         st.push_back((DataFile::Statement("name"), name));
 362
 363         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 364                 if(i!=vehicles.begin())
 365                         st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
 366
 367         if(speed_quantizer)
 368         {
 369                 DataFile::Statement ss("quantized_speed");
 370                 speed_quantizer->save(ss.sub);
 371                 st.push_back(ss);
 372         }
 373
 374         {
 375                 DataFile::Statement ss("blocks");
 376                 allocator.save(ss.sub);
 377                 st.push_back(ss);
 378         }
 379
 380         // XXX Need more generic way of saving AI state
 381         for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
 382         {
 383                 if(TrainRouter *router = dynamic_cast<TrainRouter *>(*i))
 384                 {
 385                         DataFile::Statement ss("router");
 386                         router->save(ss.sub);
 387                         st.push_back(ss);
 388                 }
 389                 else if(Timetable *timetable = dynamic_cast<Timetable *>(*i))
 390                 {
 391                         DataFile::Statement ss("timetable");
 392                         timetable->save(ss.sub);
 393                         st.push_back(ss);
 394                 }
 395         }
 396 }
 397
 398 void Train::control_changed(const Controller::Control &ctrl)
 399 {
 400         signal_control_changed.emit(ctrl.name, ctrl.value);
 401 }
 402
 403 void Train::loco_speed_event(unsigned addr, unsigned speed, bool rev)
 404 {
 405         if(addr==address)
 406         {
 407                 current_speed_step = speed;
 408                 bool r = reverse;
 409                 if(loco_type.get_swap_direction())
 410                         r = !r;
 411                 if(rev!=r)
 412                         layout.get_driver().set_loco_reverse(address, r);
 413                 speed_changing = false;
 414                 pure_speed = false;
 415         }
 416 }
 417
 418 void Train::loco_func_event(unsigned addr, unsigned func, bool state)
 419 {
 420         if(addr==address)
 421         {
 422                 if(state)
 423                         functions |= 1<<func;
 424                 else
 425                         functions &= ~(1<<func);
 426
 427                 signal_function_changed.emit(func, state);
 428         }
 429 }
 430
 431 void Train::block_state_changed(Block &block, Block::State state)
 432 {
 433         if(block.get_train()==this && state==Block::MAYBE_ACTIVE)
 434         {
 435                 if(last_entry_block)
 436                 {
 437                         float travel_distance = -1;
 438                         if(pure_speed && speed_quantizer && current_speed_step>0)
 439                                 travel_distance = 0;
 440
 441                         for(BlockIter i=last_entry_block; &*i!=&block; i=i.next())
 442                         {
 443                                 if(i->get_sensor_id())
 444                                         return;
 445                                 if(travel_distance>=0)
 446                                         travel_distance += i->get_path_length(i.entry());
 447                         }
 448
 449                         if(travel_distance>0)
 450                         {
 451                                 float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 452
 453                                 if(travel_time_secs>=2)
 454                                         speed_quantizer->learn(current_speed_step, travel_distance/travel_time_secs, travel_time_secs);
 455                         }
 456                 }
 457
 458                 last_entry_block = allocator.iter_for(block);
 459                 last_entry_time = Time::now();
 460                 pure_speed = true;
 461                 accurate_position = true;
 462                 overshoot_dist = 0;
 463
 464                 if(!advancing && vehicles.front()->get_track())
 465                 {
 466                         TrackIter track = last_entry_block.track_iter();
 467                         if(reverse)
 468                         {
 469                                 track = track.flip();
 470                                 vehicles.back()->place(track, 0, Vehicle::BACK_AXLE);
 471                         }
 472                         else
 473                                 vehicles.front()->place(track, 0, Vehicle::FRONT_AXLE);
 474                 }
 475         }
 476 }
 477
 478 void Train::halt_event(bool h)
 479 {
 480         if(h)
 481                 accurate_position = false;
 482 }
 483
 484 float Train::get_reserved_distance_until(const Block *until_block) const
 485 {
 486         if(allocator.empty())
 487                 return 0;
 488
 489         Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
 490
 491         TrackIter track = veh.get_track_iter();
 492         if(!track)  // XXX Probably unnecessary
 493                 return 0;
 494
 495         BlockIter block = track.block_iter();
 496         if(&*block==until_block)
 497                 return 0;
 498
 499         // Account for the vehicle's offset on its current track
 500         float result = veh.get_offset();
 501         if(reverse)
 502                 track = track.reverse();
 503         else
 504                 result = track->get_type().get_path_length(track->get_active_path())-result;
 505         result -= veh.get_type().get_length()/2;
 506
 507         // Count remaining distance in the vehicle's current block
 508         for(track=track.next(); &track->get_block()==&*block; track=track.next())
 509                 result += track->get_type().get_path_length(track->get_active_path());
 510
 511         const BlockIter &last = allocator.last();
 512         if(&*block==&*last)
 513                 return result;
 514
 515         // Count any remaining blocks
 516         for(block=block.next(); (&*block!=until_block && block->get_train()==this); block=block.next())
 517         {
 518                 result += block->get_path_length(block.entry());
 519
 520                 if(&*block==&*last)
 521                         break;
 522         }
 523
 524         return result;
 525 }
 526
 527
 528 Train::Loader::Loader(Train &t):
 529         DataFile::ObjectLoader<Train>(t),
 530         prev_block(0),
 531         blocks_valid(true)
 532 {
 533         add("blocks",      &Loader::blocks);
 534         add("name",        &Loader::name);
 535         add("quantized_speed",  &Loader::quantized_speed);
 536         add("router",      &Loader::router);
 537         add("timetable",   &Loader::timetable);
 538         add("vehicle",     &Loader::vehicle);
 539 }
 540
 541 void Train::Loader::finish()
 542 {
 543         if(!obj.allocator.empty())
 544         {
 545                 TrackIter track = obj.allocator.first().track_iter();
 546                 float offset = 2*obj.layout.get_catalogue().get_scale();
 547                 obj.vehicles.back()->place(track, offset, Vehicle::BACK_BUFFER);
 548         }
 549 }
 550
 551 void Train::Loader::blocks()
 552 {
 553         load_sub(obj.allocator);
 554 }
 555
 556 void Train::Loader::name(const string &n)
 557 {
 558         obj.set_name(n);
 559 }
 560
 561 void Train::Loader::quantized_speed()
 562 {
 563         if(obj.speed_quantizer)
 564                 load_sub(*obj.speed_quantizer);
 565 }
 566
 567 void Train::Loader::router()
 568 {
 569         TrainRouter *rtr = new TrainRouter(obj);
 570         load_sub(*rtr);
 571 }
 572
 573 void Train::Loader::timetable()
 574 {
 575         Timetable *ttbl = new Timetable(obj);
 576         load_sub(*ttbl);
 577 }
 578
 579 void Train::Loader::vehicle(ArticleNumber art_nr)
 580 {
 581         const VehicleType &vtype = obj.layout.get_catalogue().get_vehicle(art_nr);
 582         Vehicle *veh = new Vehicle(obj.layout, vtype);
 583         obj.vehicles.back()->attach_back(*veh);
 584         obj.vehicles.push_back(veh);
 585 }
 586
 587 } // namespace R2C2