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 "beamgate.h"
  10 #include "block.h"
  11 #include "catalogue.h"
  12 #include "driver.h"
  13 #include "layout.h"
  14 #include "route.h"
  15 #include "simplecontroller.h"
  16 #include "speedquantizer.h"
  17 #include "trackcircuit.h"
  18 #include "trackiter.h"
  19 #include "tracktype.h"
  20 #include "train.h"
  21 #include "trainrouter.h"
  22 #include "vehicle.h"
  23 #include "vehicletype.h"
  24 #include "zone.h"
  25
  26 using namespace std;
  27 using namespace Msp;
  28
  29 namespace R2C2 {
  30
  31 Train::Train(Layout &l, const VehicleType &t, unsigned a, const string &p):
  32         layout(l),
  33         loco_type(t),
  34         address(a),
  35         protocol(p),
  36         preceding_train(0),
  37         allocator(*this),
  38         advancing(false),
  39         controller(new SimpleController),
  40         current_speed_step(0),
  41         speed_changing(false),
  42         reverse(false),
  43         functions(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         vehicles.back()->set_train(this);
  58
  59         layout.add_train(*this);
  60
  61         loco_id = layout.get_driver().add_loco(address, protocol, loco_type);
  62         layout.get_driver().signal_loco_speed.connect(sigc::mem_fun(this, &Train::loco_speed_event));
  63         layout.get_driver().signal_loco_function.connect(sigc::mem_fun(this, &Train::loco_func_event));
  64
  65         layout.signal_sensor_state_changed.connect(sigc::mem_fun(this, &Train::sensor_state_changed));
  66
  67         layout.get_driver().signal_halt.connect(sigc::mem_fun(this, &Train::halt_event));
  68
  69         controller->signal_control_changed.connect(sigc::mem_fun(this, &Train::control_changed));
  70 }
  71
  72 Train::~Train()
  73 {
  74         delete controller;
  75         for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
  76                 delete *i;
  77         layout.remove_train(*this);
  78 }
  79
  80 void Train::set_name(const string &n)
  81 {
  82         name = n;
  83
  84         signal_name_changed.emit(name);
  85 }
  86
  87 void Train::add_vehicle(const VehicleType &vt)
  88 {
  89         Vehicle *veh = new Vehicle(layout, vt);
  90         vehicles.back()->attach_back(*veh);
  91         vehicles.push_back(veh);
  92         veh->set_train(this);
  93         signal_vehicle_added.emit(vehicles.size()-1, *veh);
  94 }
  95
  96 void Train::remove_vehicle(unsigned i)
  97 {
  98         if(i>=vehicles.size())
  99                 throw out_of_range("Train::remove_vehicle");
 100         if(i==0)
 101                 throw logic_error("can't remove locomotive");
 102
 103         Vehicle *veh = vehicles[i];
 104         vehicles.erase(vehicles.begin()+i);
 105         veh->detach_front();
 106         if(i<vehicles.size())
 107         {
 108                 veh->detach_back();
 109                 vehicles[i-1]->attach_back(*vehicles[i]);
 110         }
 111         signal_vehicle_removed.emit(i, *veh);
 112         delete veh;
 113 }
 114
 115 unsigned Train::get_n_vehicles() const
 116 {
 117         return vehicles.size();
 118 }
 119
 120 Vehicle &Train::get_vehicle(unsigned i)
 121 {
 122         if(i>=vehicles.size())
 123                 throw out_of_range("Train::get_vehicle");
 124         return *vehicles[i];
 125 }
 126
 127 const Vehicle &Train::get_vehicle(unsigned i) const
 128 {
 129         if(i>=vehicles.size())
 130                 throw out_of_range("Train::get_vehicle");
 131         return *vehicles[i];
 132 }
 133
 134 void Train::set_control(const string &n, float v)
 135 {
 136         controller->set_control(n, v);
 137 }
 138
 139 void Train::set_function(unsigned func, bool state)
 140 {
 141         if(!loco_type.get_functions().count(func))
 142                 throw invalid_argument("Train::set_function");
 143         layout.get_driver().set_loco_function(loco_id, func, state);
 144 }
 145
 146 float Train::get_control(const string &ctrl) const
 147 {
 148         return controller->get_control(ctrl).value;
 149 }
 150
 151 float Train::get_speed() const
 152 {
 153         return controller->get_speed();
 154 }
 155
 156 float Train::get_quantized_speed() const
 157 {
 158         if(speed_quantizer)
 159                 return speed_quantizer->quantize_speed(controller->get_speed());
 160         else
 161                 return controller->get_speed();
 162 }
 163
 164 float Train::get_maximum_speed() const
 165 {
 166         float ms = 0;
 167         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 168         {
 169                 float vms = (*i)->get_type().get_maximum_speed();
 170                 if(ms<=0 || (vms>0 && vms<ms))
 171                         ms = vms;
 172         }
 173         return ms;
 174 }
 175
 176 bool Train::get_function(unsigned func) const
 177 {
 178         return (functions>>func)&1;
 179 }
 180
 181 void Train::add_ai(TrainAI &ai)
 182 {
 183         ais.push_back(&ai);
 184         ai.signal_event.connect(sigc::bind<0>(signal_ai_event, sigc::ref(ai)));
 185 }
 186
 187 void Train::remove_ai(TrainAI &ai)
 188 {
 189         list<TrainAI *>::iterator i = find(ais.begin(), ais.end(), &ai);
 190         if(i!=ais.end())
 191                 ais.erase(i);
 192 }
 193
 194 void Train::ai_message(const TrainAI::Message &msg)
 195 {
 196         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 197                 (*i)->message(msg);
 198 }
 199
 200 bool Train::place(const BlockIter &block)
 201 {
 202         if(!block)
 203                 throw invalid_argument("Train::place");
 204         if(controller->get_speed())
 205                 throw logic_error("moving");
 206
 207         accurate_position = false;
 208         last_entry_block = BlockIter();
 209
 210         if(allocator.start_from(block))
 211         {
 212                 if(reverse)
 213                         vehicles.front()->place(block.reverse().track_iter(), VehiclePlacement::FRONT_BUFFER);
 214                 else
 215                         vehicles.back()->place(block.track_iter(), VehiclePlacement::BACK_BUFFER);
 216                 return true;
 217         }
 218         else
 219         {
 220                 unplace();
 221                 return false;
 222         }
 223 }
 224
 225 void Train::unplace()
 226 {
 227         if(controller->get_speed())
 228                 throw logic_error("moving");
 229
 230         allocator.clear();
 231         accurate_position = false;
 232         last_entry_block = BlockIter();
 233
 234         for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 235                 (*i)->unplace();
 236 }
 237
 238 void Train::stop_at(Block *block)
 239 {
 240         allocator.stop_at(block);
 241 }
 242
 243 bool Train::is_block_critical(const Block &block) const
 244 {
 245         return get_reserved_distance_until(&block)<=controller->get_braking_distance()*1.3;
 246 }
 247
 248 BlockIter Train::get_first_noncritical_block() const
 249 {
 250         if(allocator.empty())
 251                 return BlockIter();
 252
 253         BlockIter i = allocator.last_current().next();
 254
 255         if(controller->get_speed()==0)
 256                 return i;
 257
 258         float margin = 10*layout.get_catalogue().get_scale();
 259         float min_dist = controller->get_braking_distance()*1.3+margin;
 260
 261         float dist = 0;
 262         bool sensor_seen = false;
 263         for(; i->get_train()==this; i=i.next())
 264         {
 265                 if(dist>min_dist && sensor_seen)
 266                         return i;
 267
 268                 dist += i->get_path_length(i.entry());
 269
 270                 if(i->get_sensor_address())
 271                         sensor_seen = true;
 272         }
 273
 274         return i;
 275 }
 276
 277 void Train::refresh_blocks_from(Block &block)
 278 {
 279         if(is_block_critical(block))
 280                 allocator.rewind_to(*get_first_noncritical_block());
 281         else
 282                 allocator.rewind_to(block);
 283 }
 284
 285 float Train::get_reserved_distance() const
 286 {
 287         if(allocator.empty())
 288                 return 0;
 289
 290         float margin = 0;
 291         TrackIter next = allocator.last().next().track_iter();
 292         if(next && next->get_type().is_turnout())
 293                 margin = 15*layout.get_catalogue().get_scale();
 294
 295         return max(get_reserved_distance_until(0)-margin, 0.0f);
 296 }
 297
 298 void Train::tick(const Time::TimeDelta &dt)
 299 {
 300         if(stop_timeout)
 301         {
 302                 stop_timeout -= dt;
 303                 if(stop_timeout<=Time::zero)
 304                 {
 305                         allocator.set_active(false);
 306                         stop_timeout = Time::TimeDelta();
 307                 }
 308         }
 309
 310         travel_time += dt;
 311
 312         Driver &driver = layout.get_driver();
 313
 314         bool intent_to_move = false;
 315         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 316         {
 317                 (*i)->tick(dt);
 318                 if((*i)->has_intent_to_move())
 319                         intent_to_move = true;
 320         }
 321
 322         controller->tick(dt);
 323         float speed = controller->get_speed();
 324         bool moving = speed>0;
 325
 326         if(controller->get_reverse()!=reverse)
 327         {
 328                 reverse = controller->get_reverse();
 329                 bool r = reverse;
 330                 if(loco_type.get_swap_direction())
 331                         r = !r;
 332                 driver.set_loco_reverse(loco_id, r);
 333
 334                 allocator.reverse();
 335                 last_entry_block = BlockIter();
 336         }
 337
 338         if(speed_quantizer)
 339         {
 340                 unsigned speed_step = speed_quantizer->find_speed_step(speed);
 341                 if(speed_step!=current_speed_step && !speed_changing && !driver.is_halted() && driver.get_power())
 342                 {
 343                         speed_changing = true;
 344                         driver.set_loco_speed(loco_id, speed_step);
 345
 346                         pure_speed = false;
 347                 }
 348
 349                 speed = speed_quantizer->get_speed(current_speed_step);
 350         }
 351
 352         if(moving)
 353         {
 354                 if(!allocator.is_active())
 355                         allocator.set_active(true);
 356
 357                 Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
 358
 359                 float d = speed*(dt/Time::sec);
 360                 if(allocator.is_block_current(vehicle.get_placement().get_position(reverse ? VehiclePlacement::BACK_AXLE : VehiclePlacement::FRONT_AXLE)->get_block()))
 361                 {
 362                         SetFlag setf(advancing);
 363                         vehicle.advance(reverse ? -d : d);
 364                 }
 365                 else if(accurate_position)
 366                 {
 367                         overshoot_dist += d;
 368                         if(overshoot_dist>40*layout.get_catalogue().get_scale())
 369                         {
 370                                 layout.emergency(name+" has not arrived at sensor");
 371                                 accurate_position = false;
 372                         }
 373                 }
 374         }
 375         else if(intent_to_move && !allocator.is_active())
 376                 allocator.set_active(true);
 377         else if(allocator.is_active() && !intent_to_move && !stop_timeout)
 378                 stop_timeout = 2*Time::sec;
 379 }
 380
 381 void Train::save(list<DataFile::Statement> &st) const
 382 {
 383         st.push_back((DataFile::Statement("name"), name));
 384
 385         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 386                 if(i!=vehicles.begin())
 387                         st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
 388
 389         if(speed_quantizer)
 390         {
 391                 DataFile::Statement ss("quantized_speed");
 392                 speed_quantizer->save(ss.sub);
 393                 st.push_back(ss);
 394         }
 395
 396         {
 397                 DataFile::Statement ss("blocks");
 398                 allocator.save(ss.sub);
 399                 st.push_back(ss);
 400         }
 401
 402         // XXX Need more generic way of saving AI state
 403         for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
 404         {
 405                 if(TrainRouter *router = dynamic_cast<TrainRouter *>(*i))
 406                 {
 407                         DataFile::Statement ss("router");
 408                         router->save(ss.sub);
 409                         st.push_back(ss);
 410                 }
 411         }
 412 }
 413
 414 void Train::control_changed(const Controller::Control &ctrl)
 415 {
 416         signal_control_changed.emit(ctrl.name, ctrl.value);
 417 }
 418
 419 void Train::loco_speed_event(unsigned id, unsigned speed, bool rev)
 420 {
 421         if(id==loco_id)
 422         {
 423                 current_speed_step = speed;
 424                 bool r = reverse;
 425                 if(loco_type.get_swap_direction())
 426                         r = !r;
 427                 if(rev!=r)
 428                         layout.get_driver().set_loco_reverse(loco_id, r);
 429                 speed_changing = false;
 430                 pure_speed = false;
 431         }
 432 }
 433
 434 void Train::loco_func_event(unsigned id, unsigned func, bool state)
 435 {
 436         if(id==loco_id)
 437         {
 438                 if(state)
 439                         functions |= 1<<func;
 440                 else
 441                         functions &= ~(1<<func);
 442
 443                 signal_function_changed.emit(func, state);
 444         }
 445 }
 446
 447 void Train::sensor_state_changed(Sensor &sensor, Sensor::State state)
 448 {
 449         if(!current_speed_step || state!=Sensor::MAYBE_ACTIVE)
 450                 return;
 451
 452         Block *block = sensor.get_block();
 453         if(!block || block->get_train()!=this)
 454                 return;
 455
 456         if(last_entry_block && &*last_entry_block!=block)
 457         {
 458                 for(BlockIter i=last_entry_block.next(); (i && &*i!=block); i=i.next())
 459                         if(i->get_train()!=this || i->get_sensor_address())
 460                                 return;
 461         }
 462
 463         if(dynamic_cast<TrackCircuit *>(&sensor))
 464         {
 465                 if(last_entry_block && pure_speed && speed_quantizer)
 466                 {
 467                         float travel_distance = 0;
 468
 469                         for(BlockIter i=last_entry_block; &*i!=block; i=i.next())
 470                                 travel_distance += i->get_path_length(i.entry());
 471
 472                         if(travel_distance>0)
 473                         {
 474                                 float travel_time_secs = travel_time/Time::sec;
 475
 476                                 if(travel_time_secs>=2)
 477                                         speed_quantizer->learn(current_speed_step, travel_distance/travel_time_secs, travel_time_secs);
 478                         }
 479                 }
 480
 481                 last_entry_block = allocator.iter_for(*block);
 482                 travel_time = Time::zero;
 483                 pure_speed = true;
 484                 accurate_position = true;
 485                 overshoot_dist = 0;
 486
 487                 if(!advancing && vehicles.front()->is_placed())
 488                 {
 489                         TrackIter track = last_entry_block.track_iter();
 490                         if(reverse)
 491                         {
 492                                 track = track.flip();
 493                                 vehicles.back()->place(track, VehiclePlacement::BACK_AXLE);
 494                         }
 495                         else
 496                                 vehicles.front()->place(track, VehiclePlacement::FRONT_AXLE);
 497                 }
 498         }
 499         else if(BeamGate *gate = dynamic_cast<BeamGate *>(&sensor))
 500         {
 501                 if(!advancing && vehicles.front()->is_placed())
 502                 {
 503                         TrackIter track = allocator.iter_for(*block).track_iter();
 504                         for(; (track && &track->get_block()==block); track=track.next())
 505                                 if(track.track()==gate->get_track())
 506                                 {
 507                                         if(reverse)
 508                                                 track = track.reverse();
 509                                         float offset = gate->get_offset_from_endpoint(track.entry());
 510                                         if(reverse)
 511                                                 vehicles.back()->place(TrackOffsetIter(track, offset), VehiclePlacement::BACK_BUFFER);
 512                                         else
 513                                                 vehicles.front()->place(TrackOffsetIter(track, offset), VehiclePlacement::FRONT_BUFFER);
 514                                         break;
 515                                 }
 516                 }
 517         }
 518 }
 519
 520 void Train::halt_event(bool h)
 521 {
 522         if(h)
 523                 accurate_position = false;
 524 }
 525
 526 float Train::get_reserved_distance_until(const Block *until_block) const
 527 {
 528         if(allocator.empty())
 529                 return 0;
 530
 531         Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
 532
 533         TrackOffsetIter track = veh.get_placement().get_position(reverse ? VehiclePlacement::BACK_AXLE : VehiclePlacement::FRONT_AXLE);
 534         if(!track)  // XXX Probably unnecessary
 535                 return 0;
 536
 537         if(&track->get_block()==until_block)
 538                 return 0;
 539
 540         // Account for the vehicle's offset on its current track
 541         float result = track.offset();
 542         if(reverse)
 543                 track = track.reverse();
 544         else
 545                 result = track->get_path_length()-result;
 546         result -= veh.get_type().get_length()/2;
 547
 548         BlockIter block = track.block_iter();
 549
 550         // Count remaining distance in the vehicle's current block
 551         for(track=track.next(); &track->get_block()==&*block; track=track.next())
 552                 result += track->get_path_length();
 553
 554         const BlockIter &last = allocator.last();
 555         if(&*block==&*last)
 556                 return result;
 557
 558         // Count any remaining blocks
 559         for(block=block.next(); (&*block!=until_block && block->get_train()==this); block=block.next())
 560         {
 561                 result += block->get_path_length(block.entry());
 562
 563                 if(&*block==&*last)
 564                         break;
 565         }
 566
 567         return result;
 568 }
 569
 570
 571 Train::Loader::Loader(Train &t):
 572         DataFile::ObjectLoader<Train>(t),
 573         prev_block(0),
 574         blocks_valid(true)
 575 {
 576         add("blocks",      &Loader::blocks);
 577         add("name",        &Loader::name);
 578         add("quantized_speed",  &Loader::quantized_speed);
 579         add("router",      &Loader::router);
 580         add("vehicle",     &Loader::vehicle);
 581 }
 582
 583 void Train::Loader::finish()
 584 {
 585         if(!obj.allocator.empty())
 586         {
 587                 TrackIter track = obj.allocator.first().track_iter();
 588                 float offset = 2*obj.layout.get_catalogue().get_scale();
 589                 obj.vehicles.back()->place(TrackOffsetIter(track, offset), VehiclePlacement::BACK_BUFFER);
 590         }
 591 }
 592
 593 void Train::Loader::blocks()
 594 {
 595         load_sub(obj.allocator);
 596 }
 597
 598 void Train::Loader::name(const string &n)
 599 {
 600         obj.set_name(n);
 601 }
 602
 603 void Train::Loader::quantized_speed()
 604 {
 605         if(obj.speed_quantizer)
 606                 load_sub(*obj.speed_quantizer);
 607 }
 608
 609 void Train::Loader::router()
 610 {
 611         TrainRouter *rtr = new TrainRouter(obj);
 612         load_sub(*rtr);
 613 }
 614
 615 void Train::Loader::vehicle(ArticleNumber art_nr)
 616 {
 617         const VehicleType &vtype = obj.layout.get_catalogue().get<VehicleType>(art_nr);
 618         Vehicle *veh = new Vehicle(obj.layout, vtype);
 619         obj.vehicles.back()->attach_back(*veh);
 620         obj.vehicles.push_back(veh);
 621         veh->set_train(&obj);
 622 }
 623
 624 } // namespace R2C2