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         active(false),
  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
  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 }
  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::zero;
 140                 allocator.reserve_more();
 141         }
 142         else
 143                 stop_timeout = 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)<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         BlockIter i = allocator.last_current().next();
 257         float dist = 0;
 258         bool sensor_seen = false;
 259         for(; i->get_train()==this; i=i.next())
 260         {
 261                 if(dist>min_dist && sensor_seen)
 262                 {
 263                         allocator.release_from(*i);
 264                         return;
 265                 }
 266
 267                 dist += i->get_path_length(i.entry());
 268
 269                 if(i->get_sensor_id())
 270                         sensor_seen = true;
 271         }
 272 }
 273
 274 float Train::get_reserved_distance() const
 275 {
 276         if(allocator.empty())
 277                 return 0;
 278
 279         float margin = 0;
 280         TrackIter next = allocator.last().next().track_iter();
 281         if(next && next->get_type().is_turnout())
 282                 margin = 15*layout.get_catalogue().get_scale();
 283
 284         return max(get_reserved_distance_until(0)-margin, 0.0f);
 285 }
 286
 287 void Train::reserve_more()
 288 {
 289         allocator.reserve_more();
 290 }
 291
 292 void Train::tick(const Time::TimeDelta &dt)
 293 {
 294         if(!active && stop_timeout)
 295         {
 296                 stop_timeout -= dt;
 297                 if(stop_timeout<=Time::zero)
 298                 {
 299                         allocator.release_noncurrent();
 300                         stop_timeout = Time::TimeDelta();
 301                 }
 302         }
 303
 304         travel_time += dt;
 305
 306         Driver &driver = layout.get_driver();
 307
 308         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 309                 (*i)->tick(dt);
 310         controller->tick(dt);
 311         float speed = controller->get_speed();
 312         bool moving = speed>0;
 313
 314         if(controller->get_reverse()!=reverse)
 315         {
 316                 reverse = controller->get_reverse();
 317                 bool r = reverse;
 318                 if(loco_type.get_swap_direction())
 319                         r = !r;
 320                 driver.set_loco_reverse(address, r);
 321
 322                 allocator.reverse();
 323                 if(active)
 324                         allocator.reserve_more();
 325         }
 326
 327         if(speed_quantizer)
 328         {
 329                 unsigned speed_step = speed_quantizer->find_speed_step(speed);
 330                 if(speed_step!=current_speed_step && !speed_changing && !driver.is_halted() && driver.get_power())
 331                 {
 332                         speed_changing = true;
 333                         driver.set_loco_speed(address, speed_step);
 334
 335                         pure_speed = false;
 336                 }
 337
 338                 speed = speed_quantizer->get_speed(current_speed_step);
 339         }
 340
 341         if(moving)
 342         {
 343                 if(!active)
 344                         set_active(true);
 345
 346                 Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
 347
 348                 float d = speed*(dt/Time::sec);
 349                 if(allocator.is_block_current(vehicle.get_track()->get_block()))
 350                 {
 351                         SetFlag setf(advancing);
 352                         vehicle.advance(reverse ? -d : d);
 353                 }
 354                 else if(accurate_position)
 355                 {
 356                         overshoot_dist += d;
 357                         if(overshoot_dist>40*layout.get_catalogue().get_scale())
 358                         {
 359                                 layout.emergency(name+" has not arrived at sensor");
 360                                 accurate_position = false;
 361                         }
 362                 }
 363         }
 364 }
 365
 366 void Train::save(list<DataFile::Statement> &st) const
 367 {
 368         st.push_back((DataFile::Statement("name"), name));
 369
 370         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 371                 if(i!=vehicles.begin())
 372                         st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
 373
 374         if(speed_quantizer)
 375         {
 376                 DataFile::Statement ss("quantized_speed");
 377                 speed_quantizer->save(ss.sub);
 378                 st.push_back(ss);
 379         }
 380
 381         {
 382                 DataFile::Statement ss("blocks");
 383                 allocator.save(ss.sub);
 384                 st.push_back(ss);
 385         }
 386
 387         // XXX Need more generic way of saving AI state
 388         for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
 389         {
 390                 if(TrainRouter *router = dynamic_cast<TrainRouter *>(*i))
 391                 {
 392                         DataFile::Statement ss("router");
 393                         router->save(ss.sub);
 394                         st.push_back(ss);
 395                 }
 396         }
 397 }
 398
 399 void Train::control_changed(const Controller::Control &ctrl)
 400 {
 401         signal_control_changed.emit(ctrl.name, ctrl.value);
 402 }
 403
 404 void Train::loco_speed_event(unsigned addr, unsigned speed, bool rev)
 405 {
 406         if(addr==address)
 407         {
 408                 current_speed_step = speed;
 409                 bool r = reverse;
 410                 if(loco_type.get_swap_direction())
 411                         r = !r;
 412                 if(rev!=r)
 413                         layout.get_driver().set_loco_reverse(address, r);
 414                 speed_changing = false;
 415                 pure_speed = false;
 416         }
 417 }
 418
 419 void Train::loco_func_event(unsigned addr, unsigned func, bool state)
 420 {
 421         if(addr==address)
 422         {
 423                 if(state)
 424                         functions |= 1<<func;
 425                 else
 426                         functions &= ~(1<<func);
 427
 428                 signal_function_changed.emit(func, state);
 429         }
 430 }
 431
 432 void Train::sensor_state_changed(Sensor &sensor, Sensor::State state)
 433 {
 434         Block *block = 0;
 435         if(TrackCircuit *tc = dynamic_cast<TrackCircuit *>(&sensor))
 436                 block = &tc->get_block();
 437         else
 438                 return;
 439
 440         if(block->get_train()==this && state==Sensor::MAYBE_ACTIVE)
 441         {
 442                 if(last_entry_block)
 443                 {
 444                         float travel_distance = -1;
 445                         if(pure_speed && speed_quantizer && current_speed_step>0)
 446                                 travel_distance = 0;
 447
 448                         for(BlockIter i=last_entry_block; &*i!=block; i=i.next())
 449                         {
 450                                 if(i->get_sensor_id())
 451                                         return;
 452                                 if(travel_distance>=0)
 453                                         travel_distance += i->get_path_length(i.entry());
 454                         }
 455
 456                         if(travel_distance>0)
 457                         {
 458                                 float travel_time_secs = travel_time/Time::sec;
 459
 460                                 if(travel_time_secs>=2)
 461                                         speed_quantizer->learn(current_speed_step, travel_distance/travel_time_secs, travel_time_secs);
 462                         }
 463                 }
 464
 465                 last_entry_block = allocator.iter_for(*block);
 466                 travel_time = Time::zero;
 467                 pure_speed = true;
 468                 accurate_position = true;
 469                 overshoot_dist = 0;
 470
 471                 if(!advancing && vehicles.front()->get_track())
 472                 {
 473                         TrackIter track = last_entry_block.track_iter();
 474                         if(reverse)
 475                         {
 476                                 track = track.flip();
 477                                 vehicles.back()->place(track, 0, Vehicle::BACK_AXLE);
 478                         }
 479                         else
 480                                 vehicles.front()->place(track, 0, Vehicle::FRONT_AXLE);
 481                 }
 482         }
 483 }
 484
 485 void Train::halt_event(bool h)
 486 {
 487         if(h)
 488                 accurate_position = false;
 489 }
 490
 491 float Train::get_reserved_distance_until(const Block *until_block) const
 492 {
 493         if(allocator.empty())
 494                 return 0;
 495
 496         Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
 497
 498         TrackIter track = veh.get_track_iter();
 499         if(!track)  // XXX Probably unnecessary
 500                 return 0;
 501
 502         BlockIter block = track.block_iter();
 503         if(&*block==until_block)
 504                 return 0;
 505
 506         // Account for the vehicle's offset on its current track
 507         float result = veh.get_offset();
 508         if(reverse)
 509                 track = track.reverse();
 510         else
 511                 result = track->get_type().get_path_length(track->get_active_path())-result;
 512         result -= veh.get_type().get_length()/2;
 513
 514         // Count remaining distance in the vehicle's current block
 515         for(track=track.next(); &track->get_block()==&*block; track=track.next())
 516                 result += track->get_type().get_path_length(track->get_active_path());
 517
 518         const BlockIter &last = allocator.last();
 519         if(&*block==&*last)
 520                 return result;
 521
 522         // Count any remaining blocks
 523         for(block=block.next(); (&*block!=until_block && block->get_train()==this); block=block.next())
 524         {
 525                 result += block->get_path_length(block.entry());
 526
 527                 if(&*block==&*last)
 528                         break;
 529         }
 530
 531         return result;
 532 }
 533
 534
 535 Train::Loader::Loader(Train &t):
 536         DataFile::ObjectLoader<Train>(t),
 537         prev_block(0),
 538         blocks_valid(true)
 539 {
 540         add("blocks",      &Loader::blocks);
 541         add("name",        &Loader::name);
 542         add("quantized_speed",  &Loader::quantized_speed);
 543         add("router",      &Loader::router);
 544         add("vehicle",     &Loader::vehicle);
 545 }
 546
 547 void Train::Loader::finish()
 548 {
 549         if(!obj.allocator.empty())
 550         {
 551                 TrackIter track = obj.allocator.first().track_iter();
 552                 float offset = 2*obj.layout.get_catalogue().get_scale();
 553                 obj.vehicles.back()->place(track, offset, Vehicle::BACK_BUFFER);
 554         }
 555 }
 556
 557 void Train::Loader::blocks()
 558 {
 559         load_sub(obj.allocator);
 560 }
 561
 562 void Train::Loader::name(const string &n)
 563 {
 564         obj.set_name(n);
 565 }
 566
 567 void Train::Loader::quantized_speed()
 568 {
 569         if(obj.speed_quantizer)
 570                 load_sub(*obj.speed_quantizer);
 571 }
 572
 573 void Train::Loader::router()
 574 {
 575         TrainRouter *rtr = new TrainRouter(obj);
 576         load_sub(*rtr);
 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