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         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(address, 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 bool Train::get_function(unsigned func) const
 165 {
 166         return (functions>>func)&1;
 167 }
 168
 169 void Train::add_ai(TrainAI &ai)
 170 {
 171         ais.push_back(&ai);
 172         ai.signal_event.connect(sigc::bind<0>(signal_ai_event, sigc::ref(ai)));
 173 }
 174
 175 void Train::remove_ai(TrainAI &ai)
 176 {
 177         list<TrainAI *>::iterator i = find(ais.begin(), ais.end(), &ai);
 178         if(i!=ais.end())
 179                 ais.erase(i);
 180 }
 181
 182 void Train::ai_message(const TrainAI::Message &msg)
 183 {
 184         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 185                 (*i)->message(msg);
 186 }
 187
 188 bool Train::place(const BlockIter &block)
 189 {
 190         if(!block)
 191                 throw invalid_argument("Train::place");
 192         if(controller->get_speed())
 193                 throw logic_error("moving");
 194
 195         accurate_position = false;
 196         last_entry_block = BlockIter();
 197
 198         if(allocator.start_from(block))
 199         {
 200                 if(reverse)
 201                         vehicles.front()->place(block.reverse().track_iter(), VehiclePlacement::FRONT_BUFFER);
 202                 else
 203                         vehicles.back()->place(block.track_iter(), VehiclePlacement::BACK_BUFFER);
 204                 return true;
 205         }
 206         else
 207         {
 208                 unplace();
 209                 return false;
 210         }
 211 }
 212
 213 void Train::unplace()
 214 {
 215         if(controller->get_speed())
 216                 throw logic_error("moving");
 217
 218         allocator.clear();
 219         accurate_position = false;
 220         last_entry_block = BlockIter();
 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 }
 230
 231 bool Train::is_block_critical(const Block &block) const
 232 {
 233         return get_reserved_distance_until(&block)<=controller->get_braking_distance()*1.3;
 234 }
 235
 236 BlockIter Train::get_first_noncritical_block() const
 237 {
 238         if(allocator.empty())
 239                 return BlockIter();
 240
 241         BlockIter i = allocator.last_current().next();
 242
 243         if(controller->get_speed()==0)
 244                 return i;
 245
 246         float margin = 10*layout.get_catalogue().get_scale();
 247         float min_dist = controller->get_braking_distance()*1.3+margin;
 248
 249         float dist = 0;
 250         bool sensor_seen = false;
 251         for(; i->get_train()==this; i=i.next())
 252         {
 253                 if(dist>min_dist && sensor_seen)
 254                         return i;
 255
 256                 dist += i->get_path_length(i.entry());
 257
 258                 if(i->get_sensor_id())
 259                         sensor_seen = true;
 260         }
 261
 262         return i;
 263 }
 264
 265 void Train::refresh_blocks_from(Block &block)
 266 {
 267         if(is_block_critical(block))
 268                 allocator.rewind_to(*get_first_noncritical_block());
 269         else
 270                 allocator.rewind_to(block);
 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::tick(const Time::TimeDelta &dt)
 287 {
 288         if(stop_timeout)
 289         {
 290                 stop_timeout -= dt;
 291                 if(stop_timeout<=Time::zero)
 292                 {
 293                         allocator.set_active(false);
 294                         stop_timeout = Time::TimeDelta();
 295                 }
 296         }
 297
 298         travel_time += dt;
 299
 300         Driver &driver = layout.get_driver();
 301
 302         bool intent_to_move = false;
 303         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 304         {
 305                 (*i)->tick(dt);
 306                 if((*i)->has_intent_to_move())
 307                         intent_to_move = true;
 308         }
 309
 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                 last_entry_block = BlockIter();
 324         }
 325
 326         if(speed_quantizer)
 327         {
 328                 unsigned speed_step = speed_quantizer->find_speed_step(speed);
 329                 if(speed_step!=current_speed_step && !speed_changing && !driver.is_halted() && driver.get_power())
 330                 {
 331                         speed_changing = true;
 332                         driver.set_loco_speed(address, speed_step);
 333
 334                         pure_speed = false;
 335                 }
 336
 337                 speed = speed_quantizer->get_speed(current_speed_step);
 338         }
 339
 340         if(moving)
 341         {
 342                 if(!allocator.is_active())
 343                         allocator.set_active(true);
 344
 345                 Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
 346
 347                 float d = speed*(dt/Time::sec);
 348                 if(allocator.is_block_current(vehicle.get_placement().get_position(reverse ? VehiclePlacement::BACK_AXLE : VehiclePlacement::FRONT_AXLE)->get_block()))
 349                 {
 350                         SetFlag setf(advancing);
 351                         vehicle.advance(reverse ? -d : d);
 352                 }
 353                 else if(accurate_position)
 354                 {
 355                         overshoot_dist += d;
 356                         if(overshoot_dist>40*layout.get_catalogue().get_scale())
 357                         {
 358                                 layout.emergency(name+" has not arrived at sensor");
 359                                 accurate_position = false;
 360                         }
 361                 }
 362         }
 363         else if(intent_to_move && !allocator.is_active())
 364                 allocator.set_active(true);
 365         else if(allocator.is_active() && !intent_to_move && !stop_timeout)
 366                 stop_timeout = 2*Time::sec;
 367 }
 368
 369 void Train::save(list<DataFile::Statement> &st) const
 370 {
 371         st.push_back((DataFile::Statement("name"), name));
 372
 373         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 374                 if(i!=vehicles.begin())
 375                         st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
 376
 377         if(speed_quantizer)
 378         {
 379                 DataFile::Statement ss("quantized_speed");
 380                 speed_quantizer->save(ss.sub);
 381                 st.push_back(ss);
 382         }
 383
 384         {
 385                 DataFile::Statement ss("blocks");
 386                 allocator.save(ss.sub);
 387                 st.push_back(ss);
 388         }
 389
 390         // XXX Need more generic way of saving AI state
 391         for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
 392         {
 393                 if(TrainRouter *router = dynamic_cast<TrainRouter *>(*i))
 394                 {
 395                         DataFile::Statement ss("router");
 396                         router->save(ss.sub);
 397                         st.push_back(ss);
 398                 }
 399         }
 400 }
 401
 402 void Train::control_changed(const Controller::Control &ctrl)
 403 {
 404         signal_control_changed.emit(ctrl.name, ctrl.value);
 405 }
 406
 407 void Train::loco_speed_event(unsigned addr, unsigned speed, bool rev)
 408 {
 409         if(addr==address)
 410         {
 411                 current_speed_step = speed;
 412                 bool r = reverse;
 413                 if(loco_type.get_swap_direction())
 414                         r = !r;
 415                 if(rev!=r)
 416                         layout.get_driver().set_loco_reverse(address, r);
 417                 speed_changing = false;
 418                 pure_speed = false;
 419         }
 420 }
 421
 422 void Train::loco_func_event(unsigned addr, unsigned func, bool state)
 423 {
 424         if(addr==address)
 425         {
 426                 if(state)
 427                         functions |= 1<<func;
 428                 else
 429                         functions &= ~(1<<func);
 430
 431                 signal_function_changed.emit(func, state);
 432         }
 433 }
 434
 435 void Train::sensor_state_changed(Sensor &sensor, Sensor::State state)
 436 {
 437         if(!current_speed_step || state!=Sensor::MAYBE_ACTIVE)
 438                 return;
 439
 440         Block *block = sensor.get_block();
 441         if(!block || block->get_train()!=this)
 442                 return;
 443
 444         if(last_entry_block && &*last_entry_block!=block)
 445         {
 446                 for(BlockIter i=last_entry_block.next(); (i && &*i!=block); i=i.next())
 447                         if(i->get_train()!=this || i->get_sensor_id())
 448                                 return;
 449         }
 450
 451         if(dynamic_cast<TrackCircuit *>(&sensor))
 452         {
 453                 if(last_entry_block && pure_speed && speed_quantizer)
 454                 {
 455                         float travel_distance = 0;
 456
 457                         for(BlockIter i=last_entry_block; &*i!=block; i=i.next())
 458                                 travel_distance += i->get_path_length(i.entry());
 459
 460                         if(travel_distance>0)
 461                         {
 462                                 float travel_time_secs = travel_time/Time::sec;
 463
 464                                 if(travel_time_secs>=2)
 465                                         speed_quantizer->learn(current_speed_step, travel_distance/travel_time_secs, travel_time_secs);
 466                         }
 467                 }
 468
 469                 last_entry_block = allocator.iter_for(*block);
 470                 travel_time = Time::zero;
 471                 pure_speed = true;
 472                 accurate_position = true;
 473                 overshoot_dist = 0;
 474
 475                 if(!advancing && vehicles.front()->is_placed())
 476                 {
 477                         TrackIter track = last_entry_block.track_iter();
 478                         if(reverse)
 479                         {
 480                                 track = track.flip();
 481                                 vehicles.back()->place(track, VehiclePlacement::BACK_AXLE);
 482                         }
 483                         else
 484                                 vehicles.front()->place(track, VehiclePlacement::FRONT_AXLE);
 485                 }
 486         }
 487         else if(BeamGate *gate = dynamic_cast<BeamGate *>(&sensor))
 488         {
 489                 if(!advancing && vehicles.front()->is_placed())
 490                 {
 491                         TrackIter track = allocator.iter_for(*block).track_iter();
 492                         for(; (track && &track->get_block()==block); track=track.next())
 493                                 if(track.track()==gate->get_track())
 494                                 {
 495                                         if(reverse)
 496                                                 track = track.reverse();
 497                                         float offset = gate->get_offset_from_endpoint(track.entry());
 498                                         if(reverse)
 499                                                 vehicles.back()->place(TrackOffsetIter(track, offset), VehiclePlacement::BACK_BUFFER);
 500                                         else
 501                                                 vehicles.front()->place(TrackOffsetIter(track, offset), VehiclePlacement::FRONT_BUFFER);
 502                                         break;
 503                                 }
 504                 }
 505         }
 506 }
 507
 508 void Train::halt_event(bool h)
 509 {
 510         if(h)
 511                 accurate_position = false;
 512 }
 513
 514 float Train::get_reserved_distance_until(const Block *until_block) const
 515 {
 516         if(allocator.empty())
 517                 return 0;
 518
 519         Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
 520
 521         TrackOffsetIter track = veh.get_placement().get_position(reverse ? VehiclePlacement::BACK_AXLE : VehiclePlacement::FRONT_AXLE);
 522         if(!track)  // XXX Probably unnecessary
 523                 return 0;
 524
 525         if(&track->get_block()==until_block)
 526                 return 0;
 527
 528         // Account for the vehicle's offset on its current track
 529         float result = track.offset();
 530         if(reverse)
 531                 track = track.reverse();
 532         else
 533                 result = track->get_path_length()-result;
 534         result -= veh.get_type().get_length()/2;
 535
 536         BlockIter block = track.block_iter();
 537
 538         // Count remaining distance in the vehicle's current block
 539         for(track=track.next(); &track->get_block()==&*block; track=track.next())
 540                 result += track->get_path_length();
 541
 542         const BlockIter &last = allocator.last();
 543         if(&*block==&*last)
 544                 return result;
 545
 546         // Count any remaining blocks
 547         for(block=block.next(); (&*block!=until_block && block->get_train()==this); block=block.next())
 548         {
 549                 result += block->get_path_length(block.entry());
 550
 551                 if(&*block==&*last)
 552                         break;
 553         }
 554
 555         return result;
 556 }
 557
 558
 559 Train::Loader::Loader(Train &t):
 560         DataFile::ObjectLoader<Train>(t),
 561         prev_block(0),
 562         blocks_valid(true)
 563 {
 564         add("blocks",      &Loader::blocks);
 565         add("name",        &Loader::name);
 566         add("quantized_speed",  &Loader::quantized_speed);
 567         add("router",      &Loader::router);
 568         add("vehicle",     &Loader::vehicle);
 569 }
 570
 571 void Train::Loader::finish()
 572 {
 573         if(!obj.allocator.empty())
 574         {
 575                 TrackIter track = obj.allocator.first().track_iter();
 576                 float offset = 2*obj.layout.get_catalogue().get_scale();
 577                 obj.vehicles.back()->place(TrackOffsetIter(track, offset), VehiclePlacement::BACK_BUFFER);
 578         }
 579 }
 580
 581 void Train::Loader::blocks()
 582 {
 583         load_sub(obj.allocator);
 584 }
 585
 586 void Train::Loader::name(const string &n)
 587 {
 588         obj.set_name(n);
 589 }
 590
 591 void Train::Loader::quantized_speed()
 592 {
 593         if(obj.speed_quantizer)
 594                 load_sub(*obj.speed_quantizer);
 595 }
 596
 597 void Train::Loader::router()
 598 {
 599         TrainRouter *rtr = new TrainRouter(obj);
 600         load_sub(*rtr);
 601 }
 602
 603 void Train::Loader::vehicle(ArticleNumber art_nr)
 604 {
 605         const VehicleType &vtype = obj.layout.get_catalogue().get_vehicle(art_nr);
 606         Vehicle *veh = new Vehicle(obj.layout, vtype);
 607         obj.vehicles.back()->attach_back(*veh);
 608         obj.vehicles.push_back(veh);
 609         veh->set_train(&obj);
 610 }
 611
 612 } // namespace R2C2