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         travel_dist(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_block_state_changed.connect(sigc::mem_fun(this, &Train::block_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::TimeStamp();
 140                 allocator.reserve_more();
 141         }
 142         else
 143                 stop_timeout = Time::now()+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(Block &block, unsigned entry)
 196 {
 197         if(controller->get_speed())
 198                 throw logic_error("moving");
 199
 200         set_active(false);
 201         accurate_position = false;
 202
 203         allocator.start_from(block, entry);
 204
 205         if(reverse)
 206         {
 207                 TrackIter track = BlockIter(&block, entry).reverse().track_iter();
 208                 vehicles.front()->place(*track, track.entry(), 0, Vehicle::FRONT_BUFFER);
 209         }
 210         else
 211         {
 212                 const Block::Endpoint &bep = block.get_endpoint(entry);
 213                 vehicles.back()->place(*bep.track, bep.track_ep, 0, Vehicle::BACK_BUFFER);
 214         }
 215 }
 216
 217 void Train::unplace()
 218 {
 219         if(controller->get_speed())
 220                 throw logic_error("moving");
 221
 222         allocator.clear();
 223
 224         set_active(false);
 225         accurate_position = false;
 226
 227         for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 228                 (*i)->unplace();
 229 }
 230
 231 void Train::stop_at(Block *block)
 232 {
 233         allocator.stop_at(block);
 234         if(active && !block)
 235                 allocator.reserve_more();
 236 }
 237
 238 bool Train::free_block(Block &block)
 239 {
 240         if(get_reserved_distance_until(&block, false)<controller->get_braking_distance()*1.3)
 241                 return false;
 242
 243         return allocator.release_from(block);
 244 }
 245
 246 void Train::free_noncritical_blocks()
 247 {
 248         if(allocator.empty())
 249                 return;
 250
 251         if(controller->get_speed()==0)
 252         {
 253                 allocator.release_noncurrent();
 254                 return;
 255         }
 256
 257         float margin = 10*layout.get_catalogue().get_scale();
 258         float min_dist = controller->get_braking_distance()*1.3+margin;
 259
 260         Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
 261
 262         TrackIter track(veh.get_track(), veh.get_entry());
 263         BlockIter block = allocator.first();
 264         const BlockIter &last_cur = allocator.last_current();
 265         const BlockIter &last = allocator.last();
 266         bool in_rsv = false;
 267         while(!block->has_track(*track))
 268         {
 269                 if(&*block==&*last_cur)
 270                         in_rsv = true;
 271                 if(&*block==&*last)
 272                         break;
 273                 block = block.next();
 274         }
 275
 276         float dist = veh.get_offset();
 277         if(reverse)
 278                 track.reverse();
 279         else
 280                 dist = track->get_type().get_path_length(track->get_active_path())-dist;
 281         dist -= veh.get_type().get_length()/2;
 282
 283         bool nsens = 0;
 284         while(1)
 285         {
 286                 track = track.next();
 287
 288                 if(!block->has_track(*track))
 289                 {
 290                         if(&*block==&*last_cur)
 291                                 in_rsv = true;
 292                         if(&*block==&*last)
 293                                 return;
 294                         block = block.next();
 295
 296                         if(dist>min_dist && nsens>0)
 297                         {
 298                                 allocator.release_from(*block);
 299                                 return;
 300                         }
 301
 302                         if(in_rsv && block->get_sensor_id())
 303                                 ++nsens;
 304                 }
 305
 306                 dist += track->get_type().get_path_length(track->get_active_path());
 307         }
 308 }
 309
 310 float Train::get_reserved_distance() const
 311 {
 312         if(allocator.empty())
 313                 return 0;
 314
 315         float margin = 0;
 316         TrackIter next = allocator.last().next().track_iter();
 317         if(next && next->get_type().is_turnout())
 318                 margin = 15*layout.get_catalogue().get_scale();
 319
 320         return max(get_reserved_distance_until(0, false)-margin, 0.0f);
 321 }
 322
 323 void Train::reserve_more()
 324 {
 325         allocator.reserve_more();
 326 }
 327
 328 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 329 {
 330         if(!active && stop_timeout && t>=stop_timeout)
 331         {
 332                 allocator.release_noncurrent();
 333                 stop_timeout = Time::TimeStamp();
 334         }
 335
 336         Driver &driver = layout.get_driver();
 337
 338         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 339                 (*i)->tick(t, dt);
 340         controller->tick(dt);
 341         float speed = controller->get_speed();
 342         bool moving = speed>0;
 343
 344         if(controller->get_reverse()!=reverse)
 345         {
 346                 reverse = controller->get_reverse();
 347                 bool r = reverse;
 348                 if(loco_type.get_swap_direction())
 349                         r = !r;
 350                 driver.set_loco_reverse(address, r);
 351
 352                 allocator.reverse();
 353                 if(active)
 354                         allocator.reserve_more();
 355         }
 356
 357         if(speed_quantizer)
 358         {
 359                 unsigned speed_step = speed_quantizer->find_speed_step(speed);
 360                 if(speed_step!=current_speed_step && !speed_changing && !driver.is_halted() && driver.get_power())
 361                 {
 362                         speed_changing = true;
 363                         driver.set_loco_speed(address, speed_step);
 364
 365                         pure_speed = false;
 366                 }
 367
 368                 speed = speed_quantizer->get_speed(current_speed_step);
 369         }
 370
 371         if(moving)
 372         {
 373                 if(!active)
 374                         set_active(true);
 375
 376                 Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
 377                 Track *track = vehicle.get_track();
 378
 379                 BlockIter first = allocator.first();
 380                 BlockIter last_current = allocator.last_current();
 381                 bool ok = false;
 382                 for(BlockIter i=first; !ok; i=i.next())
 383                 {
 384                         ok = i->has_track(*track);
 385                         if(i==last_current)
 386                                 break;
 387                 }
 388
 389                 float d = speed*(dt/Time::sec);
 390                 if(ok)
 391                 {
 392                         SetFlag setf(advancing);
 393                         vehicle.advance(reverse ? -d : d);
 394                 }
 395                 else if(accurate_position)
 396                 {
 397                         overshoot_dist += d;
 398                         if(overshoot_dist>40*layout.get_catalogue().get_scale())
 399                         {
 400                                 layout.emergency(name+" has not arrived at sensor");
 401                                 accurate_position = false;
 402                         }
 403                 }
 404         }
 405
 406         if(!allocator.empty() && !allocator.first()->get_sensor_id())
 407         {
 408                 float dist = get_reserved_distance_until(&*allocator.first(), true);
 409
 410                 if(dist>10*layout.get_catalogue().get_scale())
 411                         allocator.release_until(*allocator.first());
 412         }
 413 }
 414
 415 void Train::save(list<DataFile::Statement> &st) const
 416 {
 417         st.push_back((DataFile::Statement("name"), name));
 418
 419         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 420                 if(i!=vehicles.begin())
 421                         st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
 422
 423         if(speed_quantizer)
 424         {
 425                 DataFile::Statement ss("quantized_speed");
 426                 speed_quantizer->save(ss.sub);
 427                 st.push_back(ss);
 428         }
 429
 430         {
 431                 DataFile::Statement ss("blocks");
 432                 allocator.save(ss.sub);
 433                 st.push_back(ss);
 434         }
 435
 436         // XXX Need more generic way of saving AI state
 437         for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
 438         {
 439                 if(TrainRouter *router = dynamic_cast<TrainRouter *>(*i))
 440                 {
 441                         DataFile::Statement ss("router");
 442                         router->save(ss.sub);
 443                         st.push_back(ss);
 444                 }
 445                 else if(Timetable *timetable = dynamic_cast<Timetable *>(*i))
 446                 {
 447                         DataFile::Statement ss("timetable");
 448                         timetable->save(ss.sub);
 449                         st.push_back(ss);
 450                 }
 451         }
 452 }
 453
 454 void Train::control_changed(const Controller::Control &ctrl)
 455 {
 456         signal_control_changed.emit(ctrl.name, ctrl.value);
 457 }
 458
 459 void Train::loco_speed_event(unsigned addr, unsigned speed, bool rev)
 460 {
 461         if(addr==address)
 462         {
 463                 current_speed_step = speed;
 464                 bool r = reverse;
 465                 if(loco_type.get_swap_direction())
 466                         r = !r;
 467                 if(rev!=r)
 468                         layout.get_driver().set_loco_reverse(address, r);
 469                 speed_changing = false;
 470                 pure_speed = false;
 471         }
 472 }
 473
 474 void Train::loco_func_event(unsigned addr, unsigned func, bool state)
 475 {
 476         if(addr==address)
 477         {
 478                 if(state)
 479                         functions |= 1<<func;
 480                 else
 481                         functions &= ~(1<<func);
 482
 483                 signal_function_changed.emit(func, state);
 484         }
 485 }
 486
 487 void Train::block_state_changed(Block &block, Block::State state)
 488 {
 489         if(state==Block::MAYBE_ACTIVE)
 490         {
 491                 const BlockIter &first = allocator.first();
 492                 const BlockIter &last_cur = allocator.last_current();
 493                 bool valid = false;
 494                 for(BlockIter i=first; !valid; i=i.next())
 495                 {
 496                         if(&*i==&block)
 497                                 valid = true;
 498                         if(&*i==&*last_cur)
 499                                 break;
 500                 }
 501
 502                 if(valid)
 503                 {
 504                         // Compute speed and update related state
 505                         float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 506
 507                         if(pure_speed && speed_quantizer && current_speed_step>0 && travel_time_secs>=2)
 508                                 speed_quantizer->learn(current_speed_step, travel_dist/travel_time_secs, travel_time_secs);
 509
 510                         travel_dist = 0;
 511                         unsigned entry = allocator.get_entry_to_block(block);
 512                         for(BlockIter i(&block, entry);; i=i.next())
 513                         {
 514                                 travel_dist += i->get_path_length(i.entry());
 515
 516                                 if(&*i==&block && !advancing && vehicles.front()->get_track())
 517                                 {
 518                                         TrackIter track = i.track_iter();
 519                                         if(reverse)
 520                                         {
 521                                                 track = track.flip();
 522                                                 vehicles.back()->place(*track, track.entry(), 0, Vehicle::BACK_AXLE);
 523                                         }
 524                                         else
 525                                                 vehicles.front()->place(*track, track.entry(), 0, Vehicle::FRONT_AXLE);
 526                                 }
 527
 528                                 if(i==last_cur)
 529                                         break;
 530                         }
 531                         last_entry_time = Time::now();
 532                         pure_speed = true;
 533                         accurate_position = true;
 534                         overshoot_dist = 0;
 535                 }
 536         }
 537 }
 538
 539 void Train::halt_event(bool h)
 540 {
 541         if(h)
 542                 accurate_position = false;
 543 }
 544
 545 float Train::get_reserved_distance_until(const Block *until_block, bool back) const
 546 {
 547         if(allocator.empty())
 548                 return 0;
 549
 550         Vehicle &veh = *(reverse!=back ? vehicles.back() : vehicles.front());
 551         const VehicleType &vtype = veh.get_type();
 552
 553         TrackIter track(veh.get_track(), veh.get_entry());
 554         if(!track)  // XXX Probably unnecessary
 555                 return 0;
 556
 557         const BlockIter &first = allocator.first();
 558         const BlockIter &last = allocator.last();
 559         BlockIter block = first;
 560         while(!block->has_track(*track))
 561         {
 562                 if(&*block==&*last)
 563                         return 0;
 564                 block = block.next();
 565         }
 566         if(&*block==until_block)
 567                 return 0;
 568
 569         if(back)
 570                 block = block.reverse();
 571
 572         float result = veh.get_offset();
 573         if(reverse!=back)
 574                 track = track.reverse();
 575         else
 576                 result = track->get_type().get_path_length(track->get_active_path())-result;
 577         result -= vtype.get_length()/2;
 578
 579         while(1)
 580         {
 581                 track = track.next();
 582                 if(!track)
 583                         break;
 584
 585                 if(!block->has_track(*track))
 586                 {
 587                         if(back)
 588                         {
 589                                 if(&*block==&*first)
 590                                         break;
 591                         }
 592                         else
 593                         {
 594                                 if(&*block==&*last)
 595                                         break;
 596                         }
 597                         block = block.next();
 598
 599                         if(&*block==until_block)
 600                                 break;
 601                 }
 602
 603                 result += track->get_type().get_path_length(track->get_active_path());
 604         }
 605
 606         return result;
 607 }
 608
 609
 610 Train::Loader::Loader(Train &t):
 611         DataFile::ObjectLoader<Train>(t),
 612         prev_block(0),
 613         blocks_valid(true)
 614 {
 615         add("blocks",      &Loader::blocks);
 616         add("name",        &Loader::name);
 617         add("quantized_speed",  &Loader::quantized_speed);
 618         add("router",      &Loader::router);
 619         add("timetable",   &Loader::timetable);
 620         add("vehicle",     &Loader::vehicle);
 621 }
 622
 623 void Train::Loader::finish()
 624 {
 625         if(!obj.allocator.empty())
 626         {
 627                 TrackIter track = obj.allocator.first().track_iter();
 628                 float offset = 2*obj.layout.get_catalogue().get_scale();
 629                 obj.vehicles.back()->place(*track, track.entry(), offset, Vehicle::BACK_BUFFER);
 630         }
 631 }
 632
 633 void Train::Loader::blocks()
 634 {
 635         load_sub(obj.allocator);
 636 }
 637
 638 void Train::Loader::name(const string &n)
 639 {
 640         obj.set_name(n);
 641 }
 642
 643 void Train::Loader::quantized_speed()
 644 {
 645         if(obj.speed_quantizer)
 646                 load_sub(*obj.speed_quantizer);
 647 }
 648
 649 void Train::Loader::router()
 650 {
 651         TrainRouter *rtr = new TrainRouter(obj);
 652         load_sub(*rtr);
 653 }
 654
 655 void Train::Loader::timetable()
 656 {
 657         Timetable *ttbl = new Timetable(obj);
 658         load_sub(*ttbl);
 659 }
 660
 661 void Train::Loader::vehicle(ArticleNumber art_nr)
 662 {
 663         const VehicleType &vtype = obj.layout.get_catalogue().get_vehicle(art_nr);
 664         Vehicle *veh = new Vehicle(obj.layout, vtype);
 665         obj.vehicles.back()->attach_back(*veh);
 666         obj.vehicles.push_back(veh);
 667 }
 668
 669 } // namespace R2C2