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::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(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::TimeStamp &t, const Time::TimeDelta &dt)
 293 {
 294         if(!active && stop_timeout && t>=stop_timeout)
 295         {
 296                 allocator.release_noncurrent();
 297                 stop_timeout = Time::TimeStamp();
 298         }
 299
 300         Driver &driver = layout.get_driver();
 301
 302         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 303                 (*i)->tick(t, dt);
 304         controller->tick(dt);
 305         float speed = controller->get_speed();
 306         bool moving = speed>0;
 307
 308         if(controller->get_reverse()!=reverse)
 309         {
 310                 reverse = controller->get_reverse();
 311                 bool r = reverse;
 312                 if(loco_type.get_swap_direction())
 313                         r = !r;
 314                 driver.set_loco_reverse(address, r);
 315
 316                 allocator.reverse();
 317                 if(active)
 318                         allocator.reserve_more();
 319         }
 320
 321         if(speed_quantizer)
 322         {
 323                 unsigned speed_step = speed_quantizer->find_speed_step(speed);
 324                 if(speed_step!=current_speed_step && !speed_changing && !driver.is_halted() && driver.get_power())
 325                 {
 326                         speed_changing = true;
 327                         driver.set_loco_speed(address, speed_step);
 328
 329                         pure_speed = false;
 330                 }
 331
 332                 speed = speed_quantizer->get_speed(current_speed_step);
 333         }
 334
 335         if(moving)
 336         {
 337                 if(!active)
 338                         set_active(true);
 339
 340                 Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
 341
 342                 float d = speed*(dt/Time::sec);
 343                 if(allocator.is_block_current(vehicle.get_track()->get_block()))
 344                 {
 345                         SetFlag setf(advancing);
 346                         vehicle.advance(reverse ? -d : d);
 347                 }
 348                 else if(accurate_position)
 349                 {
 350                         overshoot_dist += d;
 351                         if(overshoot_dist>40*layout.get_catalogue().get_scale())
 352                         {
 353                                 layout.emergency(name+" has not arrived at sensor");
 354                                 accurate_position = false;
 355                         }
 356                 }
 357         }
 358 }
 359
 360 void Train::save(list<DataFile::Statement> &st) const
 361 {
 362         st.push_back((DataFile::Statement("name"), name));
 363
 364         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 365                 if(i!=vehicles.begin())
 366                         st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
 367
 368         if(speed_quantizer)
 369         {
 370                 DataFile::Statement ss("quantized_speed");
 371                 speed_quantizer->save(ss.sub);
 372                 st.push_back(ss);
 373         }
 374
 375         {
 376                 DataFile::Statement ss("blocks");
 377                 allocator.save(ss.sub);
 378                 st.push_back(ss);
 379         }
 380
 381         // XXX Need more generic way of saving AI state
 382         for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
 383         {
 384                 if(TrainRouter *router = dynamic_cast<TrainRouter *>(*i))
 385                 {
 386                         DataFile::Statement ss("router");
 387                         router->save(ss.sub);
 388                         st.push_back(ss);
 389                 }
 390         }
 391 }
 392
 393 void Train::control_changed(const Controller::Control &ctrl)
 394 {
 395         signal_control_changed.emit(ctrl.name, ctrl.value);
 396 }
 397
 398 void Train::loco_speed_event(unsigned addr, unsigned speed, bool rev)
 399 {
 400         if(addr==address)
 401         {
 402                 current_speed_step = speed;
 403                 bool r = reverse;
 404                 if(loco_type.get_swap_direction())
 405                         r = !r;
 406                 if(rev!=r)
 407                         layout.get_driver().set_loco_reverse(address, r);
 408                 speed_changing = false;
 409                 pure_speed = false;
 410         }
 411 }
 412
 413 void Train::loco_func_event(unsigned addr, unsigned func, bool state)
 414 {
 415         if(addr==address)
 416         {
 417                 if(state)
 418                         functions |= 1<<func;
 419                 else
 420                         functions &= ~(1<<func);
 421
 422                 signal_function_changed.emit(func, state);
 423         }
 424 }
 425
 426 void Train::sensor_state_changed(Sensor &sensor, Sensor::State state)
 427 {
 428         Block *block = 0;
 429         if(TrackCircuit *tc = dynamic_cast<TrackCircuit *>(&sensor))
 430                 block = &tc->get_block();
 431         else
 432                 return;
 433
 434         if(block->get_train()==this && state==Sensor::MAYBE_ACTIVE)
 435         {
 436                 if(last_entry_block)
 437                 {
 438                         float travel_distance = -1;
 439                         if(pure_speed && speed_quantizer && current_speed_step>0)
 440                                 travel_distance = 0;
 441
 442                         for(BlockIter i=last_entry_block; &*i!=block; i=i.next())
 443                         {
 444                                 if(i->get_sensor_id())
 445                                         return;
 446                                 if(travel_distance>=0)
 447                                         travel_distance += i->get_path_length(i.entry());
 448                         }
 449
 450                         if(travel_distance>0)
 451                         {
 452                                 float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 453
 454                                 if(travel_time_secs>=2)
 455                                         speed_quantizer->learn(current_speed_step, travel_distance/travel_time_secs, travel_time_secs);
 456                         }
 457                 }
 458
 459                 last_entry_block = allocator.iter_for(*block);
 460                 last_entry_time = Time::now();
 461                 pure_speed = true;
 462                 accurate_position = true;
 463                 overshoot_dist = 0;
 464
 465                 if(!advancing && vehicles.front()->get_track())
 466                 {
 467                         TrackIter track = last_entry_block.track_iter();
 468                         if(reverse)
 469                         {
 470                                 track = track.flip();
 471                                 vehicles.back()->place(track, 0, Vehicle::BACK_AXLE);
 472                         }
 473                         else
 474                                 vehicles.front()->place(track, 0, Vehicle::FRONT_AXLE);
 475                 }
 476         }
 477 }
 478
 479 void Train::halt_event(bool h)
 480 {
 481         if(h)
 482                 accurate_position = false;
 483 }
 484
 485 float Train::get_reserved_distance_until(const Block *until_block) const
 486 {
 487         if(allocator.empty())
 488                 return 0;
 489
 490         Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
 491
 492         TrackIter track = veh.get_track_iter();
 493         if(!track)  // XXX Probably unnecessary
 494                 return 0;
 495
 496         BlockIter block = track.block_iter();
 497         if(&*block==until_block)
 498                 return 0;
 499
 500         // Account for the vehicle's offset on its current track
 501         float result = veh.get_offset();
 502         if(reverse)
 503                 track = track.reverse();
 504         else
 505                 result = track->get_type().get_path_length(track->get_active_path())-result;
 506         result -= veh.get_type().get_length()/2;
 507
 508         // Count remaining distance in the vehicle's current block
 509         for(track=track.next(); &track->get_block()==&*block; track=track.next())
 510                 result += track->get_type().get_path_length(track->get_active_path());
 511
 512         const BlockIter &last = allocator.last();
 513         if(&*block==&*last)
 514                 return result;
 515
 516         // Count any remaining blocks
 517         for(block=block.next(); (&*block!=until_block && block->get_train()==this); block=block.next())
 518         {
 519                 result += block->get_path_length(block.entry());
 520
 521                 if(&*block==&*last)
 522                         break;
 523         }
 524
 525         return result;
 526 }
 527
 528
 529 Train::Loader::Loader(Train &t):
 530         DataFile::ObjectLoader<Train>(t),
 531         prev_block(0),
 532         blocks_valid(true)
 533 {
 534         add("blocks",      &Loader::blocks);
 535         add("name",        &Loader::name);
 536         add("quantized_speed",  &Loader::quantized_speed);
 537         add("router",      &Loader::router);
 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::vehicle(ArticleNumber art_nr)
 574 {
 575         const VehicleType &vtype = obj.layout.get_catalogue().get_vehicle(art_nr);
 576         Vehicle *veh = new Vehicle(obj.layout, vtype);
 577         obj.vehicles.back()->attach_back(*veh);
 578         obj.vehicles.push_back(veh);
 579 }
 580
 581 } // namespace R2C2