source/libr2c2/trainrouter.cpp

   1 #include "driver.h"
   2 #include "layout.h"
   3 #include "route.h"
   4 #include "trackiter.h"
   5 #include "train.h"
   6 #include "trackchain.h"
   7 #include "trainroutemetric.h"
   8 #include "trainrouteplanner.h"
   9 #include "trainrouter.h"
  10
  11 using namespace std;
  12 using namespace Msp;
  13
  14 namespace R2C2 {
  15
  16 TrainRouter::TrainRouter(Train &t):
  17         TrainAI(t),
  18         priority(0),
  19         state(ON_THE_WAY),
  20         waypoints_changed(false),
  21         metrics_stale(false),
  22         current_sequence(0)
  23 {
  24         train.get_layout().signal_block_reserved.connect(sigc::mem_fun(this, &TrainRouter::block_reserved));
  25         train.signal_advanced.connect(sigc::mem_fun(this, &TrainRouter::train_advanced));
  26         train.signal_rear_advanced.connect(sigc::mem_fun(this, &TrainRouter::train_rear_advanced));
  27 }
  28
  29 TrainRouter::~TrainRouter()
  30 {
  31         for(vector<TrainRouteMetric *>::iterator i=metrics.begin(); i!=metrics.end(); ++i)
  32                 delete *i;
  33 }
  34
  35 void TrainRouter::set_priority(int p)
  36 {
  37         priority = p;
  38 }
  39
  40 bool TrainRouter::set_route(const Route *r)
  41 {
  42         routes.clear();
  43         if(r)
  44         {
  45                 routes.push_back(r);
  46                 create_lead_route();
  47         }
  48
  49         waypoints.clear();
  50         sequence_points.clear();
  51         current_sequence = 0;
  52
  53         route_changed();
  54
  55         return true;
  56 }
  57
  58 const Route *TrainRouter::get_route() const
  59 {
  60         if(routes.empty())
  61                 return 0;
  62         return routes.front();
  63 }
  64
  65 void TrainRouter::use_planned_route()
  66 {
  67         if(!planner || planner->get_result()!=TrainRoutePlanner::COMPLETE)
  68                 return;
  69         if(waypoints.empty())
  70                 return;
  71
  72         const list<Route *> &planned_routes = planner->get_routes_for(train);
  73
  74         routes.clear();
  75         routes.insert(routes.end(), planned_routes.begin(), planned_routes.end());
  76         create_lead_route();
  77
  78         sequence_points = planner->get_sequence_for(train);
  79         current_sequence = 0;
  80
  81         route_changed();
  82 }
  83
  84 void TrainRouter::route_changed()
  85 {
  86         BlockIter fncb = train.get_last_critical_block().next();
  87
  88         state = ON_THE_WAY;
  89         reserving_route = routes.begin();
  90         if(!routes.empty())
  91         {
  92                 /* Find the route that should be used for the next allocated block.  We
  93                 can't rely on the resync code in block_reserved since we may need to
  94                 clear the stop marker to continue allocation. */
  95                 const BlockAllocator &allocator = train.get_block_allocator();
  96                 TrackIter track = allocator.first().track_iter();
  97                 list<SequencePoint>::iterator seq_begin = sequence_points.begin();
  98                 for(; track; track=track.next())
  99                 {
 100                         if(!advance_to_track(reserving_route, track))
 101                         {
 102                                 state = (allocator.is_block_current(track->get_block()) ? ADVANCED_TO_END : RESERVED_TO_END);
 103                                 break;
 104                         }
 105                         if(&track->get_block()==fncb.block())
 106                                 break;
 107
 108                         if(seq_begin!=sequence_points.end() && seq_begin->block==&track->get_block())
 109                         {
 110                                 // Assume any sequence points within critical blocks to be cleared
 111                                 current_sequence = seq_begin->sequence_out;
 112                                 ++seq_begin;
 113                         }
 114                 }
 115
 116                 sequence_points.erase(sequence_points.begin(), seq_begin);
 117
 118                 if(!sequence_points.empty())
 119                 {
 120                         const SequencePoint &sp = sequence_points.front();
 121                         if(sp.block==fncb.block() && !sp.is_cleared())
 122                                 state = SEQUENCE_CHECK_PENDING;
 123                 }
 124         }
 125
 126         /* Refresh from the first non-critical block to pick up any changes in the
 127         route.  Set stop marker first in case a stopping state was set within the
 128         critical blocks. */
 129         if(state!=ON_THE_WAY)
 130                 train.stop_at(&*fncb.flip());
 131         train.refresh_blocks_from(*fncb);
 132         // If we don't need to stop, clear a possible previous stop marker.
 133         if(state==ON_THE_WAY)
 134                 train.stop_at(0);
 135
 136         const Route *route = get_route();
 137         signal_route_changed.emit(route);
 138         signal_event.emit(Message("route-changed", route));
 139 }
 140
 141 void TrainRouter::set_destination(const TrackChain &d)
 142 {
 143         if(waypoints.empty())
 144                 waypoints.push_back(Waypoint(d));
 145         else
 146                 waypoints.back() = Waypoint(d);
 147         waypoints_changed = true;
 148         metrics_stale = true;
 149 }
 150
 151 void TrainRouter::add_waypoint(const TrackChain &chain, TrackChain::Direction dir)
 152 {
 153         waypoints.push_back(Waypoint(chain, dir));
 154         waypoints_changed = true;
 155         metrics_stale = true;
 156 }
 157
 158 const TrainRouter::Waypoint &TrainRouter::get_waypoint(unsigned index) const
 159 {
 160         if(index>=waypoints.size())
 161                 throw out_of_range("TrainRouter::is_waypoint");
 162
 163         return waypoints[index];
 164 }
 165
 166 const TrainRouteMetric &TrainRouter::get_metric(int index) const
 167 {
 168         if(waypoints.empty())
 169                 throw logic_error("no metrics");
 170         else if(metrics_stale)
 171                 throw logic_error("metrics are stale");
 172
 173         if(index<0)
 174                 return *metrics.back();
 175         else if(static_cast<unsigned>(index)>=waypoints.size())
 176                 throw out_of_range("TrainRouter::get_metric");
 177         else
 178                 return *metrics[index];
 179 }
 180
 181 void TrainRouter::set_departure_delay(const Time::TimeDelta &d)
 182 {
 183         delay = d;
 184         waypoints_changed = true;
 185 }
 186
 187 void TrainRouter::set_trip_duration(const Time::TimeDelta &d)
 188 {
 189         duration = d;
 190 }
 191
 192 void TrainRouter::message(const Message &msg)
 193 {
 194         if(msg.type=="set-route")
 195         {
 196                 if(msg.value.check_type<Route *>())
 197                         set_route(msg.value.value<Route *>());
 198                 else
 199                         set_route(msg.value.value<const Route *>());
 200         }
 201         else if(msg.type=="clear-route")
 202                 set_route(0);
 203         else if(msg.type=="set-destination")
 204         {
 205                 if(msg.value.check_type<TrackChain *>())
 206                         set_destination(*msg.value.value<TrackChain *>());
 207                 else
 208                         set_destination(*msg.value.value<const TrackChain *>());
 209         }
 210         else if(msg.type=="add-waypoint")
 211         {
 212                 if(msg.value.check_type<Waypoint>())
 213                 {
 214                         Waypoint wp = msg.value.value<Waypoint>();
 215                         add_waypoint(*wp.chain, wp.direction);
 216                 }
 217                 else if(msg.value.check_type<TrackChain *>())
 218                         add_waypoint(*msg.value.value<TrackChain *>());
 219                 else
 220                         add_waypoint(*msg.value.value<const TrackChain *>());
 221         }
 222         else if(msg.type=="set-departure-delay")
 223                 set_departure_delay(msg.value.value<Time::TimeDelta>());
 224         else if(msg.type=="set-trip-duration")
 225                 set_trip_duration(msg.value.value<Time::TimeDelta>());
 226 }
 227
 228 void TrainRouter::tick(const Time::TimeDelta &dt)
 229 {
 230         if(waypoints_changed && !planner)
 231                 start_planning(train.get_layout());
 232
 233         if(planner && planner->check()!=TrainRoutePlanner::PENDING)
 234                 apply_plan(train.get_layout(), *planner);
 235
 236         Layout &layout = train.get_layout();
 237         if(!layout.get_driver().is_halted() && !layout.get_clock().is_stopped())
 238         {
 239                 if(delay)
 240                 {
 241                         delay -= dt;
 242                         if(delay<Time::zero)
 243                         {
 244                                 duration = max(duration+delay, Time::zero);
 245                                 delay = Time::zero;
 246                         }
 247                 }
 248                 else if(duration)
 249                         duration = max(duration-dt, Time::zero);
 250         }
 251
 252         if(state==SEQUENCE_CHECK_PENDING)
 253         {
 254                 if(sequence_points.front().is_cleared())
 255                 {
 256                         state = ON_THE_WAY;
 257                         train.stop_at(0);
 258                 }
 259                 else
 260                         state = WAITING_FOR_SEQUENCE;
 261         }
 262
 263         if(state==ADVANCED_TO_END && !train.get_speed())
 264         {
 265                 signal_arrived.emit(waypoints.back().chain);
 266                 signal_event.emit(Message("arrived", waypoints.back().chain));
 267                 state = ARRIVED;
 268         }
 269         else if(state==ARRIVED && !train.get_block_allocator().is_active())
 270                 set_route(0);
 271 }
 272
 273 void TrainRouter::save(list<DataFile::Statement> &st) const
 274 {
 275         st.push_back((DataFile::Statement("priority"), priority));
 276
 277         if(!routes.empty())
 278         {
 279                 RouteList::const_iterator i = routes.begin();
 280                 for(; (i!=routes.end() && (*i)->is_temporary()); ++i) ;
 281                 if(i!=routes.end())
 282                         st.push_back((DataFile::Statement("route"), (*i)->get_name()));
 283         }
 284 }
 285
 286 void TrainRouter::block_reserved(Block &block, Train *t)
 287 {
 288         if(routes.empty())
 289                 return;
 290
 291         if(t!=&train)
 292         {
 293                 if(!t)
 294                         return;
 295
 296                 // Are we waiting for the other train to pass a sequence point?
 297                 if(state==WAITING_FOR_SEQUENCE)
 298                 {
 299                         SequencePoint &sp = sequence_points.front();
 300                         if(sp.preceding_train==t && sp.block==&block)
 301                                 /* The other train's router will advance its sequence on the same
 302                                 signal and may not have handled it yet. */
 303                                 state = SEQUENCE_CHECK_PENDING;
 304                 }
 305
 306                 return;
 307         }
 308
 309         // Did we reach our next sequence point?
 310         if(!sequence_points.empty())
 311         {
 312                 SequencePoint &sp = sequence_points.front();
 313                 if(sp.block==&block)
 314                 {
 315                         current_sequence = sp.sequence_out;
 316                         sequence_points.pop_front();
 317                 }
 318         }
 319
 320         TrackIter track = train.get_block_allocator().iter_for(block).track_iter();
 321
 322         // Is the block a turnout?  If it is, set it to the correct path.
 323         if(unsigned taddr = block.get_turnout_address())
 324         {
 325                 int path = (*reserving_route)->get_turnout(taddr);
 326                 if(path>=0)
 327                         track->set_active_path(path);
 328         }
 329
 330         /* If the allocator has released blocks from the front, we may need to
 331         resync reserving_route. */
 332         if(reserving_route==routes.end() || !(*reserving_route)->has_track(*track))
 333         {
 334                 reserving_route = routes.begin();
 335                 state = ON_THE_WAY;
 336                 track = t->get_block_allocator().first().track_iter();
 337                 for(; track; track=track.next())
 338                 {
 339                         if(!advance_to_track(reserving_route, track))
 340                                 throw logic_error("internal error (reservation outside of route)");
 341                         else if(&track->get_block()==&block)
 342                                 break;
 343                 }
 344         }
 345
 346         /* Keep reserving_route pointing to the route containing the block that is
 347         expected to be allocated next. */
 348         for(; track; track=track.next((*reserving_route)->get_path(*track)))
 349         {
 350                 if(!advance_to_track(reserving_route, track))
 351                 {
 352                         // We've reached the end of the route.  Stop here.
 353                         state = RESERVED_TO_END;
 354                         train.stop_at(&block);
 355                         return;
 356                 }
 357                 if(&track->get_block()!=&block)
 358                         break;
 359         }
 360
 361         // Do we need to wait for another train to pass?
 362         if(!sequence_points.empty())
 363         {
 364                 SequencePoint &sp = sequence_points.front();
 365                 if(sp.block==&track->get_block() && !sp.is_cleared())
 366                 {
 367                         state = SEQUENCE_CHECK_PENDING;
 368                         train.stop_at(&block);
 369                 }
 370         }
 371 }
 372
 373 void TrainRouter::train_advanced(Block &block)
 374 {
 375         if(!waypoints.empty())
 376         {
 377                 // A waypoint is considered reached when the train has advanced through it.
 378                 BlockIter b_iter = train.get_block_allocator().iter_for(block);
 379                 const Waypoint &wp = waypoints.front();
 380                 TrackIter t_iter = b_iter.track_iter();
 381                 if(wp.chain->has_track(*t_iter))
 382                 {
 383                         while(1)
 384                         {
 385                                 TrackIter next = t_iter.next();
 386                                 if(!next)
 387                                         break;
 388
 389                                 if(!wp.chain->has_track(*next))
 390                                 {
 391                                         if(wp.direction!=TrackChain::UNSPECIFIED)
 392                                                 if(t_iter!=wp.chain->iter_for(*t_iter, wp.direction))
 393                                                         break;
 394
 395                                         if(waypoints.size()==1)
 396                                         {
 397                                                 if(state==RESERVED_TO_END)
 398                                                         state = ADVANCED_TO_END;
 399                                         }
 400                                         else
 401                                         {
 402                                                 const TrackChain *chain = wp.chain;
 403                                                 waypoints.erase(waypoints.begin());
 404                                                 metrics_stale = true;
 405                                                 signal_waypoint_reached.emit(chain);
 406                                                 signal_event.emit(Message("waypoint-reached", chain));
 407                                         }
 408                                         break;
 409                                 }
 410                                 else if(!block.has_track(*next))
 411                                         break;
 412
 413                                 t_iter = next;
 414                         }
 415                 }
 416         }
 417 }
 418
 419 void TrainRouter::train_rear_advanced(Block &block)
 420 {
 421         Track &track = *train.get_block_allocator().iter_for(block).endpoint().track;
 422
 423         // Drop any routes that are now completely behind the train.
 424         for(RouteList::iterator i=routes.begin(); i!=routes.end(); ++i)
 425                 if((*i)->has_track(track))
 426                 {
 427                         if(i!=routes.begin())
 428                         {
 429                                 routes.erase(routes.begin(), i);
 430                                 const Route *route = get_route();
 431                                 signal_route_changed.emit(route);
 432                                 signal_event.emit(Message("route-changed", route));
 433                         }
 434                         break;
 435                 }
 436 }
 437
 438 void TrainRouter::create_metrics()
 439 {
 440         for(vector<TrainRouteMetric *>::iterator i=metrics.begin(); i!=metrics.end(); ++i)
 441                 delete *i;
 442         metrics.clear();
 443
 444         metrics_stale = false;
 445
 446         if(waypoints.empty())
 447                 return;
 448
 449         for(vector<Waypoint>::const_iterator i=waypoints.begin(); i!=waypoints.end(); ++i)
 450                 metrics.push_back(new TrainRouteMetric(*i->chain, i->direction));
 451
 452         for(unsigned i=metrics.size()-1; i-->0; )
 453                 metrics[i]->chain_to(*metrics[i+1]);
 454 }
 455
 456 bool TrainRouter::create_lead_route()
 457 {
 458         if(routes.empty() || !train.is_placed())
 459                 return false;
 460
 461         BlockIter lcb = train.get_last_critical_block();
 462         TrackIter last_track_rev = lcb.reverse().track_iter();
 463
 464         unsigned count = 0;
 465         for(TrackIter i=last_track_rev; (i && i->get_block().get_train()==&train); i=i.next())
 466         {
 467                 if(routes.front()->has_track(*i))
 468                         ++count;
 469                 else if(count>0)
 470                 {
 471                         if(count==routes.front()->get_tracks().size())
 472                                 last_track_rev = i;
 473                         break;
 474                 }
 475         }
 476
 477         TrackIter next_track = last_track_rev.flip();
 478         if(!routes.front()->has_track(*last_track_rev) && !routes.front()->has_track(*next_track))
 479         {
 480                 Route *pf = Route::find(next_track, *routes.front());
 481                 if(!pf)
 482                         return false;
 483
 484                 routes.push_front(pf);
 485         }
 486
 487         Route *lead = 0;
 488         for(TrackIter i=last_track_rev; (i && i->get_block().get_train()==&train); i=i.next())
 489         {
 490                 if(!lead && !routes.front()->has_track(*i))
 491                 {
 492                         lead = new Route(train.get_layout());
 493                         lead->set_name("Lead");
 494                         lead->set_temporary(true);
 495                         routes.push_front(lead);
 496
 497                         TrackIter j = i.flip();
 498                         lead->add_track(*j);
 499                         lead->add_track(*j.next());
 500                 }
 501
 502                 if(lead)
 503                         lead->add_track(*i);
 504         }
 505
 506         return true;
 507 }
 508
 509 bool TrainRouter::advance_to_track(RouteList::iterator &route, const TrackIter &track)
 510 {
 511         Track &prev_track = *track.flip();
 512         unsigned taddr = (track->get_type().is_turnout() ? track->get_turnout_address() : 0);
 513         for(unsigned i=0; route!=routes.end(); ++i)
 514         {
 515                 bool in_route = (*route)->has_track(*track);
 516                 bool prev_in_route = (*route)->has_track(prev_track);
 517                 bool known_path = (!taddr || (*route)->get_turnout(taddr)>=0);
 518
 519                 if(in_route && (known_path || !prev_in_route))
 520                         return true;
 521                 else if(i==0 || prev_in_route)
 522                         ++route;
 523                 else
 524                         throw logic_error("internal error (routes are not continuous)");
 525         }
 526
 527         return false;
 528 }
 529
 530 void TrainRouter::get_routers(Layout &layout, vector<TrainRouter *> &routers, TrainRoutePlanner *planner)
 531 {
 532         const map<unsigned, Train *> &trains = layout.get_trains();
 533         routers.reserve(trains.size());
 534         for(map<unsigned, Train *>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 535                 if(TrainRouter *router = i->second->get_ai_of_type<TrainRouter>())
 536                         if(!planner || router->planner.get()==planner)
 537                                 routers.push_back(router);
 538 }
 539
 540 void TrainRouter::start_planning(Layout &layout)
 541 {
 542         vector<TrainRouter *> routers;
 543         get_routers(layout, routers);
 544
 545         for(vector<TrainRouter *>::const_iterator i=routers.begin(); i!=routers.end(); ++i)
 546                 if((*i)->metrics_stale)
 547                         (*i)->create_metrics();
 548
 549         RefPtr<TrainRoutePlanner> planner = new TrainRoutePlanner(layout);
 550         for(vector<TrainRouter *>::const_iterator i=routers.begin(); i!=routers.end(); ++i)
 551         {
 552                 (*i)->waypoints_changed = false;
 553                 (*i)->planner = planner;
 554         }
 555
 556         planner->plan_async();
 557 }
 558
 559 void TrainRouter::apply_plan(Layout &layout, TrainRoutePlanner &planner)
 560 {
 561         if(planner.get_result()==TrainRoutePlanner::FAILED)
 562                 layout.emergency(0, "Route planning failed");
 563
 564         vector<TrainRouter *> routers;
 565         get_routers(layout, routers, &planner);
 566
 567         /* Clear sequence counters first to avoid inconsistent state while applying
 568         the plan. */
 569         for(vector<TrainRouter *>::const_iterator i=routers.begin(); i!=routers.end(); ++i)
 570                 (*i)->current_sequence = 0;
 571
 572         for(vector<TrainRouter *>::const_iterator i=routers.begin(); i!=routers.end(); ++i)
 573         {
 574                 (*i)->use_planned_route();
 575                 (*i)->planner = 0;
 576         }
 577 }
 578
 579
 580 TrainRouter::Waypoint::Waypoint(const TrackChain &c, TrackChain::Direction d):
 581         chain(&c),
 582         direction(d)
 583 { }
 584
 585
 586 TrainRouter::SequencePoint::SequencePoint(Block &b, unsigned o):
 587         block(&b),
 588         preceding_train(0),
 589         sequence_in(0),
 590         sequence_out(o)
 591 { }
 592
 593 bool TrainRouter::SequencePoint::is_cleared() const
 594 {
 595         if(!preceding_train)
 596                 return true;
 597
 598         TrainRouter *router = preceding_train->get_ai_of_type<TrainRouter>();
 599         return router->get_current_sequence()>=sequence_in;
 600 }
 601
 602
 603 TrainRouter::Loader::Loader(TrainRouter &r):
 604         DataFile::ObjectLoader<TrainRouter>(r)
 605 {
 606         add("priority", &TrainRouter::priority);
 607         add("route",    &Loader::route);
 608 }
 609
 610 void TrainRouter::Loader::route(const string &n)
 611 {
 612         obj.set_route(&obj.train.get_layout().get_route(n));
 613 }
 614
 615 } // namespace R2C2