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authororwell96 <orwell@bleipb.de>2019-04-16 09:16:44 +0200
committerorwell96 <orwell@bleipb.de>2019-04-16 09:16:44 +0200
commitea33ad9de0a77887f0181d8581568fe79d14255e (patch)
tree7c2fa83878777c921ace816a1954d316c7f84a1e /advtrains/lzb.lua
parentc50224e05cfc7a37b9181565024c972446a720ca (diff)
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Move LZB system to core and unify approach callback mechanism
Diffstat (limited to 'advtrains/lzb.lua')
-rw-r--r--advtrains/lzb.lua192
1 files changed, 192 insertions, 0 deletions
diff --git a/advtrains/lzb.lua b/advtrains/lzb.lua
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+-- lzb.lua
+-- Enforced and/or automatic train override control, providing the on_train_approach callback
+
+--[[
+Documentation of train.lzb table
+train.lzb = {
+ trav = Current index that the traverser has advanced so far
+ oncoming = table containing oncoming signals, in order of appearance on the path
+ {
+ pos = position of the point
+ idx = where this is on the path
+ spd = speed allowed to pass
+ fun = function(pos, id, train, index, speed, lzbdata)
+ -- Function that determines what to do on the train in the moment it drives over that point.
+ }
+}
+each step, for every item in "oncoming", we need to determine the location to start braking (+ some safety margin)
+and, if we passed this point for at least one of the items, initiate brake.
+When speed has dropped below, say 3, decrease the margin to zero, so that trains actually stop at the signal IP.
+The spd variable and travsht need to be updated on every aspect change. it's probably best to reset everything when any aspect changes
+]]
+
+
+local params = {
+ BRAKE_SPACE = 10,
+ AWARE_ZONE = 50,
+
+ ADD_STAND = 2.5,
+ ADD_SLOW = 1.5,
+ ADD_FAST = 7,
+ ZONE_ROLL = 2,
+ ZONE_HOLD = 5, -- added on top of ZONE_ROLL
+ ZONE_VSLOW = 3, -- When speed is <2, still allow accelerating
+
+ DST_FACTOR = 1.5,
+
+ SHUNT_SPEED_MAX = advtrains.SHUNT_SPEED_MAX,
+}
+
+function advtrains.set_lzb_param(par, val)
+ if params[par] and tonumber(val) then
+ params[par] = tonumber(val)
+ else
+ error("Inexistant param or not a number")
+ end
+end
+
+
+local function look_ahead(id, train)
+
+ local acc = advtrains.get_acceleration(train, 1)
+ local vel = train.velocity
+ local brakedst = ( -(vel*vel) / (2*acc) ) * params.DST_FACTOR
+
+ local brake_i = advtrains.path_get_index_by_offset(train, train.index, brakedst + params.BRAKE_SPACE)
+ --local aware_i = advtrains.path_get_index_by_offset(train, brake_i, AWARE_ZONE)
+
+ local lzb = train.lzb
+ local trav = lzb.trav
+
+ --train.debug = lspd
+
+ while trav <= brake_i do
+ trav = trav + 1
+ local pos = advtrains.path_get(train, trav)
+ -- check offtrack
+ if trav > train.path_trk_f then
+ table.insert(lzb.oncoming, {
+ pos = pos,
+ idx = trav-1,
+ spd = 0,
+ })
+ else
+ -- run callbacks
+ -- Note: those callbacks are defined in trainlogic.lua for consistency with the other node callbacks
+ advtrains.tnc_call_approach_callback(pos, id, train, trav, lzb.data)
+
+ end
+ end
+
+ lzb.trav = trav
+
+end
+
+--[[
+Distance needed to accelerate from v0 to v1 with constant acceleration a:
+
+ v1 - v0 a / v1 - v0 \ 2
+s = v0 * ------- + - * | ------- |
+ a 2 \ a /
+]]
+
+local function apply_control(id, train)
+ local lzb = train.lzb
+
+ local i = 1
+ while i<=#lzb.oncoming do
+ if lzb.oncoming[i].idx < train.index then
+ local ent = lzb.oncoming[i]
+ if ent.fun then
+ ent.fun(ent.pos, id, train, ent.idx, ent.spd, lzb.data)
+ end
+
+ table.remove(lzb.oncoming, i)
+ else
+ i = i + 1
+ end
+ end
+
+ for i, it in ipairs(lzb.oncoming) do
+ local a = advtrains.get_acceleration(train, 1) --should be negative
+ local v0 = train.velocity
+ local v1 = it.spd
+ if v1 and v1 <= v0 then
+ local f = (v1-v0) / a
+ local s = v0*f + a*f*f/2
+
+ local st = s + params.ADD_SLOW
+ if v0 > 3 then
+ st = s + params.ADD_FAST
+ end
+ if v0<=0 then
+ st = s + params.ADD_STAND
+ end
+
+ local i = advtrains.path_get_index_by_offset(train, it.idx, -st)
+
+ --train.debug = dump({v0f=v0*f, aff=a*f*f,v0=v0, v1=v1, f=f, a=a, s=s, st=st, i=i, idx=train.index})
+ if i <= train.index then
+ -- Gotcha! Braking...
+ train.ctrl.lzb = 1
+ --train.debug = train.debug .. "BRAKE!!!"
+ return
+ end
+
+ i = advtrains.path_get_index_by_offset(train, i, -params.ZONE_ROLL)
+ if i <= train.index and v0>1 then
+ -- roll control
+ train.ctrl.lzb = 2
+ return
+ end
+ i = advtrains.path_get_index_by_offset(train, i, -params.ZONE_HOLD)
+ if i <= train.index and v0>1 then
+ -- hold speed
+ train.ctrl.lzb = 3
+ return
+ end
+ end
+ end
+ train.ctrl.lzb = nil
+end
+
+local function invalidate(train)
+ train.lzb = {
+ trav = atfloor(train.index),
+ data = {},
+ oncoming = {},
+ }
+end
+
+function advtrains.lzb_invalidate(train)
+ invalidate(train)
+end
+
+-- Add LZB control point
+-- udata: User-defined additional data
+function advtrains.lzb_add_checkpoint(train, index, speed, callback, udata)
+ local lzb = train.lzb
+ local pos = advtrains.path_get(train, index)
+ table.insert(lzb.oncoming, {
+ pos = pos,
+ idx = index,
+ spd = speed,
+ fun = callback,
+ data = udata,
+ })
+end
+
+
+advtrains.te_register_on_new_path(function(id, train)
+ invalidate(train)
+ look_ahead(id, train)
+end)
+
+advtrains.te_register_on_update(function(id, train)
+ if not train.path or not train.lzb then
+ atprint("LZB run: no path on train, skip step")
+ return
+ end
+ look_ahead(id, train)
+ apply_control(id, train)
+end, true)