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-rw-r--r--advtrains/lzb.lua172
1 files changed, 93 insertions, 79 deletions
diff --git a/advtrains/lzb.lua b/advtrains/lzb.lua
index a34c2de..3961438 100644
--- a/advtrains/lzb.lua
+++ b/advtrains/lzb.lua
@@ -83,80 +83,104 @@ local function look_ahead(id, train)
end
--[[
-Distance needed to accelerate from v0 to v1 with constant acceleration a:
-
- v1 - v0 a / v1 - v0 \ 2 v1^2 - v0^2
-s = v0 * ------- + - * | ------- | = -----------
- a 2 \ a / 2*a
+The .i element is the index at which LZB overrides the train control with the
+lever specified by the index value. The .v element is the speed at which the
+train control is taken over by LZB with the lever specified by the index. The .t
+element calculates the time needed for the train to reach the point where the
+control is taken over by LZB with the lever specified by the index. Unintialized
+.v and .t values indicate that the train has passed the point with the
+corresponding index. Note that thhe 0th item contains the data related to the
+LZB point itself, and not related to the emergency brake.
]]
-
-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)
+function advtrains.lzb_map_entry(train, lzb)
+ local ret = {[0]={},[1]={},[2]={},[3]={}}
+ if (not train) or (not lzb) then return ret end
+ local ti = train.index
+ local v0 = train.velocity
+ local v1 = lzb.spd
+ local a = advtrains.get_acceleration(train, train.lever)
+ local s = (v1*v1-v0*v0)/2/advtrains.get_acceleration(train, 1)
+ if v0 > 3 then s = s + params.ADD_FAST
+ elseif v0 <=0 then s = s + params.ADD_STAND
+ else s = s + params.ADD_SLOW
+ end
+ ret[0].i = lzb.idx
+ ret[1].i = advtrains.path_get_index_by_offset(train, ret[0].i, -s)
+ ret[2].i = advtrains.path_get_index_by_offset(train, ret[1].i, -params.ZONE_ROLL)
+ ret[3].i = advtrains.path_get_index_by_offset(train, ret[2].i, -params.ZONE_HOLD)
+ if a == 0 then ret[3].t = (ret[3].i)/v0
+ else
+ ret[3].t = advtrains.solve_quadratic_equation(a/2, v0, (ti-ret[3].i))
+ if not ret[3].t then ret[3].t = 0
else
- i = i + 1
+ if ret[3].t[1]<0 then
+ if ret[3].t[2]<0 then ret[3].t = ret[3].t[2]
+ else ret[3].t = math.abs(math.max(ret[3].t[1], ret[3].t[2]))
+ end
+ else
+ if ret[3].t[2]<0 then ret[3].t = ret[3].t[1]
+ else ret[3].t = math.min(ret[3].t[1], ret[3].t[2])
+ end
+ end
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 s = (v1*v1 - v0*v0) / (2*a)
-
- 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
+ ret[3].v = (v0 + a*ret[3].t)
+ if ret[3].v <= lzb.spd then ret[3].v = lzb.spd end -- Avoid devision by zero
+ if ret[3].v > (train.max_speed or 10) then ret[3].v = train.max_speed or 0 end
+ ret[2].v = ret[3].v
+ ret[2].t = (ret[3].i-ret[2].i)/ret[3].v
+ ret[1].t = advtrains.solve_quadratic_equation(advtrains.get_acceleration(train,2),ret[2].v,(ret[2].i-ret[1].i))
+ if not ret[1].t then ret[1].t = 0
+ else
+ if ret[1].t[1]<0 then
+ if ret[1].t[2]<0 then ret[1].t = ret[1].t[2]
+ else ret[1].t = math.abs(math.max(ret[1].t[1], ret[1].t[2]))
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
+ else
+ if ret[1].t[2]<0 then ret[1].t = ret[1].t[1]
+ else ret[1].t = math.min(math.max(ret[1].t[1], ret[1].t[2]))
end
end
end
- train.ctrl.lzb = nil
+ ret[1].v = (ret[2].v + advtrains.get_acceleration(train,2)*ret[1].t)
+ if ret[1].v <= lzb.spd then ret[1].v = lzb.spd end
+ ret[0].v = lzb.spd
+ ret[0].t = (ret[0].v-ret[1].v)/advtrains.get_acceleration(train,1)
+ return ret
+end
+
+--[[
+advtrains.lzb_get_limit_by_entry - get the limit
+Returns a table contraining the speed and the acceleration limits
+]]
+function advtrains.lzb_get_limit_by_entry(train, lzb)
+ local ret = {}
+ local lzbmap = advtrains.lzb_map_entry(train, lzb)
+ if not (lzbmap[3].i and lzbmap[2].i and lzbmap[1].i and lzbmap[0].i) then
+ return {}
+ elseif (lzbmap[3].i > train.index) then return {}
+ elseif (lzbmap[2].i > train.index) then ret.lever = 3
+ elseif (lzbmap[1].i > train.index) then ret.lever = 2
+ else ret.lever = 1
+ end
+ if ret.lever == 3 then ret.velocity = lzbmap[3].v
+ else
+ local s = train.index - lzbmap[ret.lever].i
+ local a = advtrains.get_acceleration(train, ret.lever)
+ local v0 = lzbmap[ret.lever].v
+ ret.velocity = math.sqrt(2*a*s - v0*v0)
+ end
+ if ret.velocity < train.velocity -1 then ret.lever = ret.lever - 1 end
+ return ret
end
--- Get the distance between the train and the LZB control point
--- If not sure, use 3 as the parameter for lever level.
-function advtrains.lzb_get_distance_until_override(id, train, lever)
+-- Get next LZB restriction with the lowest speed restriction
+function advtrains.lzb_get_next(train)
if lever == 4 then return nil end
local lzb = train.lzb
local i = 1
- local ret = nil -- the value to return
- local a = advtrains.get_acceleration(train, lever) -- Acceleration
+ local ret
+ local a = advtrains.get_acceleration(train, 3) -- Acceleration
local v0 = train.velocity
-- Remove LZB entries that are no longer valid
while i <= #lzb.oncoming do
@@ -170,29 +194,20 @@ function advtrains.lzb_get_distance_until_override(id, train, lever)
i = i + 1
end
end
- -- Now run through all the LZB entries and find the one that is nearest to the train
+ -- Now run through all the LZB entries and find the one with the lowest
+ -- speed requirement
for _, it in ipairs(lzb.oncoming) do
local v1 = it.spd
if v1 and v1 <= v0 then
- local s, st
- if a ~= 0 then s = (v1*v1-v0*v0)/2/a else s = 0 end
- if v0 > 3 then st = s + params.ADD_FAST
- elseif v0 <= 0 then st = s + params.ADD_STAND
- else st = s + params.ADD_SLOW
- end
- i = advtrains.path_get_index_by_offset(train, it.idx, -st)
- if lever == 2 then
- i = advtrains.path_get_index_by_offset(train, it.idx, -params.ZONE_ROLL)
- end
- if lever == 3 then
- i = advtrains.path_get_index_by_offset(train, id.idx, -params.ZONE_HOLD)
+ local curlimit = advtrains.lzb_get_limit_by_entry(train, it)
+ local retlimit = advtrains.lzb_get_limit_by_entry(train, ret)
+ if not ret then ret = it
+ elseif not curlimit.velocity then
+ elseif retlimit.velocity > curlimit.velocity then
+ ret = it
end
- if not ret then ret = i - train.index end
- if (i - train.index) < ret then ret = i - train.index end
end
end
- -- In extreme cases, there might be no LZB at all.
- -- In such a case, return nil because the distance to LZB is infinite.
return ret
end
@@ -234,5 +249,4 @@ advtrains.te_register_on_update(function(id, train)
return
end
look_ahead(id, train)
- apply_control(id, train)
end, true)
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-18 18:49:04 +0000