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-rw-r--r--advtrains/lzb.lua209
1 files changed, 117 insertions, 92 deletions
diff --git a/advtrains/lzb.lua b/advtrains/lzb.lua
index 8846573..706f825 100644
--- a/advtrains/lzb.lua
+++ b/advtrains/lzb.lua
@@ -4,15 +4,22 @@
--[[
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
+ trav_index = Current index that the traverser has advanced so far
+ checkpoints = table containing oncoming signals, in order of index
{
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)
+ index = where this is on the path
+ speed = speed allowed to pass. nil = no effect
+ callback = function(pos, id, train, index, speed, lzbdata)
-- Function that determines what to do on the train in the moment it drives over that point.
+ -- When spd==0, called instead when train has stopped in front
+ -- nil = no effect
+ lzbdata = {}
+ -- Table of custom data filled in by approach callbacks
+ -- Whenever an approach callback inserts an LZB checkpoint with changed lzbdata,
+ -- all consecutive approach callbacks will see these passed as lzbdata table.
}
+ trav_lzbdata = currently active lzbdata table at traverser index
}
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.
@@ -45,6 +52,16 @@ function advtrains.set_lzb_param(par, val)
end
end
+local function resolve_latest_lzbdata(ckp, index)
+ local i = #ckp
+ local ckpi
+ while i>0 do
+ ckpi = ckp[i]
+ if ckpi.index <= index and ckpi.lzbdata then
+ return ckpi.lzbdata
+ end
+ end
+end
local function look_ahead(id, train)
@@ -56,29 +73,64 @@ local function look_ahead(id, train)
--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
+ local trav = lzb.trav_index
+ -- retrieve latest lzbdata
+ local lzbdata = lzb.trav_lzbdata
+
+ if lzbdata.off_track then
+ --previous position was off track, do not scan any further
+ end
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,
- })
+ if trav - 1 == train.path_trk_f then
+ lzbdata.off_track = true
+ advtrains.lzb_add_checkpoint(train, trav - 1, 0, nil, lzbdata)
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)
+ advtrains.tnc_call_approach_callback(pos, id, train, trav, lzb.trav_lzbdata)
end
+ trav = trav + 1
+
end
- lzb.trav = trav
+ lzb.trav_index = trav
+
+end
+
+-- Flood-fills train.path_speed, based on this checkpoint
+local function apply_checkpoint_to_path(train, checkpoint)
+ if not checkpoint.speed then
+ return
+ end
+ -- make sure path exists until checkpoint
+ local pos = advtrains.path_get(train, checkpoint.index)
+
+ local brake_accel = advtrains.get_acceleration(train, 11)
+
+ -- start with the checkpoint index at specified speed
+ local index = checkpoint.index
+ local p_speed -- speed in path_speed
+ local c_speed = checkpoint.speed -- calculated speed at current index
+ while true do
+ p_speed = train.path_speed[index]
+ if (p_speed and p_speed <= c_speed) or index < train.index then
+ --we're done. train already slower than wanted at this position
+ return
+ end
+ -- insert calculated target speed
+ train.path_speed[index] = c_speed
+ -- calculate c_speed at previous index
+ advtrains.path_get(train, index-1)
+ local eldist = train.path_dist[index] - train.path_dist[index-1]
+ -- Calculate the start velocity the train would have if it had a end velocity of c_speed and accelerating with brake_accel, after a distance of eldist:
+ -- v0² = v1² - 2*a*s
+ c_speed = math.sqrt( (c_speed * c_speed) - (2 * brake_accel * eldist) )
+ index = index - 1
+ end
end
@@ -90,102 +142,75 @@ s = v0 * ------- + - * | ------- | = -----------
a 2 \ 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 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
- 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)
+-- Removes all LZB checkpoints and restarts the traverser at the current train index
+function advtrains.lzb_invalidate(train)
train.lzb = {
- trav = atround(train.index),
- data = {},
- oncoming = {},
+ trav_index = atround(train.index),
+ trav_lzbdata = {},
+ checkpoints = {},
}
end
-function advtrains.lzb_invalidate(train)
- invalidate(train)
+-- LZB part of path_invalidate_ahead. Clears all checkpoints that are ahead of start_idx
+-- in contrast to path_inv_ahead, doesn't complain if start_idx is behind train.index, clears everything then
+function advtrains.lzb_invalidate_ahead(train, start_idx)
+ if train.lzb then
+ local idx = atfloor(start_idx)
+ local i = 1
+ while train.lzb.checkpoints[i] do
+ if train.lzb.checkpoints[i].idx >= idx then
+ table.remove(train.lzb.checkpoints, i)
+ else
+ i=i+1
+ end
+ end
+ -- re-apply all checkpoints to path_speed
+ train.path_speed = {}
+ for _,ckp in train.lzb.checkpoints do
+ apply_checkpoint_to_path(train, ckp)
+ end
+ end
end
-- Add LZB control point
--- udata: User-defined additional data
-function advtrains.lzb_add_checkpoint(train, index, speed, callback, udata)
+-- lzbdata: If you modify lzbdata in an approach callback, you MUST add a checkpoint AND pass the (modified) lzbdata into it.
+-- If you DON'T modify lzbdata, you MUST pass nil as lzbdata. Always modify the lzbdata table in place, never overwrite it!
+function advtrains.lzb_add_checkpoint(train, index, speed, callback, lzbdata)
local lzb = train.lzb
local pos = advtrains.path_get(train, index)
- table.insert(lzb.oncoming, {
+ local lzbdata_c = nil
+ if lzbdata then
+ -- make a shallow copy of lzbdata
+ lzbdata_c = {}
+ for k,v in pairs(lzbdata) do lzbdata_c[k] = v end
+ end
+ local ckp = {
pos = pos,
- idx = index,
- spd = speed,
- fun = callback,
- udata = udata,
- })
+ index = index,
+ speed = speed,
+ callback = callback,
+ lzbdata = lzbdata_c,
+ }
+ table.insert(lzb.checkpoints, ckp)
+
+ apply_checkpoint_to_path(train, ckp)
end
advtrains.te_register_on_new_path(function(id, train)
- invalidate(train)
+ advtrains.lzb_invalidate(train)
look_ahead(id, train)
end)
+advtrains.te_register_on_invalidate_ahead(function(id, train)
+ advtrains.lzb_invalidate_ahead(train, start_idx)
+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)
+ --apply_control(id, train)
end, true)