From be22775cdbefa54fa4047d32428ce7d80c15bc5b Mon Sep 17 00:00:00 2001
From: ywang <yw05@forksworld.de>
Date: Thu, 5 Dec 2019 22:23:13 +0100
Subject: More accurate train logic, but still buggy
---
advtrains/helpers.lua | 29 ++++----
advtrains/lzb.lua | 172 +++++++++++++++++++++++++----------------------
advtrains/trainlogic.lua | 78 ++++++++-------------
3 files changed, 138 insertions(+), 141 deletions(-)
diff --git a/advtrains/helpers.lua b/advtrains/helpers.lua
index e04991e..a2eabb5 100644
--- a/advtrains/helpers.lua
+++ b/advtrains/helpers.lua
@@ -79,7 +79,7 @@ function advtrains.yawToDirection(yaw, conn1, conn2)
local yaw2 = advtrains.dir_to_angle(conn2)
local adiff1 = advtrains.minAngleDiffRad(yaw, yaw1)
local adiff2 = advtrains.minAngleDiffRad(yaw, yaw2)
-
+
if math.abs(adiff2)<math.abs(adiff1) then
return conn2
else
@@ -129,7 +129,7 @@ function advtrains.minAngleDiffRad(r1, r2)
local try1=r2-r1
local try2=r2+pi2-r1
local try3=r2-pi2-r1
-
+
local minabs = math.min(math.abs(try1), math.abs(try2), math.abs(try3))
if minabs==math.abs(try1) then
return try1
@@ -170,12 +170,12 @@ end
function advtrains.get_real_index_position(path, index)
if not path or not index then return end
-
+
local first_pos=path[math.floor(index)]
local second_pos=path[math.floor(index)+1]
-
+
if not first_pos or not second_pos then return nil end
-
+
local factor=index-math.floor(index)
local actual_pos={x=first_pos.x-(first_pos.x-second_pos.x)*factor, y=first_pos.y-(first_pos.y-second_pos.y)*factor, z=first_pos.z-(first_pos.z-second_pos.z)*factor,}
return actual_pos
@@ -306,16 +306,16 @@ function advtrains.get_adjacent_rail(this_posnr, this_conns_p, conn_idx, drives_
end
return nil
end
-
+
local conn = this_conns[conn_idx]
local conn_y = conn.y or 0
local adj_pos = advtrains.dirCoordSet(this_pos, conn.c);
-
+
while conn_y>=1 do
conn_y = conn_y - 1
adj_pos.y = adj_pos.y + 1
end
-
+
local nextnode_ok, nextconns, nextrail_y=advtrains.get_rail_info_at(adj_pos, drives_on)
if not nextnode_ok then
adj_pos.y = adj_pos.y - 1
@@ -398,6 +398,13 @@ function advtrains.decode_pos(pts)
return vector.new(dec(strx), dec(stry), dec(strz))
end
+function advtrains.solve_quadratic_equation(a, b, c)
+ if not (a and b and c) then return nil end
+ local delta = (b*b - 4*a*c)
+ if delta < 0 then return nil end
+ return {((-b+math.sqrt(delta))/2/a),((-b-math.sqrt(delta))/2/a)}
+end
+
--[[ Benchmarking code
local tdt = {}
local tlt = {}
@@ -435,8 +442,6 @@ end
atdebug("pts",os.clock()-t1,"s")
--Results:
---2018-11-29 16:57:08: ACTION[Main]: [advtrains]endec 1.786451 s
---2018-11-29 16:57:10: ACTION[Main]: [advtrains]pts 2.566377 s
+--2018-11-29 16:57:08: ACTION[Main]: [advtrains]endec 1.786451 s
+--2018-11-29 16:57:10: ACTION[Main]: [advtrains]pts 2.566377 s
]]
-
-
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)
diff --git a/advtrains/trainlogic.lua b/advtrains/trainlogic.lua
index 2b34e2a..4b76deb 100644
--- a/advtrains/trainlogic.lua
+++ b/advtrains/trainlogic.lua
@@ -420,61 +420,39 @@ function advtrains.train_step_b(id, train, dtime)
train.lever = tmp_lever
- --- 4a. Get the correct lever based on LZB ---
- local lzblever = tmp_lever
- tmp_lever = tmp_lever + 1
- local s, s1, s2, v0, v1, v2, t1, t2, a1, a2
- repeat
- tmp_lever = lzblever
- lzblever = tmp_lever - 1
- if lzblever < 0 then lzblever = 0 end
- s1 = advtrains.lzb_get_distance_until_override(id, train, lzblever)
- until (s1 >= 0) or (s1 == nil) -- also jump out if there is no LZB restriction
- --- 4b. Calculations ---
- a1 = advtrains.get_acceleration(train, tmp_lever)
- a2 = advtrains.get_acceleration(train, lzblever)
- v0 = train.velocity
- if s1 == nil then -- No LZB limit - continue as normal
- v2 = v0 + a1 * dtime
- if train.tarvelocity then v2 = math.min(v2, train.tarvelocity) end
- v2 = math.min(v2, (train.max_speed or 10))
- if a1 == 0 then -- if there is no acceleration, simply s = v * t
- s = v0 * dtime
- else
- s = (v2*v2 - v0*v0)/2/a1
+ --- 4a. Calculate movement ---
+ local lzbnxt = advtrains.lzb_get_next(train)
+ local lzblimit = advtrains.lzb_get_limit_by_entry(train, lzbnxt)
+ local lzbmap = advtrains.lzb_map_entry(train, lzbnxt)
+ local a = advtrains.get_acceleration(train, tmp_lever)
+ local v0 = train.velocity
+ local v1 = a*dtime+v0
+ v1 = math.min(v1, (train.max_speed or 10))
+ local s
+ if a == 0 then s = v1*dtime
+ else s = (v1*v1 - v0*v0)/2/a
+ end
+ if lzblimit.velocity and lzblimit.velocity < train.velocity then
+ tmp_lever = lzblimit.lever
+ while (lzbmap[tmp_lever].t > dtime) do
+ tmp_lever = tmp_lever - 1
end
- a2 = a1
- lzblever = tmp_lever
- else
- if (a1 ~= 0) and ((-v0*v0)/2/a1 < s1) then -- train stops in front of LZB control
- v2 = 0
- s = (-v0*v0)/2/a1
- else -- Train continues and further control seems to be taken
- v1 = math.sqrt(2*s1*a1 + v0*v0)
- if train.tarvelocity then v1 = math.min(v1, train.tarvelocity) end
- v1 = math.min(v1, (train.max_speed or 10))
- if a1 == 0 then t1 = s1/v1 else t1 = (v1-v0)/a1 end
- t2 = dtime - t1
- if t2 > 0 then -- if the train can reach s2
- v2 = a2*t2+v1
- if v2 < 0 then v2 = 0 end -- Force velocity to be at least 0
- if a2 == 0 then s2 = v2 * t2 else s2 = (v2*v2-v1*v1)/2/a2 end
- s = s1 + s2
- else -- the train might not reach s2 due to some limits
- v2 = v1
- if a1 == 0 then s = v2 * dtime else s = (v1*v1 - v0*v0)/2/a1 end
- end
+ a = advtrains.get_acceleration(train, tmp_lever)
+ v0 = lzbmap[tmp_lever].v
+ t = dtime - lzbmap[tmp_lever].t
+ v1 = a*t+v0
+ v1 = math.min(v1, (train.max_speed or 10))
+ s = lzbmap[tmp_lever].i - train.index
+ if a == 0 then s = s + v1*t
+ else s = s + (v1*v1-v0*v0)/2/a
end
end
- --- 4c. move train and change train properties ---
+ --- 4b. Move train and update train properties ---
local pdist = train.path_dist[math.floor(train.index)] or 1
local distance = s / pdist
- if train.lever > lzblever then train.ctrl.lzb = lzblever
- else train.ctrl.lzb = nil
- end
- train.lever = lzblever
- train.velocity = v2
- train.acceleration = a2
+ train.lever = tmp_lever
+ train.velocity = v1
+ train.acceleration = a
--debugging code
--train.debug = atdump(train.ctrl).."step_dist: "..math.floor(distance*1000)
--
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