From 33c839b40d48e154f5b03619a9bdce1bed1fc602 Mon Sep 17 00:00:00 2001 From: orwell96 Date: Wed, 10 Oct 2018 21:49:52 +0200 Subject: Add signal safety control override, restructure control system --- advtrains_interlocking/database.lua | 2 +- advtrains_interlocking/init.lua | 5 +- advtrains_interlocking/lzb.lua | 194 ++++++++++++++++++++++++++++++ advtrains_interlocking/train_related.lua | 183 ---------------------------- advtrains_interlocking/train_sections.lua | 183 ++++++++++++++++++++++++++++ 5 files changed, 382 insertions(+), 185 deletions(-) create mode 100644 advtrains_interlocking/lzb.lua delete mode 100644 advtrains_interlocking/train_related.lua create mode 100644 advtrains_interlocking/train_sections.lua (limited to 'advtrains_interlocking') diff --git a/advtrains_interlocking/database.lua b/advtrains_interlocking/database.lua index 030a5e0..af90880 100644 --- a/advtrains_interlocking/database.lua +++ b/advtrains_interlocking/database.lua @@ -485,7 +485,7 @@ function ildb.get_ip_signal_asp(pts, connid) ildb.clear_ip_signal(pts, connid) return nil end - return asp + return asp, p end return nil end diff --git a/advtrains_interlocking/init.lua b/advtrains_interlocking/init.lua index 19501b6..d6625eb 100644 --- a/advtrains_interlocking/init.lua +++ b/advtrains_interlocking/init.lua @@ -8,9 +8,12 @@ local modpath = minetest.get_modpath(minetest.get_current_modname()) .. DIR_DELI dofile(modpath.."database.lua") dofile(modpath.."signal_api.lua") dofile(modpath.."demosignals.lua") -dofile(modpath.."train_related.lua") +dofile(modpath.."train_sections.lua") dofile(modpath.."route_prog.lua") dofile(modpath.."routesetting.lua") dofile(modpath.."tcb_ts_ui.lua") +dofile(modpath.."lzb.lua") + + minetest.register_privilege("interlocking", {description = "Can set up track sections, routes and signals.", give_to_singleplayer = true}) diff --git a/advtrains_interlocking/lzb.lua b/advtrains_interlocking/lzb.lua new file mode 100644 index 0000000..c9e40ab --- /dev/null +++ b/advtrains_interlocking/lzb.lua @@ -0,0 +1,194 @@ +-- lzb.lua +-- Enforced and/or automatic train override control, obeying signals + +--[[ +Documentation of train.lzb table +train.lzb = { + trav = Current index that the traverser has advanced so far + travsht = boolean indicating whether the train will be a shunt move at "trav" + travspd = speed restriction at end of traverser + travwspd = warning speed res. + oncoming = table containing oncoming signals, in order of appearance on the path + { + pos = position of the signal (not the IP!) + idx = where this is on the path + spd = speed allowed to pass (determined dynamically) + } +} +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 + +The traverser stops at signals that result in spd==0, because changes beyond there are likely. +]] + +local il = advtrains.interlocking + +local BRAKE_SPACE = 10 +local AWARE_ZONE = 50 + +local ADD_STAND = 2 +local ADD_SLOW = 1 +local ADD_FAST = 10 + +local SHUNT_SPEED_MAX = 4 + +local function look_ahead(id, train) + + local acc = advtrains.get_acceleration(train, 1) + local vel = train.velocity + local brakedst = -(vel*vel) / (2*acc) + + local brake_i = advtrains.path_get_index_by_offset(train, train.index, brakedst + BRAKE_SPACE) + --local aware_i = advtrains.path_get_index_by_offset(train, brake_i, AWARE_ZONE) + + local lzb = train.lzb + local trav = lzb.trav + local travspd = lzb.travspd + local travwspd = lzb.travwspd + local lspd + + train.debug = lspd + + while trav <= brake_i and (not lspd or lspd>0) do + trav = trav + 1 + local pos = advtrains.path_get(train, trav) + local pts = advtrains.roundfloorpts(pos) + local cn = train.path_cn[trav] + -- check offtrack + if trav > train.path_trk_f then + lspd = 0 + table.insert(lzb.oncoming, { + idx = trav-1, + spd = 0, + }) + else + -- check for signal + local asp, spos = il.db.get_ip_signal_asp(pts, cn) + --atdebug("trav: ",pos, cn, asp, spos, "travsht=", lzb.travsht) + if asp then + local nspd = 0 + --interpreting aspect and determining speed to proceed + if lzb.travsht then + --shunt move + if asp.shunt.free then + nspd = SHUNT_SPEED_MAX + elseif asp.shunt.proceed_as_main and asp.main.free then + nspd = asp.main.speed + lzb.travsht = false + end + else + --train move + if asp.main.free then + nspd = asp.main.speed + elseif asp.shunt.free then + nspd = SHUNT_SPEED_MAX + lzb.travsht = true + end + end + -- nspd can now be: 1. !=0: new speed restriction, 2. =0: stop here or 3. nil: keep travspd + if nspd then + if nspd == -1 then + travspd = nil + else + travspd = nspd + end + end + + local nwspd = asp.info.w_speed + if nwspd then + if nwspd == -1 then + travwspd = nil + else + travwspd = nwspd + end + end + --atdebug("ns,wns,ts,wts", nspd, nwspd, travspd, travwspd) + lspd = travspd + if travwspd and (not lspd or lspd>travwspd) then + lspd = travwspd + end + + table.insert(lzb.oncoming, { + pos = spos, + idx = trav, + spd = lspd, + }) + -- TODO register aspect change callback! + end + end + end + + lzb.trav = trav + lzb.travspd = travspd + lzb.travwspd = travwspd + +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 + train.speed_restriction = lzb.oncoming[i].spd + 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 + ADD_SLOW + if v0 > 3 then + st = s + ADD_FAST + end + if v0<=0 then + st = s + 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 + end + end + train.ctrl.lzb = nil +end + + +advtrains.te_register_on_new_path(function(id, train) + train.lzb = { + trav = atfloor(train.index), + travsht = train.is_shunt, + oncoming = {} + } + train.ctrl.lzb = nil + look_ahead(id, train) +end) + +advtrains.te_register_on_update(function(id, train) + look_ahead(id, train) + apply_control(id, train) +end) diff --git a/advtrains_interlocking/train_related.lua b/advtrains_interlocking/train_related.lua deleted file mode 100644 index 8bc9716..0000000 --- a/advtrains_interlocking/train_related.lua +++ /dev/null @@ -1,183 +0,0 @@ --- train_related.lua --- Occupation of track sections - mainly implementation of train callbacks - ---[[ -Track section occupation is saved as follows - -In train: -train.il_sections = { - [n] = {ts_id = <...> (origin = )} -} --- "origin" is the TCB (signal describer) the train initially entered this section - -In track section -ts.trains = { - [n] = -} - -When any inconsistency is detected, we will assume the most restrictive setup. -It will be possible to indicate a section "free" via the GUI. -]] - -local ildb = advtrains.interlocking.db - - -local function itexist(tbl, com) - for _,item in ipairs(tbl) do - if (item==com) then - return true - end - end - return false -end -local function itkexist(tbl, ikey, com) - for _,item in ipairs(tbl) do - if item[ikey] == com then - return true - end - end - return false -end - -local function itremove(tbl, com) - local i=1 - while i <= #tbl do - if tbl[i] == com then - table.remove(tbl, i) - else - i = i + 1 - end - end -end -local function itkremove(tbl, ikey, com) - local i=1 - while i <= #tbl do - if tbl[i][ikey] == com then - table.remove(tbl, i) - else - i = i + 1 - end - end -end - -local function setsection(tid, train, ts_id, ts, origin) - -- train - if not train.il_sections then train.il_sections = {} end - if not itkexist(train.il_sections, "ts_id", ts_id) then - table.insert(train.il_sections, {ts_id = ts_id, origin = origin}) - end - - -- ts - if not ts.trains then ts.trains = {} end - if not itexist(ts.trains, tid) then - table.insert(ts.trains, tid) - end - - -- route setting - clear route state - if ts.route then - if ts.route.first then - -- this is the first route section. clear route status from origin sigd - local tcbs = advtrains.interlocking.db.get_tcbs(ts.route.origin) - if tcbs then - tcbs.route_committed = nil - tcbs.aspect = nil - advtrains.interlocking.update_signal_aspect(tcbs) - if tcbs.route_auto then - advtrains.interlocking.route.update_route(ts.route.origin, tcbs) - else - tcbs.routeset = nil - end - end - end - ts.route = nil - end - -end - -local function freesection(tid, train, ts_id, ts) - -- train - if not train.il_sections then train.il_sections = {} end - itkremove(train.il_sections, "ts_id", ts_id) - - -- ts - if not ts.trains then ts.trains = {} end - itremove(ts.trains, tid) - - if ts.route_post then - advtrains.interlocking.route.free_route_locks(ts_id, ts.route_post.locks) - if ts.route_post.next then - --this does nothing when the train went the right way, because - -- "route" info is already cleared. - advtrains.interlocking.route.cancel_route_from(ts.route_post.next) - end - ts.route_post = nil - end - -- This must be delayed, because this code is executed in-between a train step - -- TODO use luaautomation timers? - minetest.after(0, advtrains.interlocking.route.update_waiting, "ts", ts_id) -end - - --- This is regular operation --- The train is on a track and drives back and forth - --- This sets the section for both directions, to be failsafe -advtrains.tnc_register_on_enter(function(pos, id, train, index) - local tcb = ildb.get_tcb(pos) - if tcb then - for connid=1,2 do - local ts = tcb[connid].ts_id and ildb.get_ts(tcb[connid].ts_id) - if ts then - setsection(id, train, tcb[connid].ts_id, ts, {p=pos, s=connid}) - end - end - end -end) - - --- this time, of course, only clear the backside (cp connid) -advtrains.tnc_register_on_leave(function(pos, id, train, index) - local tcb = ildb.get_tcb(pos) - if tcb and train.path_cp[index] then - local connid = train.path_cp[index] - local ts = tcb[connid].ts_id and ildb.get_ts(tcb[connid].ts_id) - if ts then - freesection(id, train, tcb[connid].ts_id, ts) - end - end -end) - --- those callbacks are needed to account for created and removed trains (also regarding coupling) - -advtrains.te_register_on_create(function(id, train) - -- let's see what track sections we find here - local index = atround(train.index) - local pos = advtrains.path_get(train, index) - local ts_id, origin = ildb.get_ts_at_pos(pos) - if ts_id then - local ts = ildb.get_ts(ts_id) - if ts then - setsection(id, train, ts_id, ts, origin) - else - atwarn("ILDB corruption: TCB",origin," has invalid TS reference") - end - elseif ts_id==nil then - atwarn("Train",id,": Unable to determine whether to block a track section!") - else - --atdebug("Train",id,": Outside of interlocked area!") - end -end) - -advtrains.te_register_on_remove(function(id, train) - if train.il_sections then - for idx, item in ipairs(train.il_sections) do - - local ts = item.ts_id and ildb.get_ts(item.ts_id) - - if ts and ts.trains then - itremove(ts.trains, id) - end - end - train.il_sections = nil - end -end) diff --git a/advtrains_interlocking/train_sections.lua b/advtrains_interlocking/train_sections.lua new file mode 100644 index 0000000..8bc9716 --- /dev/null +++ b/advtrains_interlocking/train_sections.lua @@ -0,0 +1,183 @@ +-- train_related.lua +-- Occupation of track sections - mainly implementation of train callbacks + +--[[ +Track section occupation is saved as follows + +In train: +train.il_sections = { + [n] = {ts_id = <...> (origin = )} +} +-- "origin" is the TCB (signal describer) the train initially entered this section + +In track section +ts.trains = { + [n] = +} + +When any inconsistency is detected, we will assume the most restrictive setup. +It will be possible to indicate a section "free" via the GUI. +]] + +local ildb = advtrains.interlocking.db + + +local function itexist(tbl, com) + for _,item in ipairs(tbl) do + if (item==com) then + return true + end + end + return false +end +local function itkexist(tbl, ikey, com) + for _,item in ipairs(tbl) do + if item[ikey] == com then + return true + end + end + return false +end + +local function itremove(tbl, com) + local i=1 + while i <= #tbl do + if tbl[i] == com then + table.remove(tbl, i) + else + i = i + 1 + end + end +end +local function itkremove(tbl, ikey, com) + local i=1 + while i <= #tbl do + if tbl[i][ikey] == com then + table.remove(tbl, i) + else + i = i + 1 + end + end +end + +local function setsection(tid, train, ts_id, ts, origin) + -- train + if not train.il_sections then train.il_sections = {} end + if not itkexist(train.il_sections, "ts_id", ts_id) then + table.insert(train.il_sections, {ts_id = ts_id, origin = origin}) + end + + -- ts + if not ts.trains then ts.trains = {} end + if not itexist(ts.trains, tid) then + table.insert(ts.trains, tid) + end + + -- route setting - clear route state + if ts.route then + if ts.route.first then + -- this is the first route section. clear route status from origin sigd + local tcbs = advtrains.interlocking.db.get_tcbs(ts.route.origin) + if tcbs then + tcbs.route_committed = nil + tcbs.aspect = nil + advtrains.interlocking.update_signal_aspect(tcbs) + if tcbs.route_auto then + advtrains.interlocking.route.update_route(ts.route.origin, tcbs) + else + tcbs.routeset = nil + end + end + end + ts.route = nil + end + +end + +local function freesection(tid, train, ts_id, ts) + -- train + if not train.il_sections then train.il_sections = {} end + itkremove(train.il_sections, "ts_id", ts_id) + + -- ts + if not ts.trains then ts.trains = {} end + itremove(ts.trains, tid) + + if ts.route_post then + advtrains.interlocking.route.free_route_locks(ts_id, ts.route_post.locks) + if ts.route_post.next then + --this does nothing when the train went the right way, because + -- "route" info is already cleared. + advtrains.interlocking.route.cancel_route_from(ts.route_post.next) + end + ts.route_post = nil + end + -- This must be delayed, because this code is executed in-between a train step + -- TODO use luaautomation timers? + minetest.after(0, advtrains.interlocking.route.update_waiting, "ts", ts_id) +end + + +-- This is regular operation +-- The train is on a track and drives back and forth + +-- This sets the section for both directions, to be failsafe +advtrains.tnc_register_on_enter(function(pos, id, train, index) + local tcb = ildb.get_tcb(pos) + if tcb then + for connid=1,2 do + local ts = tcb[connid].ts_id and ildb.get_ts(tcb[connid].ts_id) + if ts then + setsection(id, train, tcb[connid].ts_id, ts, {p=pos, s=connid}) + end + end + end +end) + + +-- this time, of course, only clear the backside (cp connid) +advtrains.tnc_register_on_leave(function(pos, id, train, index) + local tcb = ildb.get_tcb(pos) + if tcb and train.path_cp[index] then + local connid = train.path_cp[index] + local ts = tcb[connid].ts_id and ildb.get_ts(tcb[connid].ts_id) + if ts then + freesection(id, train, tcb[connid].ts_id, ts) + end + end +end) + +-- those callbacks are needed to account for created and removed trains (also regarding coupling) + +advtrains.te_register_on_create(function(id, train) + -- let's see what track sections we find here + local index = atround(train.index) + local pos = advtrains.path_get(train, index) + local ts_id, origin = ildb.get_ts_at_pos(pos) + if ts_id then + local ts = ildb.get_ts(ts_id) + if ts then + setsection(id, train, ts_id, ts, origin) + else + atwarn("ILDB corruption: TCB",origin," has invalid TS reference") + end + elseif ts_id==nil then + atwarn("Train",id,": Unable to determine whether to block a track section!") + else + --atdebug("Train",id,": Outside of interlocked area!") + end +end) + +advtrains.te_register_on_remove(function(id, train) + if train.il_sections then + for idx, item in ipairs(train.il_sections) do + + local ts = item.ts_id and ildb.get_ts(item.ts_id) + + if ts and ts.trains then + itremove(ts.trains, id) + end + end + train.il_sections = nil + end +end) -- cgit v1.2.3