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advtrains
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Add signal safety control override, restructure control system

master
orwell96 2018-10-10 21:49:52 +02:00
parent 8f8f009425
commit 33c839b40d
10 changed files with 315 additions and 57 deletions
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30
advtrains/atc.lua
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@ -20,10 +20,11 @@ end
--contents: {command="...", arrowconn=0-15 where arrow points}
--general
function atc.train_set_command(train_id, command, arrow)
atc.train_reset_command(train_id)
advtrains.trains[train_id].atc_arrow = arrow
advtrains.trains[train_id].atc_command = command
function atc.train_set_command(train, command, arrow)
atc.train_reset_command(train)
train.atc_delay = 0
train.atc_arrow = arrow
train.atc_command = command
end
function atc.send_command(pos, par_tid)
@ -49,7 +50,7 @@ function atc.send_command(pos, par_tid)
atwarn("ATC rail at", pos, ": Rail not on train's path! Can't determine arrow direction. Assuming +!")
end
atc.train_set_command(train_id, atc.controllers[pts].command, iconnid==1)
atc.train_set_command(train, atc.controllers[pts].command, iconnid==1)
atprint("Sending ATC Command to", train_id, ":", atc.controllers[pts].command, "iconnid=",iconnid)
return true
@ -66,12 +67,13 @@ function atc.send_command(pos, par_tid)
return false
end
function atc.train_reset_command(train_id)
advtrains.trains[train_id].atc_command=nil
advtrains.trains[train_id].atc_delay=0
advtrains.trains[train_id].atc_brake_target=nil
advtrains.trains[train_id].atc_wait_finish=nil
advtrains.trains[train_id].atc_arrow=nil
function atc.train_reset_command(train)
train.atc_command=nil
train.atc_delay=nil
train.atc_brake_target=nil
train.atc_wait_finish=nil
train.atc_arrow=nil
train.tarvelocity=nil
end
--nodes
@ -179,7 +181,7 @@ local matchptn={
train.tarvelocity = 0
elseif train.velocity>tonumber(match) then
train.atc_brake_target=tonumber(match)
if train.tarvelocity>train.atc_brake_target then
if not train.tarvelocity or train.tarvelocity>train.atc_brake_target then
train.tarvelocity=train.atc_brake_target
end
end
@ -258,7 +260,7 @@ function atc.execute_atc_command(id, train)
while nest>=0 do
if pos>#rest then
atwarn(sid(id), attrans("ATC command syntax error: I statement not closed: @1",command))
atc.train_reset_command(id)
atc.train_reset_command(train)
return
end
local char=string.sub(rest, pos, pos)
@ -301,7 +303,7 @@ function atc.execute_atc_command(id, train)
end
end
atwarn(sid(id), attrans("ATC command parse error: Unknown command: @1", command))
atc.train_reset_command(id)
atc.train_reset_command(train)
end

1
advtrains/init.lua
View File

@ -45,6 +45,7 @@ function advtrains.pcall(fun)
atwarn(debug.traceback())
if advtrains.atprint_context_tid then
advtrains.path_print(advtrains.trains[advtrains.atprint_context_tid], atdebug)
atwarn(advtrains.trains[advtrains.atprint_context_tid].debug)
end
end)
if not succ then

2
advtrains/path.lua
View File

@ -260,7 +260,7 @@ function advtrains.path_get_index_by_offset(train, index, offset)
--atdebug("pibo: 2 off=",off,"idx=",idx)
-- then walk the path forward until we would overshoot
while off - train.path_dist[idx] >= 0 do
idx = idx - 1
idx = idx + 1
advtrains.path_get_adjacent(train, idx)
if not train.path_dist[idx] then
for i=-5,5 do

37
advtrains/trainhud.lua
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@ -44,19 +44,19 @@ function advtrains.on_control_change(pc, train, flip)
else
local act=false
if pc.up then
train.lever=4
train.ctrl.user=4
act=true
end
if pc.jump then
train.lever = 1
train.ctrl.user = 1
act=true
end
if pc.down then
if train.velocity>0 then
if pc.jump then
train.lever = 0
train.ctrl.user = 0
else
train.lever = 2
train.ctrl.user = 2
end
act=true
else
@ -77,7 +77,9 @@ function advtrains.on_control_change(pc, train, flip)
train.door_open = 1
end
end
train.active_control = act
if not act then
train.ctrl.user = nil
end
if pc.aux1 then
--horn
end
@ -161,9 +163,7 @@ function advtrains.hud_train_format(train, flip)
local max=train.max_speed or 10
local vel=advtrains.abs_ceil(train.velocity)
local tvel=advtrains.abs_ceil(train.tarvelocity)
local vel_kmh=advtrains.abs_ceil(advtrains.ms_to_kmh(train.velocity))
local tvel_kmh=advtrains.abs_ceil(advtrains.ms_to_kmh(train.tarvelocity))
local levers = "B - o +"
local tlev=train.lever
@ -174,11 +174,28 @@ function advtrains.hud_train_format(train, flip)
if tlev == 3 then levers = "B - >o< +" end
if tlev == 4 then levers = "B - o >+<" end
local topLine, firstLine, secondLine
local topLine, firstLine
local secondLine
if train.tarvelocity then
local b=" "
local tvel=advtrains.abs_ceil(train.tarvelocity)
local tvel_kmh=advtrains.abs_ceil(advtrains.ms_to_kmh(train.tarvelocity))
if train.atc_brake_target then
b="-B-"
end
secondLine="ATC"..b..": |"..string.rep("+", tvel)..string.rep("_", max-tvel).."> "..tvel_kmh.." km/h"
elseif train.atc_delay then
secondLine = "ATC waiting "..advtrains.abs_ceil(train.atc_delay).."s"
else
secondLine = "Manual operation"
end
if train.ctrl.lzb then
secondLine = "-!- Safety override -!-"
end
topLine=" ["..mletter[fct].."] {"..levers.."} "..doorstr[(train.door_open or 0) * fct]
firstLine=attrans("Speed:").." |"..string.rep("+", vel)..string.rep("_", max-vel).."> "..vel_kmh.." km/h"
secondLine=attrans("Target:").." |"..string.rep("+", tvel)..string.rep("_", max-tvel).."> "..tvel_kmh.." km/h"
return topLine.."\n"..firstLine.."\n"..secondLine
return (train.debug or "").."\n"..topLine.."\n"..firstLine.."\n"..secondLine
end

95
advtrains/trainlogic.lua
View File

@ -181,6 +181,13 @@ local function assertdef(tbl, var, def)
end
end
function advtrains.get_acceleration(train, lever)
local acc_all = t_accel_all[lever]
local acc_eng = t_accel_eng[lever]
local nwagons = #train.trainparts
local acc = acc_all + (acc_eng*train.locomotives_in_train)/nwagons
return acc
end
-- Small local util function to recalculate train's end index
local function recalc_end_index(train)
@ -219,9 +226,10 @@ function advtrains.train_ensure_init(id, train)
if train.no_step then return end
assertdef(train, "velocity", 0)
assertdef(train, "tarvelocity", 0)
--assertdef(train, "tarvelocity", 0)
assertdef(train, "acceleration", 0)
assertdef(train, "id", id)
assertdef(train, "ctrl", {})
if not train.drives_on or not train.max_speed then
@ -275,11 +283,10 @@ function advtrains.train_step_b(id, train, dtime)
--- 3. handle velocity influences ---
local train_moves=(train.velocity~=0)
local tarvel_cap
local tarvel_cap = train.speed_restriction
if train.recently_collided_with_env then
tarvel_cap=0
train.active_control=false
if not train_moves then
train.recently_collided_with_env=nil--reset status when stopped
end
@ -307,11 +314,24 @@ function advtrains.train_step_b(id, train, dtime)
tarvel_cap=1
end
-- Driving control rework:
--[[
Items are only defined when something is controlling them.
In order of precedence.
train.ctrl = {
lzb = restrictive override from LZB
user = User input from driverstand
atc = ATC command override (determined here)
}
The code here determines the precedence and writes the final control into train.lever
]]
--interpret ATC command and apply auto-lever control when not actively controlled
local trainvelocity = train.velocity
if not train.lever then train.lever=3 end
if train.active_control then
advtrains.atc.train_reset_command(id)
if train.ctrl.user then
advtrains.atc.train_reset_command(train)
else
local braketar = train.atc_brake_target
local emerg = false -- atc_brake_target==-1 means emergency brake (BB command)
@ -323,8 +343,11 @@ function advtrains.train_step_b(id, train, dtime)
train.atc_brake_target=nil
braketar = nil
end
if train.tarvelocity and train.velocity==train.tarvelocity then
train.tarvelocity = nil
end
if train.atc_wait_finish then
if not train.atc_brake_target and train.velocity==train.tarvelocity then
if not train.atc_brake_target and not train.tarvelocity then
train.atc_wait_finish=nil
end
end
@ -334,42 +357,62 @@ function advtrains.train_step_b(id, train, dtime)
else
train.atc_delay=train.atc_delay-dtime
end
elseif train.atc_delay then
train.atc_delay = nil
end
train.lever = 3
if train.tarvelocity>trainvelocity then train.lever=4 end
if train.tarvelocity<trainvelocity then
train.ctrl.atc = nil
if train.tarvelocity and train.tarvelocity>trainvelocity then
train.ctrl.atc=4
end
if train.tarvelocity and train.tarvelocity<trainvelocity then
if (braketar and braketar<trainvelocity) then
if emerg then
train.lever = 0
train.ctrl.atc = 0
else
train.lever=1
train.ctrl.atc=1
end
else
train.lever=2
train.ctrl.atc=2
end
end
end
if tarvel_cap and tarvel_cap<train.tarvelocity then
if tarvel_cap and train.tarvelocity and tarvel_cap<train.tarvelocity then
train.tarvelocity=tarvel_cap
end
local tmp_lever = train.lever
local tmp_lever
for _, lev in pairs(train.ctrl) do
-- use the most restrictive of all control overrides
tmp_lever = math.min(tmp_lever or 4, lev)
end
if not tmp_lever then
-- if there was no control at all, default to 3
tmp_lever = 3
end
if tarvel_cap and trainvelocity>tarvel_cap then
tmp_lever = 0
end
train.lever = tmp_lever
--- 3a. actually calculate new velocity ---
if tmp_lever~=3 then
local acc_all = t_accel_all[tmp_lever]
local acc_eng = t_accel_eng[tmp_lever]
local nwagons = #train.trainparts
local accel = acc_all + (acc_eng*train.locomotives_in_train)/nwagons
local accel = advtrains.get_acceleration(train, tmp_lever)
local vdiff = accel*dtime
if not train.active_control then
-- ATC control exception: don't cross tarvelocity if
-- atc provided a target_vel
if train.tarvelocity then
local tvdiff = train.tarvelocity - trainvelocity
if math.abs(vdiff) > math.abs(tvdiff) then
if tvdiff~=0 and math.abs(vdiff) > math.abs(tvdiff) then
--applying this change would cross tarvelocity
--atdebug("In Tvdiff condition, clipping",vdiff,"to",tvdiff)
--atdebug("vel=",trainvelocity,"tvel=",train.tarvelocity)
vdiff=tvdiff
end
end
@ -385,9 +428,9 @@ function advtrains.train_step_b(id, train, dtime)
end
train.acceleration=vdiff
train.velocity=train.velocity+vdiff
if train.active_control then
train.tarvelocity = train.velocity
end
--if train.ctrl.user then
-- train.tarvelocity = train.velocity
--end
else
train.acceleration = 0
end
@ -443,7 +486,7 @@ if train.no_step or train.wait_for_path then return end
if not collided and advtrains.occ.check_collision(testpos, id) then
--collides
train.velocity = 0
train.tarvelocity = 0
advtrains.atc.train_reset_command(train)
collided = true
end
--- 8b damage players ---
@ -622,7 +665,7 @@ function advtrains.create_new_train_at(pos, connid, ioff, trainparts)
t.last_connid=connid
t.last_frac=ioff
t.tarvelocity=0
--t.tarvelocity=0
t.velocity=0
t.trainparts=trainparts

2
advtrains_interlocking/database.lua
View File

@ -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

5
advtrains_interlocking/init.lua
View File

@ -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})

194
advtrains_interlocking/lzb.lua Normal file
View File

@ -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)

0
advtrains_interlocking/train_related.lua → advtrains_interlocking/train_sections.lua
View File

6
advtrains_luaautomation/atc_rail.lua
View File

@ -50,9 +50,7 @@ function r.fire_event(pos, evtdata)
atc_send = function(cmd)
if not train_id then return false end
assertt(cmd, "string")
advtrains.atc.train_reset_command(train_id)
train.atc_command=cmd
train.atc_arrow=atc_arrow
advtrains.atc.train_set_command(train, cmd, atc_arrow)
return true
end,
set_line = function(line)
@ -62,7 +60,7 @@ function r.fire_event(pos, evtdata)
atc_reset = function(cmd)
if not train_id then return false end
assertt(cmd, "string")
advtrains.atc.train_reset_command(train_id)
advtrains.atc.train_reset_command(train)
return true
end,
atc_arrow = atc_arrow,