Add debug prints, modify LZB to fix problems with look_ahead
This commit is contained in:
orwell96
parent
3c42d87dc0
commit
8f4c90c5a5
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@ -24,7 +24,10 @@ function advtrains.drb_dump(tid)
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return
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end
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repeat
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atdebug(ringbufs[tid][ringbufcnt[tid]])
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local t = ringbufs[tid][ringbufcnt[tid]]
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if t then
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atdebug(t)
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end
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ringbufcnt[tid]=ringbufcnt[tid]+1
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if ringbufcnt[tid] > ringbuflen then
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ringbufcnt[tid]=0
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@ -37,7 +37,7 @@ local GENERATE_ATRICIFIAL_LAG = false
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local HOW_MANY_LAG = 1.0
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-- Simulate a higher server step interval, as it occurs when the server is on high load
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advtrains.IGNORE_WORLD = false
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advtrains.IGNORE_WORLD = true
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-- Run advtrains without respecting the world map
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-- - No world collision checks occur
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-- - The NDB forcibly places all nodes stored in it into the world regardless of the world's content.
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@ -45,7 +45,7 @@ advtrains.IGNORE_WORLD = false
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-- This mode can be useful for debugging/testing a world without the map data available
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-- In this case, choose 'singlenode' as mapgen
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local NO_SAVE = false
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local NO_SAVE = true
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-- Do not save any data to advtrains save files
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-- ==========================================================================
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@ -589,7 +589,7 @@ minetest.register_globalstep(function(dtime_mt)
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t = os.clock()+HOW_MANY_LAG
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end
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advtrains.mainloop_trainlogic(dtime)
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advtrains.mainloop_trainlogic(dtime,advtrains.mainloop_runcnt)
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if advtrains_itm_mainloop then
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advtrains_itm_mainloop(dtime)
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end
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@ -639,10 +639,6 @@ function advtrains.save(remove_players_from_wagons)
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return
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end
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-- Cleanup actions
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--TODO very simple yet hacky workaround for the "green signals" bug
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advtrains.invalidate_all_paths()
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if advtrains.IGNORE_WORLD then
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advtrains.ndb.restore_all()
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end
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@ -660,6 +656,10 @@ function advtrains.save(remove_players_from_wagons)
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atlatc.save()
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end
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atprint("[save_all]Saved advtrains save files")
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-- Cleanup actions
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--TODO very simple yet hacky workaround for the "green signals" bug
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advtrains.invalidate_all_paths()
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end
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minetest.register_on_shutdown(advtrains.save)
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@ -77,10 +77,15 @@ end
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local function look_ahead(id, train)
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local acc = advtrains.get_acceleration(train, 1)
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local vel = train.velocity
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-- worst-case: the starting point is maximum speed
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local vel = train.max_speed or train.velocity
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local brakedst = ( -(vel*vel) / (2*acc) ) * params.DST_FACTOR
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local brake_i = advtrains.path_get_index_by_offset(train, train.index, brakedst + params.BRAKE_SPACE)
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--local brake_i = advtrains.path_get_index_by_offset(train, train.index, brakedst + params.BRAKE_SPACE)
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-- worst case (don't use index_by_offset)
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brake_i = atfloor(train.index + brakedst + params.BRAKE_SPACE)
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atprint("LZB: looking ahead up to ", brake_i)
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--local aware_i = advtrains.path_get_index_by_offset(train, brake_i, AWARE_ZONE)
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local lzb = train.lzb
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@ -122,6 +127,7 @@ local function call_runover_callbacks(id, train)
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local ckp = train.lzb.checkpoints
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while ckp[i] do
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if ckp[i].index <= idx then
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atprint("LZB: checkpoint run over: i=",ckp[i].index,"s=",ckp[i].speed)
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-- call callback
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local it = ckp[i]
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if it.callback then
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@ -140,6 +146,7 @@ local function apply_checkpoint_to_path(train, checkpoint)
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if not checkpoint.speed then
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return
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end
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atprint("LZB: applying checkpoint: i=",checkpoint.index,"s=",checkpoint.speed)
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-- make sure path exists until checkpoint
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local pos = advtrains.path_get(train, checkpoint.index)
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@ -66,7 +66,7 @@ local LZB_ZERO_APPROACH_SPEED = 0.2
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tp_player_tmr = 0
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advtrains.mainloop_trainlogic=function(dtime)
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advtrains.mainloop_trainlogic=function(dtime, stepno)
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--build a table of all players indexed by pts. used by damage and door system.
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advtrains.playersbypts={}
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for _, player in pairs(minetest.get_connected_players()) do
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@ -98,6 +98,7 @@ advtrains.mainloop_trainlogic=function(dtime)
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for k,v in pairs(advtrains.trains) do
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advtrains.atprint_context_tid=k
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atprint("=== Step",stepno,"===")
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advtrains.train_ensure_init(k, v)
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end
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@ -257,7 +258,10 @@ function advtrains.train_ensure_init(id, train)
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end
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train.dirty = true
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if train.no_step then return nil end
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if train.no_step then
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atprint("in ensure_init: no_step set, train step ignored!")
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return nil
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end
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assertdef(train, "velocity", 0)
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--assertdef(train, "tarvelocity", 0)
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@ -266,11 +270,13 @@ function advtrains.train_ensure_init(id, train)
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if not train.drives_on or not train.max_speed then
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atprint("in ensure_init: missing properties, updating!")
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advtrains.update_trainpart_properties(id)
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end
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--restore path
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if not train.path then
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atprint("in ensure_init: Needs restoring path...")
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if not train.last_pos then
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atlog("Train",id,": Restoring path failed, no last_pos set! Train will be disabled. You can try to fix the issue in the save file.")
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train.no_step = true
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@ -293,6 +299,8 @@ function advtrains.train_ensure_init(id, train)
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local result = advtrains.path_create(train, train.last_pos, train.last_connid or 1, train.last_frac or 0)
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atprint("in ensure_init: path_create result ",result)
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if result==false then
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atlog("Train",id,": Restoring path failed, node at",train.last_pos,"is gone! Train will be disabled. You can try to place a rail at this position and restart the server.")
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train.no_step = true
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@ -350,14 +358,17 @@ function advtrains.train_step_b(id, train, dtime)
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if not train_moves then
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train.recently_collided_with_env=nil--reset status when stopped
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end
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atprint("in train_step_b: applying collided_with_env")
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v_target_apply(v_targets, VLEVER_EMERG, 0)
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end
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if train.locomotives_in_train==0 then
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atprint("in train_step_b: applying no_locomotives")
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v_target_apply(v_targets, VLEVER_ROLL, 0)
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end
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-- interlocking speed restriction
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if train.speed_restriction then
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atprint("in train_step_b: applying interlocking speed restriction",train.speed_restriction)
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v_target_apply(v_targets, VLEVER_BRAKE, train.speed_restriction)
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end
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@ -367,9 +378,11 @@ function advtrains.train_step_b(id, train, dtime)
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train.off_track = front_off_track or back_off_track
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if back_off_track then
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atprint("in train_step_b: applying back_off_track")
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v_target_apply(v_targets, VLEVER_EMERG, 1)
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else
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if front_off_track then
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atprint("in train_step_b: applying front_off_track")
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v_target_apply(v_targets, VLEVER_EMERG, 0)
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end
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end
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@ -379,15 +392,28 @@ function advtrains.train_step_b(id, train, dtime)
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local v0 = train.velocity
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if train.ctrl_user then
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atprint("in train_step_b: ctrl_user active, resetting atc")
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advtrains.atc.train_reset_command(train)
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else
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if train.atc_command then
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if (not train.atc_delay or train.atc_delay<=0) and not train.atc_wait_finish then
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advtrains.atc.execute_atc_command(id, train)
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else
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train.atc_delay=train.atc_delay-dtime
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end
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elseif train.atc_delay then
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train.atc_delay = nil
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end
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local braketar = train.atc_brake_target
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local emerg = false -- atc_brake_target==-1 means emergency brake (BB command)
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if braketar == -1 then
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braketar = 0
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emerg = true
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end
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atprint("in train_step_b: ATC: brake state braketar=",braketar,"emerg=",emerg)
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if braketar and braketar>=v0 then
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atprint("in train_step_b: ATC: brake target cleared")
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train.atc_brake_target=nil
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braketar = nil
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end
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@ -399,27 +425,22 @@ function advtrains.train_step_b(id, train, dtime)
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train.atc_wait_finish=nil
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end
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end
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if train.atc_command then
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if (not train.atc_delay or train.atc_delay<=0) and not train.atc_wait_finish then
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advtrains.atc.execute_atc_command(id, train)
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else
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train.atc_delay=train.atc_delay-dtime
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end
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elseif train.atc_delay then
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train.atc_delay = nil
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end
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if train.tarvelocity and train.tarvelocity>v0 then
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atprint("in train_step_b: applying ATC ACCEL", train.tarvelocity)
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v_target_apply(v_targets, VLEVER_ACCEL, train.tarvelocity)
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end
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if train.tarvelocity and train.tarvelocity<v0 then
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if (braketar and braketar<v0) then
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if emerg then
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atprint("in train_step_b: applying ATC EMERG", train.tarvelocity)
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v_target_apply(v_targets, VLEVER_EMERG, 0)
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else
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atprint("in train_step_b: applying ATC BRAKE", train.tarvelocity)
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v_target_apply(v_targets, VLEVER_BRAKE, braketar)
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end
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else
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atprint("in train_step_b: applying ATC ROLL", train.tarvelocity)
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v_target_apply(v_targets, VLEVER_ROLL, train.tarvelocity)
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end
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end
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@ -427,6 +448,7 @@ function advtrains.train_step_b(id, train, dtime)
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local userc = train.ctrl_user
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if userc then
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atprint("in train_step_b: applying user control", userc)
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v_target_apply(v_targets, userc, userc==VLEVER_ACCEL and train.max_speed or 0)
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end
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@ -453,7 +475,7 @@ function advtrains.train_step_b(id, train, dtime)
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end
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end
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end
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atprint("in train_step_b: Resulting control before LZB: lever", tv_lever, "target", tv_target)
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--train.debug = dump({tv_target,tv_lever})
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--- 2c. If no tv_lever set, honor the user control ---
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@ -465,6 +487,8 @@ function advtrains.train_step_b(id, train, dtime)
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train.lever = a_lever
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atprint("in train_step_b: Current index",train.index,"end",train.end_index,"vel",train.velocity)
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--- 3a. calculate the acceleration required to reach the speed restriction in path_speed (LZB) ---
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-- Iterates over the path nodes we WOULD pass if we were continuing with the speed assumed by actual_lever
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-- and determines the MINIMUM of path_speed in this range.
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@ -487,6 +511,7 @@ function advtrains.train_step_b(id, train, dtime)
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if psp then
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lzb_target = lzb_target and math.min(lzb_target, psp) or psp
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if psp == 0 and not lzb_next_zero_barrier then
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atprint("in train_step_b: Found zero barrier: ",i)
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lzb_next_zero_barrier = i - LZB_ZERO_APPROACH_DIST
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end
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end
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@ -496,7 +521,7 @@ function advtrains.train_step_b(id, train, dtime)
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i = i + 1
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end
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--train.debug = "newindex calc "..new_index_curr_tv.." basev="..new_index_v_base.." lzbtarget="..(lzb_target or "nil")
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atprint("in train_step_b: LZB calculation yields newindex=",new_index_curr_tv," basev=",new_index_v_base," lzbtarget=",lzb_target,"zero_barr=",lzb_next_zero_barrier,"")
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if lzb_target and lzb_target <= v0 then
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-- apply to tv_target after the actual calculation happened
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@ -506,28 +531,34 @@ function advtrains.train_step_b(id, train, dtime)
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if train.index >= lzb_next_zero_barrier then
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tv_target = 0
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a_lever = VLEVER_BRAKE
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atprint("in train_step_b: -!- Hit zero approach barrier -!- applying brake")
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--atdebug("zeroappr cancelling train has passed idx=",train.index, "za_idx=",lzb_zeroappr_target_index)
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else
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-- if we are in front of a zero barrier, make sure we reach it by
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-- keeping the velocity at a small value >0
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atprint("in train_step_b: In zero approach, applying ZERO_APPROACH_SPEED")
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tv_target = LZB_ZERO_APPROACH_SPEED
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end
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else
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atprint("in train_step_b: applying LZB brake to",lzb_target)
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tv_target = lzb_target
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end
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end
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-- Case: v0 is below lzb_target, but a_lever is ACCEL and resulting v would be greater than lzb_target
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-- limit tv_target to the lzb target.
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elseif lzb_target and a_lever >= VLEVER_ACCEL then
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tv_target = lzb_target
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end
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end
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--- 3b. now that we know tv_target and a_lever, calculate effective new v and change it on train
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atprint("in train_step_b: Final control: target",tv_target,"lever",a_lever)
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local dv = advtrains.get_acceleration(train, a_lever) * dtime
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local v1
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local tv_effective = false
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if tv_target and (math.abs(dv) > math.abs(tv_target - v0)) then
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--atdebug("hit tv_target ",tv_target,"with v=",v0, "dv=",dv)
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atprint("in train_step_b: hit tv_target ",tv_target,"with v=",v0, "dv=",dv)
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v1 = tv_target
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tv_effective = true
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else
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@ -544,6 +575,7 @@ function advtrains.train_step_b(id, train, dtime)
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train.acceleration = (v1 - v0) / dtime
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train.velocity = v1
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atprint("in train_step_b: New velocity",v1," (yields acceleration",train.acceleration,")")
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--- 4. move train ---
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-- if we have calculated the new end index before, don't do that again
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@ -552,17 +584,20 @@ function advtrains.train_step_b(id, train, dtime)
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local dst_curr_v = v1 * dtime
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train.dist_moved_this_step = dst_curr_v
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new_index_curr_tv = advtrains.path_get_index_by_offset(train, train.index, dst_curr_v)
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atprint("in train_step_b: movement calculation (re)done, yields newindex=",new_index_curr_tv)
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else
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atprint("in train_step_b: movement calculation reusing from LZB newindex=",new_index_curr_tv)
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end
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-- if the zeroappr mechanism has hit, go no further than zeroappr index
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if lzb_next_zero_barrier and new_index_curr_tv > lzb_next_zero_barrier then
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--atdebug("zeroappr hitcond newidx_tv=",new_index_curr_tv, "za_idx=",lzb_zeroappr_target_index)
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atprint("in train_step_b: Zero barrier hit, clipping to newidx_tv=",new_index_curr_tv, "zb_idx=",lzb_next_zero_barrier)
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new_index_curr_tv = lzb_next_zero_barrier
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end
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train.index = new_index_curr_tv
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recalc_end_index(train)
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atprint("in train_step_b: New index",train.index,"end",train.end_index,"vel",train.velocity)
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end
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function advtrains.train_step_c(id, train, dtime)
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@ -21,6 +21,10 @@ local function get_over_function(speed, shunt)
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-- Set train 1 index backward. Hope this does not lead to bugs...
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--train.index = index - 0.5
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train.speed_restriction = 0
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--TODO temporary
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advtrains.drb_dump(id)
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error("Debug: "..id.." triggered LZB-0")
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else
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train.speed_restriction = speed
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train.is_shunt = shunt
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@ -150,6 +150,11 @@ function ac.run_in_env(pos, evtdata, customfct_p)
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if meta then
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meta:set_string("infotext", "LuaAutomation ATC interface rail, ERROR:"..dataout)
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end
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--TODO temporary
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--if customfct.atc_id then
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-- advtrains.drb_dump(customfct.atc_id)
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-- error("Debug: LuaATC error hit!")
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--end
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end
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if meta then
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meta:set_string("formspec", ac.getform(pos, meta))
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