Move LZB system to core and unify approach callback mechanism

This commit is contained in:
orwell96 2019-04-16 09:16:44 +02:00
parent c50224e05c
commit ea33ad9de0
11 changed files with 339 additions and 302 deletions

View File

@ -180,8 +180,9 @@ minetest.register_node(nodename, {
^- called when a train leaves the rail
-- The following function is only in effect when interlocking is enabled:
on_train_approach = function(pos, train_id, train, index)
on_train_approach = function(pos, train_id, train, index, lzbdata)
^- called when a train is approaching this position, called exactly once for every path recalculation (which can happen at any time)
^- This is called so that if the train would start braking now, it would come to halt about(wide approx) 5 nodes before the rail.
^- lzbdata should be ignored and nothing should be assigned to it
}
})

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@ -25,6 +25,7 @@ local no_action=false
local function reload_saves()
atwarn("Restoring saved state in 1 second...")
no_action=true
advtrains.lock_path_inval = false
--read last save state and continue, as if server was restarted
for aoi, le in pairs(minetest.luaentities) do
if le.is_wagon then
@ -192,6 +193,8 @@ dofile(advtrains.modpath.."/craft_items.lua")
dofile(advtrains.modpath.."/log.lua")
dofile(advtrains.modpath.."/passive.lua")
dofile(advtrains.modpath.."/lzb.lua")
--load/save

192
advtrains/lzb.lua Normal file
View File

@ -0,0 +1,192 @@
-- lzb.lua
-- Enforced and/or automatic train override control, providing the on_train_approach callback
--[[
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
{
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)
-- Function that determines what to do on the train in the moment it drives over that point.
}
}
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
]]
local params = {
BRAKE_SPACE = 10,
AWARE_ZONE = 50,
ADD_STAND = 2.5,
ADD_SLOW = 1.5,
ADD_FAST = 7,
ZONE_ROLL = 2,
ZONE_HOLD = 5, -- added on top of ZONE_ROLL
ZONE_VSLOW = 3, -- When speed is <2, still allow accelerating
DST_FACTOR = 1.5,
SHUNT_SPEED_MAX = advtrains.SHUNT_SPEED_MAX,
}
function advtrains.set_lzb_param(par, val)
if params[par] and tonumber(val) then
params[par] = tonumber(val)
else
error("Inexistant param or not a number")
end
end
local function look_ahead(id, train)
local acc = advtrains.get_acceleration(train, 1)
local vel = train.velocity
local brakedst = ( -(vel*vel) / (2*acc) ) * params.DST_FACTOR
local brake_i = advtrains.path_get_index_by_offset(train, train.index, brakedst + params.BRAKE_SPACE)
--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
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,
})
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)
end
end
lzb.trav = trav
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
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 f = (v1-v0) / a
local s = v0*f + a*f*f/2
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)
train.lzb = {
trav = atfloor(train.index),
data = {},
oncoming = {},
}
end
function advtrains.lzb_invalidate(train)
invalidate(train)
end
-- Add LZB control point
-- udata: User-defined additional data
function advtrains.lzb_add_checkpoint(train, index, speed, callback, udata)
local lzb = train.lzb
local pos = advtrains.path_get(train, index)
table.insert(lzb.oncoming, {
pos = pos,
idx = index,
spd = speed,
fun = callback,
data = udata,
})
end
advtrains.te_register_on_new_path(function(id, train)
invalidate(train)
look_ahead(id, train)
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)
end, true)

View File

@ -585,9 +585,9 @@ local function mknodecallback(name)
table.insert(callt, func)
end
end
return callt, function(pos, id, train, index)
return callt, function(pos, id, train, index, paramx1, paramx2, paramx3)
for _,f in ipairs(callt) do
f(pos, id, train, index)
f(pos, id, train, index, paramx1, paramx2, paramx3)
end
end
end
@ -597,6 +597,14 @@ end
local callbacks_enter_node, run_callbacks_enter_node = mknodecallback("enter")
local callbacks_leave_node, run_callbacks_leave_node = mknodecallback("leave")
-- Node callback for approaching
-- Might be called multiple times, whenever path is recalculated
-- signature is function(pos, id, train, index, lzbdata)
-- lzbdata: arbitrary data (shared between all callbacks), deleted when LZB is restarted.
-- These callbacks are called in order of distance as train progresses along tracks, so lzbdata can be used to
-- keep track of a train's state once it passes this point
local callbacks_approach_node, run_callbacks_approach_node = mknodecallback("approach")
local function tnc_call_enter_callback(pos, train_id, train, index)
--atdebug("tnc enter",pos,train_id)
@ -621,6 +629,18 @@ local function tnc_call_leave_callback(pos, train_id, train, index)
run_callbacks_leave_node(pos, train_id, train, index)
end
function advtrains.tnc_call_approach_callback(pos, train_id, train, index, lzbdata)
--atdebug("tnc approach",pos,train_id, lzbdata)
local node = advtrains.ndb.get_node(pos) --this spares the check if node is nil, it has a name in any case
local mregnode=minetest.registered_nodes[node.name]
if mregnode and mregnode.advtrains and mregnode.advtrains.on_train_approach then
mregnode.advtrains.on_train_approach(pos, train_id, train, index, lzbdata)
end
-- call other registered callbacks
run_callbacks_approach_node(pos, train_id, train, index, lzbdata)
end
advtrains.te_register_on_new_path(function(id, train)
train.tnc = {

View File

@ -846,8 +846,8 @@ function wagon:show_bordcom(pname)
local i=1
while train.lzb.oncoming[i] do
local oci = train.lzb.oncoming[i]
if oci.pos then
if advtrains.interlocking.db.get_sigd_for_signal(oci.pos) then
if oci.udata and oci.udata.signal_pos then
if advtrains.interlocking.db.get_sigd_for_signal(oci.udata.signal_pos) then
form = form .. "button[4.5,8;5,1;ilrs;Remote Routesetting]"
break
end

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@ -0,0 +1,113 @@
-- Interlocking counterpart of LZB, which has been moved into the core...
-- Registers LZB callback for signal management.
--[[
usage of lzbdata:
{
travsht = boolean indicating whether the train will be a shunt move at "trav"
travspd = speed restriction at end of traverser
travwspd = warning speed res.t
}
]]
local SHUNT_SPEED_MAX = advtrains.SHUNT_SPEED_MAX
local il = advtrains.interlocking
local function get_over_function(speed, shunt)
return function(pos, id, train, index, speed, lzbdata)
if speed == 0 and minetest.settings:get_bool("at_il_force_lzb_halt") then
atwarn(id,"overrun LZB 0 restriction (red signal) ",ent.pos)
-- Set train 1 index backward. Hope this does not lead to bugs...
train.index = index - 0.5
train.velocity = 0
train.ctrl.lzb = 0
minetest.after(0, advtrains.invalidate_path, id)
else
train.speed_restriction = speed
train.is_shunt = shunt
end
end
end
advtrains.tnc_register_on_approach(function(pos, id, train, index, lzbdata)
--atdebug(id,"IL ApprC",pos,index,lzbdata)
--train.debug = advtrains.print_concat_table({train.is_shunt,"|",index,"|",lzbdata})
local pts = advtrains.roundfloorpts(pos)
local cn = train.path_cn[index]
local travsht = lzbdata.travsht
if travsht==nil then
travsht = train.is_shunt
end
local travspd = lzbdata.travspd
local travwspd = lzbdata.travwspd
-- check for signal
local asp, spos = il.db.get_ip_signal_asp(pts, cn)
-- do ARS if needed
if spos then
--atdebug(id,"IL Spos (ARS)",spos,asp)
local sigd = il.db.get_sigd_for_signal(spos)
if sigd then
il.ars_check(sigd, train)
end
end
--atdebug("trav: ",pos, cn, asp, spos, "travsht=", lzb.travsht)
local lspd
if asp then
--atdebug(id,"IL Signal",spos,asp)
local nspd = 0
--interpreting aspect and determining speed to proceed
if 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
travsht = false
end
else
--train move
if asp.main.free then
nspd = asp.main.speed
elseif asp.shunt.free then
nspd = SHUNT_SPEED_MAX
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
local udata = {signal_pos = spos}
local callback = get_over_function(lspd, travsht)
advtrains.lzb_add_checkpoint(train, index, lspd, callback)
end
lzbdata.travsht = travsht
lzbdata.travspd = travspd
lzbdata.travwspd = travwspd
end)

View File

@ -22,7 +22,7 @@ dofile(modpath.."tcb_ts_ui.lua")
dofile(modpath.."route_ui.lua")
dofile(modpath.."tool.lua")
dofile(modpath.."lzb.lua")
dofile(modpath.."approach.lua")
dofile(modpath.."ars.lua")
dofile(modpath.."tsr_rail.lua")

View File

@ -1,292 +0,0 @@
-- lzb.lua
-- Enforced and/or automatic train override control, obeying signals
local function approach_callback(parpos, train_id, train, index)
local pos = advtrains.round_vector_floor_y(parpos)
local node=pnode or advtrains.ndb.get_node(pos)
local ndef=minetest.registered_nodes[node.name]
if ndef and ndef.advtrains and ndef.advtrains.on_train_approach then
ndef.advtrains.on_train_approach(pos, train_id, train, index)
end
end
--[[
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.t
oncoming = table containing oncoming signals, in order of appearance on the path
{
pos = position of the signal (not the IP!). Can be nil
idx = where this is on the path
spd = speed allowed to pass (determined dynamically)
npr = <boolean> "No permanent restriction" If true, this is only a punctual restriction.
speed_restriction is not set then, and train can accelerate after passing point
This is (as of Nov 2017) used by "lines" to brake the train down to 2 when approaching a stop
The actual "stop" command is given when the train passes the rail (on_train_enter callback)
}
}
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 params = {
BRAKE_SPACE = 10,
AWARE_ZONE = 50,
ADD_STAND = 2.5,
ADD_SLOW = 1.5,
ADD_FAST = 7,
ZONE_ROLL = 2,
ZONE_HOLD = 5, -- added on top of ZONE_ROLL
ZONE_VSLOW = 3, -- When speed is <2, still allow accelerating
DST_FACTOR = 1.5,
SHUNT_SPEED_MAX = advtrains.SHUNT_SPEED_MAX,
}
function advtrains.interlocking.set_lzb_param(par, val)
if params[par] and tonumber(val) then
params[par] = tonumber(val)
else
error("Inexistant param or not a number")
end
end
local function look_ahead(id, train)
local acc = advtrains.get_acceleration(train, 1)
local vel = train.velocity
local brakedst = ( -(vel*vel) / (2*acc) ) * params.DST_FACTOR
local brake_i = advtrains.path_get_index_by_offset(train, train.index, brakedst + params.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
-- run callback, if exists
approach_callback(pos, id, train, trav)
-- check for signal
local asp, spos = il.db.get_ip_signal_asp(pts, cn)
-- do ARS if needed
if spos then
local sigd = il.db.get_sigd_for_signal(spos)
if sigd then
il.ars_check(sigd, train)
end
end
--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 = params.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 = params.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,
sht = lzb.travsht,
})
end
end
end
lzb.trav = trav
lzb.travspd = travspd
lzb.travwspd = travwspd
--train.debug = dump(lzb)
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
local ent = lzb.oncoming[i]
local nodelete
if not ent.npr then
if ent.spd == 0 and minetest.settings:get_bool("at_il_force_lzb_halt") then
atwarn(train.id,"overrun LZB 0 restriction (red signal) ",ent.pos)
-- Set train 1 index backward. Hope this does not lead to bugs...
train.index = ent.idx - 0.5
train.velocity = 0
train.ctrl.lzb = 0
nodelete = true
else
train.speed_restriction = ent.spd
train.is_shunt = ent.sht
end
end
if not nodelete then
table.remove(lzb.oncoming, i)
end
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 + 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)
train.lzb = {
trav = atfloor(train.index),
travsht = train.is_shunt,
oncoming = {}
}
-- possible FIX: do not clear LZB control when invalidating. This will be cleared when apply_control is run next time
--train.ctrl.lzb = nil
end
function advtrains.interlocking.lzb_invalidate(train)
invalidate(train)
end
-- Add an (extra) lzb control point that is not a permanent restriction (see above)
-- (permanent restrictions are only to be imposed by signal ip's)
function advtrains.interlocking.lzb_add_oncoming_npr(train, idx, spd)
local lzb = train.lzb
table.insert(lzb.oncoming, {
idx = idx,
spd = spd,
npr = true,
})
end
advtrains.te_register_on_new_path(function(id, train)
invalidate(train)
look_ahead(id, train)
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)
end, true)

View File

@ -226,9 +226,9 @@ function advtrains.interlocking.signal_on_aspect_changed(pos)
local tns = advtrains.occ.get_trains_over(ipos)
for id, sidx in pairs(tns) do
local train = advtrains.trains[id]
-- local train = advtrains.trains[id]
--if train.index <= sidx then
advtrains.interlocking.lzb_invalidate(train)
minetest.after(0, advtrains.invalidate_path, id)
--end
end
end

View File

@ -34,7 +34,7 @@ local adefunc = function(def, preset, suffix, rotation)
if train.path_cn[index] == 1 then
local pe = advtrains.encode_pos(pos)
local npr = advtrains.interlocking.npr_rails[pe] or 2
advtrains.interlocking.lzb_add_oncoming_npr(train, index, npr)
advtrains.lzb_add_checkpoint(train, index, npr, nil)
end
end,
},

View File

@ -151,7 +151,7 @@ local adefunc = function(def, preset, suffix, rotation)
stdata.ars = {default=true}
end
if stdata.ars and (stdata.ars.default or advtrains.interlocking.ars_check_rule_match(stdata.ars, train) ) then
advtrains.interlocking.lzb_add_oncoming_npr(train, index, 2)
advtrains.lzb_add_checkpoint(train, index, 2, nil)
local stn = advtrains.lines.stations[stdata.stn]
local stnname = stn and stn.name or "Unknown Station"
train.text_inside = "Next Stop:\n"..stnname