Nicer interface between safety and speedmanager

diff --git a/hostside/safety.c b/hostside/safety.c
index bfa6c23503ab69627493219bcfedcacfe9b7f3aa..9838a22f31666e4046c2f6481febd16d2e8b3235 100644 (file)
--- a/hostside/safety.c
+++ b/hostside/safety.c
@@ -694,8 +694,10 @@ static int optunwind_nextseg(TrackLocation *t, TrackAdvanceContext *c,
 
 ErrorCode predict(Train *tra, struct timeval tnow, unsigned flags,
                  Segment *desire_move, int desire_movposcomb,
+                 const SpeedInfo *speed_info,
                  PredictionProblemCallback *ppc, void *ppcu) {
   PredictUserContext u;
+  SpeedInfo speed_info_buf;
   Segment *foredet;
   SEG_IV;
   ErrorCode ec;
@@ -706,9 +708,14 @@ ErrorCode predict(Train *tra, struct timeval tnow, unsigned flags,
   u.problem_callback= ppc;
   u.problem_callback_u= ppcu;
   u.neednewplan= !(flags & PREDF_OLDPLAN);
-  u.maxspeed= speedmanager_speed_maxestimate(u.train, tnow);
-  u.stopping= (flags & PREDF_OLDPLAN) && speedmanager_stopping(u.train);
-  u.stopping_distance= speedmanager_stoppingdistance(u.train, tnow);
+
+  if (!speed_info) {
+    speedmanager_getinfo(tra,tnow,&speed_info_buf);
+    speed_info= &speed_info_buf;
+  }
+  u.stopping= (flags & PREDF_OLDPLAN) && speed_info->stopping;
+  u.maxspeed= speed_info->max_speed_estimate;
+  u.stopping_distance= speed_info->stopping_distance;
 
   u.desire_move= desire_move;
   u.desire_movposcomb= desire_movposcomb;
@@ -1135,7 +1142,7 @@ ErrorCode safety_setdirection(Train *tra, int backwards,
   tra->backwards ^= 1;
   newfdet.seg->tr_backwards ^= 1;
   
-  ec= predict(tra,tnow, 0, 0,0, ppc,ppcu);
+  ec= predict(tra,tnow, 0, 0,0, 0,ppc,ppcu);
   if (!ec) {
     /* yay! */
     report_train_position(tra);
@@ -1151,7 +1158,7 @@ ErrorCode safety_setdirection(Train *tra, int backwards,
   tra->backwards ^= 1;
   newfdet.seg->tr_backwards ^= 1; /* in case it's the same as oldfdet */
 
-  ec2= predict(tra,tnow, PREDF_OLDPLAN,0,0, 0,(char*)"abandon reverse");
+  ec2= predict(tra,tnow, PREDF_OLDPLAN,0,0, 0,0,(char*)"abandon reverse");
   assert(!ec2);
 
   return ec;
@@ -1169,8 +1176,9 @@ void safety_notify_detection(Segment *seg) {
   Train *tra;
   ErrorCode ec;
   Segment *interferer;
-  int stopdist, maxinto;
+  int maxinto;
   struct timeval tnow;
+  SpeedInfo speed_info;
 
   if (seg->det_ignore) return;
 
@@ -1194,9 +1202,10 @@ void safety_notify_detection(Segment *seg) {
 
   mgettimeofday(&tnow);
 
-  stopdist= speedmanager_stoppingdistance(tra,tnow);
+  speedmanager_getinfo(tra,tnow,&speed_info);
   maxinto= seg->i->poscombs[seg->movposcomb].dist;
-  if (speedmanager_stopping(tra) && maxinto > stopdist) maxinto= stopdist;
+  if (speed_info.stopping && maxinto > speed_info.stopping_distance)
+    maxinto= speed_info.stopping_distance;
 
   tra->foredetect= seg;
   tra->uncertainty= tra->maxinto= maxinto;
@@ -1204,18 +1213,19 @@ void safety_notify_detection(Segment *seg) {
   report_train_position(tra);
 
   ec= predict(tra,tnow, PREDF_JUSTDET|PREDF_OLDPLAN,0,0,
-             detection_report_problem,0);
+             &speed_info, detection_report_problem,0);
   if (!ec) return;
 
   assert(ec == EC_SignallingPredictedProblem);
 
-  if (maxinto > stopdist) maxinto= stopdist;
+  if (maxinto > speed_info.stopping_distance)
+    maxinto= speed_info.stopping_distance;
   tra->maxinto= tra->uncertainty= maxinto;
 
   report_train_position(tra);
   speedmanager_safety_stop(tra,tnow);
   ec= predict(tra,tnow, PREDF_JUSTDET|PREDF_OLDPLAN,0,0,
-             0,(char*)"safety commanding stop");
+             &speed_info, 0,(char*)"safety commanding stop");
   assert(!ec);
 }
 
@@ -1240,10 +1250,10 @@ ErrorCode safety_movposchange(Segment *seg, MovPosComb comb,
     return predict_problem(&u,seg, "route set for approaching train");
 
   mgettimeofday(&tnow);
-  ec= predict(seg->owner,tnow, 0, seg,comb, ppc,ppcu);
+  ec= predict(seg->owner,tnow, 0, seg,comb, 0, ppc,ppcu);
   if (!ec) return 0;
 
-  ec2= predict(seg->owner,tnow, PREDF_OLDPLAN, 0,0,
+  ec2= predict(seg->owner,tnow, PREDF_OLDPLAN, 0,0, 0,
               0,(char*)"abandon movposchange");
   assert(!ec2);
 

diff --git a/hostside/safety.h b/hostside/safety.h
index ebde0aeb9fb358d0808e9d40dd06ff18bb4be69d..fe48cd9e031950d21a32649ddbb773d4c7545869 100644 (file)
--- a/hostside/safety.h
+++ b/hostside/safety.h
@@ -130,13 +130,21 @@ ErrorCode safety_setdirection(Train *tra, int backwards,
    /* the old plan is necessarily sufficient as we are not intending
     * to accelerate, change a movpos, etc. */
 
+typedef struct {
+  unsigned stopping:1;
+  double max_speed_estimate;
+  Distance stopping_distance;
+} SpeedInfo;
+
 ErrorCode predict(Train *tra, struct timeval tnow, unsigned flags,
                  Segment *desire_move, int desire_movposcomb,
+                 const SpeedInfo *speed_info /* 0: use speedmgr */,
                  PredictionProblemCallback *ppc, void *ppcu);
   /* Lower-level interface for speedmanager etc.
    * Caller must call this with different situations until it succeeds!
    * Caller may pass ppc=0 and ppcu=(char*)"some context" to
-   * cause safety_panic if it fails. */
+   * cause safety_panic if it fails.
+   */
 
 void report_train_position(Train *tra);
 void report_train_ownerships(Train *tra, Segment *furthest,
@@ -241,9 +249,8 @@ ErrorCode speedmanager_speedchange_request(Train *tra, int step,
 
 void speedmanager_safety_stop(Train *tra, struct timeval tnow);
 void speedmanager_reset_train(Train *tra);
-double speedmanager_speed_maxestimate(Train *tra, struct timeval tnow);
-double speedmanager_stoppingdistance(Train *tra, struct timeval tnow);
-int speedmanager_stopping(Train *tra);
+
+void speedmanager_getinfo(Train *tra, struct timeval tnow, SpeedInfo*);
 int speedmanager_stopped(Train *tra);
 
 void actual_speed(Train *tra, int step);

diff --git a/hostside/speed.c b/hostside/speed.c
index e8ad203beae6b3331a2da3dc8f8aa311d20d78da..ae42bd7ee58fbefbf0348ee50f755802dfe74048 100644 (file)
--- a/hostside/speed.c
+++ b/hostside/speed.c
@@ -70,15 +70,9 @@ static double current_speed(Train *tra, const struct timeval tnow) {
   return cs;
 }
 
-double speedmanager_speed_maxestimate(Train *tra, struct timeval tnow) {
-  return current_speed(tra,tnow) * MARGIN_SPEED;
-}
-
-double speedmanager_stoppingdistance(Train *tra, struct timeval tnow) {
-  double v, xs;
+static double stoppingdistance(Train *tra, struct timeval tnow, double v) {
+  double xs;
   const SpeedRange *regime;
-  
-  v= current_speed(tra,tnow);
 
   if (v==0) return 0;
 
@@ -92,12 +86,17 @@ double speedmanager_stoppingdistance(Train *tra, struct timeval tnow) {
   return xs + v * MARGIN_STOPTIME;
 }
 
-int speedmanager_stopping(Train *tra) {
-  int r;
-  r= tra->speed.try_speed < 0 && !tra->speed.step;
-  DPRINTF(speed,query, "stopping? %s  returning %d\n", tra->pname, r);
-  return r;
-}  
+void speedmanager_getinfo(Train *tra, struct timeval tnow, SpeedInfo *ir) {
+  double vnow= current_speed(tra,tnow);
+
+  ir->max_speed_estimate= vnow * MARGIN_SPEED;
+  ir->stopping_distance= stoppingdistance(tra,tnow,vnow);
+  ir->stopping= tra->speed.try_speed < 0 && !tra->speed.step;
+
+  DPRINTF(speed,query, "getinfo? %s  max=%f stopdist=%d %c\n", tra->pname,
+         ir->max_speed_estimate, ir->stopping_distance,
+         "-s"[ir->stopping]);
+}
 
 int speedmanager_stopped(Train *tra) {
   return tra->speed.speed == 0;
@@ -127,7 +126,7 @@ static ErrorCode request_core(Train *tra, int step, struct timeval tnow,
     toev_start(&tra->speed.decel);
     tra->speed.speed= vnow;
     if (ppc || ppcu) {
-      ec= predict(tra,tnow, PREDF_OLDPLAN,0,0,
+      ec= predict(tra,tnow, PREDF_OLDPLAN,0,0, 0,
                  0,(char*)"deceleration forbidden");
       assert(!ec);
     }
@@ -136,11 +135,11 @@ static ErrorCode request_core(Train *tra, int step, struct timeval tnow,
   }
 
   tra->speed.try_speed= vtarg;
-  ec= predict(tra,tnow, 0, 0,0, ppc,ppcu);
+  ec= predict(tra,tnow, 0, 0,0, 0, ppc,ppcu);
 
   if (ec) {
     tra->speed.try_speed= -1;
-    ec2= predict(tra,tnow, PREDF_OLDPLAN,0,0,
+    ec2= predict(tra,tnow, PREDF_OLDPLAN,0,0, 0,
                 0,(char*)"abandoned acceleration");
     assert(!ec2);
     return ec;

diff --git a/hostside/xs.gdb b/hostside/xs.gdb
index 46309988ed594c5af35bff3d1009b98d7755c474..b5ad1e4b1397eb34a27592d96db7ba8b6dc35c9d 100644 (file)
--- a/hostside/xs.gdb
+++ b/hostside/xs.gdb
@@ -1,7 +1,7 @@
 file ./realtime
 break vdie
 break nmra_errchk_fail
-break predict_problem
+#break predict_problem
 break safety_panic
 break obc_error
 #break findhead_nextseg