From: ian <ian>
Date: Mon, 21 Apr 2008 00:52:01 +0000 (+0000)
Subject: restoring uncertainty
X-Git-Url: http://www.chiark.greenend.org.uk/ucgi/~ijackson/git?a=commitdiff_plain;h=a1bca6b21aaef60d84d2b50fea37bcd8a4e0c8d8;p=trains.git

restoring uncertainty
---

diff --git a/hostside/persist.c b/hostside/persist.c
index 4221eac..01171e5 100644
--- a/hostside/persist.c
+++ b/hostside/persist.c
@@ -373,9 +373,11 @@ void persist_entrails_run_converter(void) {
     if (!tra->pname || !tra->foredetect ||
 	!tra->foredetect->i || !tra->foredetect->i->pname)
       continue;
-    printf("train %s at %s%s\n",
+    printf("train %s at %s%s:%d-+%d\n",
 	   tra->pname, tra->backwards ? "-" : "",
-	   tra->foredetect->i->pname);
+fixme tra->backwards is wrong
+ need to provide both tra->backwards and tr_backwards
+	   tra->foredetect->i->pname, tra->mininto, tra->uncertainty);
   }
   FOR_SEG {
     if (seg->i != segi || !segi->pname ||
diff --git a/hostside/record-y.y b/hostside/record-y.y
index 25193d3..984fa9c 100644
--- a/hostside/record-y.y
+++ b/hostside/record-y.y
@@ -44,8 +44,8 @@ line:		/* empty */
 	|	TRAIN train IS NUM NUM '+' NUM '+' NUM
 	{	  if ($2) record_train_is($2,$4,$5,$7,$9);
 	}
-	|	TRAIN train AT backwards seg
-	{	  if ($2) record_train_at($2,$4,$5);
+	|	TRAIN train AT backwards seg ':' NUM '+' '-' NUM
+	{	  if ($2) record_train_at($2,$4,$5,$7,$10);
 	}
 	|	TRAIN train AT backwards seg ':' NUM '+' '-' NUM
 	{	  if ($2) record_train_at($2,$4,$5,$7,$10);
diff --git a/hostside/record.c b/hostside/record.c
index fc68746..b75964b 100644
--- a/hostside/record.c
+++ b/hostside/record.c
@@ -184,7 +184,7 @@ void record_train_is(Train *tra, int addr, int head, int det, int tail) {
   tra->tail= tail;
 }
 
-void record_train_at(Train *tra, int backw, Segment *seg, int maxi, int unc) {
+void record_train_at(Train *tra, int backw, Segment *seg, int mini, int unc) {
   tra->foredetect= seg;
   tra->maxinto= maxi;
   tra->uncertainty= unc;
@@ -402,6 +402,7 @@ static void alloc(void) {
 	tra->pname= *trap= pname;
 	tra->addr= -1;
 	tra->foredetect= 0;
+	tra->uncertainty= tra->maxinto= 0;
 	tra->backwards= 0;
 	for (step=0; step<=SPEEDSTEPS; step++)
 	  tra->speedcurve[step]= -1;
diff --git a/hostside/resolve.c b/hostside/resolve.c
index 8f05587..c462947 100644
--- a/hostside/resolve.c
+++ b/hostside/resolve.c
@@ -357,15 +357,32 @@ int resolve_complete(void) {
   return 0;
 }
 
-void resolve_motioncheck(void) {
-  SEG_IV;
-  assert(sta_state == Sta_Finalising);
+static int rtf_nextseg(TrackLocation *t, struct TrackAdvanceContext *c,
+		       MovPosComb *mpc_io, Segment *before) {
+  if (t->seg->owner != before->owner)
+    return -1;
+  t->seg->owner->foredetect= t->seg;
+}
+
+static void resolve_train_finalise(Train *tra) {
+  TrackLocation t;
+  TrackAdvanceContext tc;
+
+  t.seg= tra->foredetect;
+  t.remain= 0;
+  t.backwards= t.seg->tr_backwards;
+  tc.distance= INT_MAX;
+  tc.nextseg= rtf_nextseg;
+  tc.getmovpos= 0;
+  tc.trackend= 0;
+
+  trackloc_advance(&t,&tc);
+
   
-  FOR_SEG
-    if (seg->moving) return;
 
-  FOR_SEG {
-    if (seg->res_detect) {
+  for (;;) {
+    
+
       Segment *notify, *onwards;
       const SegPosCombInfo *pci;
       const SegmentLinkInfo *link;
@@ -376,7 +393,7 @@ void resolve_motioncheck(void) {
 	assert(notify->movposcomb >= 0);
 
 	pci= &notify->i->poscombs[notify->movposcomb];
-	link= notify->tr_backwards ? &pci->backwards : &pci->forwards;
+	link= &pci->link[notify->tr_backwards];
 
 	if (!SOMEP(link->next)) break;
 	onwards= &segments[link->next];
@@ -385,6 +402,27 @@ void resolve_motioncheck(void) {
 
 	notify= onwards;
       }
+  
+
+void resolve_motioncheck(void) {
+  SEG_IV;
+  assert(sta_state == Sta_Finalising);
+  
+  FOR_SEG
+    if (seg->moving) return;
+
+  FOR_SEG
+    if (seg->res_detect) {
+      assert(seg->owner);
+      seg->owner->foredetect= seg; /* initial guess */
+    }
+  
+
+  FOR_TRA
+    resolve_train_finalise(tra);
+
+  FOR_SEG {
+    if (seg->res_detect) {
       
       safety_notify_detection(notify);
     }
diff --git a/hostside/safety.c b/hostside/safety.c
index 6874a01..1d00aea 100644
--- a/hostside/safety.c
+++ b/hostside/safety.c
@@ -498,14 +498,19 @@ ErrorCode predict_confirm(Train *tra, int accelerate,
   u.problem_callback= ppc;
   u.problem_callback_u= ppcu;
 
-  trackloc_set_maxinto(&u.fdet, foredet, foredet->tr_backwards);
-  trackloc_set_maxinto(&u.tail, foredet, !foredet->tr_backwards);
+  u.fdetc.getmovpos= pred_getmovpos;
+  u.tailc.getmovpos= pred_getmovpos;
+
+  trackloc_set_exactinto(&u.fdet, &u.fdetc, foredet, foredet->tr_backwards,
+			 tra->maxinto);
+  u.tail= u.fdet;
+  ec= trackloc_reverse_exact(&u.tail, &u.tailc);  assert(!ec);
 
   /* find the train's tail and mark it present */
 
-  u.tailc.distance= tra->detectable + (tra->backwards ? tra->head : tra->tail);
+  u.tailc.distance= tra->detectable + (tra->backwards ? tra->head : tra->tail)
+    + tra->uncertainty + MARGIN_TAIL;
   u.tailc.nextseg= initpresent_nextseg;
-  u.tailc.getmovpos= pred_getmovpos;
   u.tailc.trackend= pred_trackend_panic;
   u.tailc.u= &u;
 
@@ -597,16 +602,19 @@ static void detection_report_problem(Train *tra, Segment *seg,
 
 void safety_notify_detection(Segment *seg) {
   Train *tra;
+  TrackLoc tloc;
   ErrorCode ec;
   
   if (seg->det_ignore) return;
   if (!seg->det_expected)
     safety_panic(0,seg, "unexpected detection");
-
+  if (seg->movposcomb < 0)
+    safety_panic(tra,seg, "track route not set and train has arrived");
+  
   tra= seg->owner;
   tra->foredetect= seg;
-  if (tra->foredetect->movposcomb < 0)
-    safety_panic(tra,seg, "track route not set and train has arrived");
+  tra->uncertainty= tra->maxinto=
+    seg->i->poscombs[seg->movposcomb].dist;
 
   ec= predict_confirm(tra, 0, detection_report_problem, 0);
   if (!ec) return;
diff --git a/hostside/safety.h b/hostside/safety.h
index e21531b..e80a073 100644
--- a/hostside/safety.h
+++ b/hostside/safety.h
@@ -40,6 +40,7 @@ struct Train {
 
   /* Location: */
   struct Segment *foredetect;
+  Distance maxinto, uncertainty;
   unsigned
     backwards:1, /* train is moving backwards wrt its own front and back */
 
@@ -332,6 +333,7 @@ int trackloc_reverse_exact(TrackLocation *t, TrackAdvanceContext *c);
 /*---------- safety margin parameters ----------*/
 
 #define MARGIN_NOSE 6
+#define MARGIN_TAIL 6
 #define MARGIN_SPEED 1.2
 
 #if 0
diff --git a/hostside/speed.c b/hostside/speed.c
index d67df9c..fcdaecf 100644
--- a/hostside/speed.c
+++ b/hostside/speed.c
@@ -15,6 +15,9 @@ static void xmit(Train *tra) {
 static void decel_done(TimeoutEvent *toev) {
   Train *tra= (void*)((char*)toev - offsetof(Train, speed.decel));
   tra->speed.speed= tra->speedcurve[tra->speed.step];
+  if (tra->sigstopping) {
+    assert(!tra->speed.step);
+    resolve_train_
 }
 
 static const SpeedRange *stop_info(Train *tra, double speed) {
@@ -38,7 +41,8 @@ static double current_speed(Train *tra, const struct timeval tnow) {
 
   if (left_to_go <= 0) {
     toev_stop(&tra->speed.decel);
-    return tra->speed.speed= tra->speedcurve[tra->speed.step];
+    decel_done(&tra->speed.decel);
+    return tra->speed.speed;
   }
 
   v2= tra->speed.speed;
@@ -115,6 +119,7 @@ ErrorCode speedmanager_speedchange_request(Train *tra, int step,
   toev_stop(&tra->speed.decel);
   tra->speed.speed= vtarg;
   tra->speed.try_speed= -1;
+  tra->sigstopping= 0;
   xmit(tra);
   return 0;
 }