working on new autopilot code

pom.xml

@@ -4,7 +4,7 @@
 	<modelVersion>4.0.0</modelVersion>
 	<groupId>de.srsoftware</groupId>
 	<artifactId>web4rail</artifactId>
-	<version>1.3.53</version>
+	<version>1.3.54</version>
 	<name>Web4Rail</name>
 	<packaging>jar</packaging>
 	<description>Java Model Railway Control</description>

src/main/java/de/srsoftware/web4rail/Plan.java

@@ -36,6 +36,7 @@ import de.srsoftware.web4rail.tags.Input;
 import de.srsoftware.web4rail.tags.Label;
 import de.srsoftware.web4rail.tags.Table;
 import de.srsoftware.web4rail.tags.Window;
+import de.srsoftware.web4rail.threads.BrakeProcessor;
 import de.srsoftware.web4rail.threads.ControlUnit;
 import de.srsoftware.web4rail.tiles.Block;
 import de.srsoftware.web4rail.tiles.BlockContact;
@@ -152,7 +153,7 @@ public class Plan extends BaseClass{
 	private static final String SPEED_UNIT = "speed_unit";
 	private static final String LENGTH_UNIT = "length_unit";
 	private static final String CONFIRM = "confirm";
-//	private static final String FINAL_SPEED = "final_speed"; // TODO
+	private static final String FINAL_SPEED = "final_speed"; 
 	private static final String FREE_BEHIND_TRAIN = "free_behind_train";
 	private static final String RENAME = "rename";
 	private String name = DEFAULT_NAME;
@@ -356,7 +357,7 @@ public class Plan extends BaseClass{
 		new Input(ACTION,ACTION_UPDATE).hideIn(form);
 		new Input(LENGTH_UNIT, lengthUnit).addTo(new Label(t("Length unit")+COL)).addTo(form);
 		new Input(SPEED_UNIT, speedUnit).addTo(new Label(t("Speed unit")+COL)).addTo(form);
-		//new Input(FINAL_SPEED, BrakeProcessor.defaultEndSpeed).addTo(new Label(t("Lower speed limit")+COL)).attr("title", t("Final speed after breaking, before halting")).addTo(form); // TODO
+		new Input(FINAL_SPEED, BrakeProcessor.defaultEndSpeed).addTo(new Label(t("Lower speed limit")+COL)).attr("title", t("Final speed after breaking, before halting")).addTo(form); // TODO
 		new Checkbox(FREE_BEHIND_TRAIN, t("Free tiles behind train"), Route.freeBehindTrain).attr("title", t("If checked, tiles behind the train are freed according to the length of the train and the tiles. If it is unchecked, tiles will not get free before route is finished.")).addTo(form);
 		new Button(t("Save"), form).addTo(form);
 		form.addTo(fieldset);
@@ -490,7 +491,7 @@ public class Plan extends BaseClass{
 			.forEach(jTiles::put);
 		
 		return new JSONObject()
-//				.put(FINAL_SPEED, BrakeProcessor.defaultEndSpeed) // TODO
+				.put(FINAL_SPEED, BrakeProcessor.defaultEndSpeed) 
 				.put(FREE_BEHIND_TRAIN, Route.freeBehindTrain)
 				.put(LENGTH_UNIT, lengthUnit)
 				.put(SPEED_UNIT, speedUnit)
@@ -524,7 +525,7 @@ public class Plan extends BaseClass{
 		if (json.has(TILE)) json.getJSONArray(TILE).forEach(object -> Tile.load(object, plan));
 		if (json.has(LENGTH_UNIT)) lengthUnit = json.getString(LENGTH_UNIT);
 		if (json.has(SPEED_UNIT)) speedUnit = json.getString(SPEED_UNIT);
-//		if (json.has(FINAL_SPEED)) BrakeProcessor.defaultEndSpeed = json.getInt(FINAL_SPEED); // TODOO
+		if (json.has(FINAL_SPEED)) BrakeProcessor.defaultEndSpeed = json.getInt(FINAL_SPEED);
 		if (json.has(FREE_BEHIND_TRAIN)) Route.freeBehindTrain = json.getBoolean(FREE_BEHIND_TRAIN);
 			
 		try {
@@ -983,7 +984,7 @@ public class Plan extends BaseClass{
 		
 		if (params.containsKey(LENGTH_UNIT)) lengthUnit = params.get(LENGTH_UNIT);
 		if (params.containsKey(SPEED_UNIT)) speedUnit = params.get(SPEED_UNIT);
-//		if (params.containsKey(FINAL_SPEED)) BrakeProcessor.defaultEndSpeed = Integer.parseInt(params.get(FINAL_SPEED)); // TODO
+		if (params.containsKey(FINAL_SPEED)) BrakeProcessor.defaultEndSpeed = Integer.parseInt(params.get(FINAL_SPEED)); 
 		Route.freeBehindTrain = "on".equalsIgnoreCase(params.get(FREE_BEHIND_TRAIN));
 		
 		return t("Plan updated.");		

src/main/java/de/srsoftware/web4rail/Route.java

@@ -266,11 +266,6 @@ public class Route extends BaseClass {
 		return this;
 	}
 	
-	public void brakeStart() {
-		if (isNull(train)) return;		
-//		brakeProcessor = new BrakeProcessor(this,train);
-	}
-	
 	protected Route clone() {
 		Route clone = new Route();
 		clone.startBlock = startBlock;
@@ -331,7 +326,7 @@ public class Route extends BaseClass {
 		ActionList actions = triggeredActions.get(contact.trigger());
 		LOG.debug("Contact has id {} / trigger {} and is assigned with {}",contact.id(),contact.trigger(),isNull(actions)?t("nothing"):actions);
 		if (isNull(actions)) return;
-		Context context = new Context(this).train(train);
+		Context context = new Context(this).train(train).contact(contact);
 		actions.fire(context,"Route.Contact("+contact.addr()+")");
 	}
 
@@ -382,11 +377,19 @@ public class Route extends BaseClass {
 	
 	public void finish() {
 		LOG.debug("{}.finish()",this);
-		
-		// TODO:
-
+		train.endRoute();
+		train = null;
+		free();		
 	}
 	
+	private void free() {
+		for (Tile tile : path) {
+			if (train.onTrace(tile)) {
+				tile.setState(Status.OCCUPIED, train);
+			} else tile.free();
+		}
+	}
+
 	private String generateName() {
 		StringBuilder sb = new StringBuilder();
 		for (int i=0; i<path.size();i++) {

src/main/java/de/srsoftware/web4rail/actions/BrakeStart.java

@@ -10,8 +10,8 @@ public class BrakeStart extends Action {
 
 	@Override
 	public boolean fire(Context context,Object cause) {
-		if (isNull(context.route())) return false;
-		context.route().brakeStart();
+		if (isNull(context.train())) return false;
+		context.train().startBrake();
 		LOG.debug("Started brake process...");
 		return true;
 	}

src/main/java/de/srsoftware/web4rail/moving/Train.java

@@ -36,6 +36,7 @@ import de.srsoftware.web4rail.tags.Label;
 import de.srsoftware.web4rail.tags.Select;
 import de.srsoftware.web4rail.tags.Table;
 import de.srsoftware.web4rail.tags.Window;
+import de.srsoftware.web4rail.threads.BrakeProcessor;
 import de.srsoftware.web4rail.threads.PathFinder;
 import de.srsoftware.web4rail.tiles.Block;
 import de.srsoftware.web4rail.tiles.Contact;
@@ -101,6 +102,8 @@ public class Train extends BaseClass implements Comparable<Train> {
 
 	private HashSet<Listener> listeners = new HashSet<Train.Listener>();
 
+	private BrakeProcessor brakeProcessor;
+
 	public static Object action(HashMap<String, String> params, Plan plan) throws IOException {
 		String action = params.get(ACTION);
 		if (isNull(action)) return t("No action passed to Train.action!");
@@ -409,6 +412,14 @@ public class Train extends BaseClass implements Comparable<Train> {
 		while (!trace.isEmpty()) trace.removeFirst().free();
 	}
 	
+	public void endRoute() {
+		setSpeed(0);
+		if (isSet(brakeProcessor)) brakeProcessor.end();
+		brakeProcessor = null;
+		route = null;
+	}
+
+	
 	private Tag faster(int steps) {
 		setSpeed(speed+steps);
 		return properties();
@@ -901,6 +912,18 @@ public class Train extends BaseClass implements Comparable<Train> {
 		// TODO Auto-generated method stub
 		return null;
 	}
+	
+	public void startBrake() {
+		if (isNull(route)) {
+			LOG.warn("{}.startBrake() called, but train ist not on a route!",this);
+			return;
+		}
+		if (isSet(brakeProcessor)) {
+			LOG.debug("{} already is braking.");
+			return;
+		}
+		brakeProcessor = new BrakeProcessor(this).start();
+	}
 
 	public Object stopNow() {
 		setSpeed(0);

src/main/java/de/srsoftware/web4rail/threads/BrakeProcessor.java

@@ -0,0 +1,99 @@
+package de.srsoftware.web4rail.threads;
+
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import de.srsoftware.web4rail.BaseClass;
+import de.srsoftware.web4rail.Route;
+import de.srsoftware.web4rail.moving.Train;
+
+/**
+ * @author Stephan Richter, SRSoftware
+ *
+ */
+public class BrakeProcessor extends BaseClass implements Runnable {
+
+	private enum State {
+		IDLE, BRAKING, ABORTED, ENDED;
+	}
+
+	private static final Logger LOG = LoggerFactory.getLogger(BrakeProcessor.class);
+	public static int defaultEndSpeed;
+	private Train train;
+	private State state = State.IDLE;
+	private long measuredDistance;
+	private long lastTime;
+	private Integer brakeTime;
+	private int startSpeed;
+
+	public BrakeProcessor(Train train) {
+		this.train = train;
+	}
+
+	public void end() {
+		state = State.ENDED;
+		measuredDistance += train.speed * (BaseClass.timestamp() - lastTime);
+		LOG.debug("old brake time: {}, measured distance: {}",brakeTime,measuredDistance);
+		int step = brakeTime;
+		for (int i=0; i<10; i++) {
+			long calculatedDistance = calculate(brakeTime,startSpeed);
+			step/=2;
+			if (step<1) step = 1;
+			LOG.debug("new brake time: {}, calculated distance: {}",brakeTime,calculatedDistance);
+			if (measuredDistance < calculatedDistance) {
+				brakeTime -= step;
+			}
+			if (measuredDistance > calculatedDistance) {
+				brakeTime += step;
+			}
+		}
+		LOG.debug("new brake time: {}, calculated distance: {}",brakeTime,"");
+	}
+
+	private static long calculate(int brakeTime, int speed) {
+		long dist = 0;
+		while (speed > defaultEndSpeed) {
+			dist += speed*brakeTime;
+			speed -= 10;
+		}
+		return dist;
+	}
+
+	@Override
+	public void run() {
+		LOG.debug("run()");
+		Route route = train.route();
+		if (isNull(route)) return;
+		brakeTime = route.brakeTime(train.brakeId());
+		if (isNull(brakeTime)) brakeTime = 250;
+
+		state = State.BRAKING;
+		measuredDistance = 0;
+		lastTime = BaseClass.timestamp();
+		startSpeed = train.speed;
+		int targetSpeed = defaultEndSpeed;
+		while (state == State.BRAKING) {
+			sleep(brakeTime);
+			long newTime = BaseClass.timestamp();
+			if (isNull(train.route())) state = State.ABORTED;
+			if (state != State.BRAKING) break;
+			measuredDistance += train.speed * (newTime - lastTime);
+			int newSpeed = train.speed - 10;
+			if (newSpeed < targetSpeed) {
+				train.setSpeed(targetSpeed);
+				break;
+			}
+			train.setSpeed(newSpeed);
+			lastTime = newTime;
+		}
+		LOG.debug("{} reached final speed.", train);
+	}
+
+	public BrakeProcessor start() {
+		Thread thread = new Thread(this);
+		thread.setName(getClass().getSimpleName());
+		thread.start();
+		return this;
+	}
+
+}

src/main/java/de/srsoftware/web4rail/threads/ControlUnit.java

@@ -321,9 +321,7 @@ public class ControlUnit extends Thread implements Constants{
 								Thread thread = new Thread() {
 									@Override
 									public void run() {
-										set(false);
 										plan.sensor(addr,active);
-										set(true);
 									}
 								};			
 								thread.setName(Application.threadName("CU.FeedBack("+addr+")"));

src/main/java/de/srsoftware/web4rail/tiles/Tile.java

@@ -139,6 +139,7 @@ public abstract class Tile extends BaseClass implements Comparable<Tile>{
 	public void free() {
 		train = null;
 		status = Status.FREE;
+		plan.place(this);
 	}
 	
 	public int height() {