working on new autopilot code

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+")"));