private static CBORObject UnitsToCbor(IUnitDatabase units)
{
// var cborMap = CBORObject.NewMap();
// cborMap.Add("simTimeElapsed", simTimeElapsed.ToString());
var list = CBORObject.NewArray();
foreach (var unit in units.EnumerateUnits())
{
var direction = Utility.QuaternionToDirectionVector(unit.Orientation);
var dirZ = Math.Atan2(direction.Y, direction.X);
list.Add(CBORObject.NewMap()
.Add("pos", unit.Pos)
// .Add("direction", direction)
.Add("heading", dirZ)
// .Add("orientation", unit.Orientation)
.Add("speed", unit.Velocity.Length())
);
}
return(CBORObject.NewMap()
.Add("name", "units") // deprecated
.Add("topic", "units")
.Add("displayName", "Units")
.Add("mimeType", "application/cbor")
.Add("data", list)
);
}
public static void RenderPng(SimulationCoordinateSpace coordinateSpace,
INetworkDatabase ndb,
IUnitDatabase units,
IDictionary <int, TrainControlStateSummary>?controllerMap,
string filename,
int w, int h,
double scale, int fontSize)
{
var center = new PointD(w / 2, h / 2);
var surf = new ImageSurface(Format.Argb32, w, h);
Context cr = new Context(surf);
RenderToContext(coordinateSpace, ndb, units, controllerMap, cr, center, scale, fontSize);
cr.Dispose();
surf.WriteToPng(filename);
surf.Finish();
surf.Dispose();
}
public Simulation(SimulationCoordinateSpace coordSpace, INetworkDatabase network, IUnitDatabase units, LoggingManager log)
{
CoordSpace = coordSpace;
Network = network;
Units = units;
_log = log;
_currentSegmentByUnitId = new int?[units.GetNumUnits()];
_dirByUnitId = new SegmentEndpoint[units.GetNumUnits()];
_tByUnitId = new float[units.GetNumUnits()];
_unitProperties = new UnitProperties[units.GetNumUnits()];
for (var unitIndex = 0; unitIndex < Units.GetNumUnits(); unitIndex++)
{
var unit = Units.GetUnitByIndex(unitIndex);
var result = Network.FindSegmentAt(unit.Pos, unit.Orientation, 0.2f, (float)(Math.PI * 0.25));
if (result == null)
{
Console.Error.WriteLine($"Simulation: could not snap unit {unitIndex} to railroad network!");
continue;
}
var(segmentId, dir, t) = result.Value;
_currentSegmentByUnitId[unitIndex] = segmentId;
_dirByUnitId[unitIndex] = dir;
_tByUnitId[unitIndex] = t;
var eh = _log.GetEntityHandle(_unitProperties[unitIndex].GetType(), unitIndex);
_unitProperties[unitIndex] = new UnitProperties {
Controller = new TrainControlStack(unitIndex, _log, Network),
AccelerationPin = _log.GetSignalPin(eh, "acceleration"),
VelocityPin = _log.GetSignalPin(eh, "velocity"),
SegmentIdPin = _log.GetSignalPin(eh, "segmentId"),
TPin = _log.GetSignalPin(eh, "t"),
};
_unitProperties[unitIndex].Controller.GoAutoSchedule();
}
}
public static void RenderSvg(SimulationCoordinateSpace coordinateSpace,
INetworkDatabase ndb,
IUnitDatabase units,
string filename)
{
var w = 1000;
var h = 600;
var scale = 0.04; // meters/pixel
var fontSize = 8;
var center = new PointD(w / 2, h / 2);
var surf = new SvgSurface(filename, w, h);
Context cr = new Context(surf);
RenderToContext(coordinateSpace, ndb, units, null, cr, center, scale, fontSize);
cr.Dispose();
surf.Flush();
surf.Finish();
surf.Dispose();
}
private static void RenderToContext(SimulationCoordinateSpace coordinateSpace,
INetworkDatabase ndb,
IUnitDatabase units,
IDictionary <int, TrainControlStateSummary>?controllerMap,
Context cr,
PointD center,
double scale, int fontSize)
{
//Console.WriteLine("RenderFullView start");
cr.SetSourceColor(aluminium1);
cr.Paint();
// cr.MoveTo(0, h);
// cr.ShowText($"Scale: full width = {(w / scale)} meters");
// Draw quadtree
var maybeQuadTree = ndb.GetQuadTreeIfYouHaveOne();
if (maybeQuadTree is {} quadTree)
{
DrawQuadTreeNode(quadTree.Root, cr, center, scale);
}
// Draw rail links
DrawLinks(ndb, cr, center, scale);
// Draw railway
foreach (var seg in ndb.EnumerateSegments())
{
Trace.Assert(seg.ControlPoints.Length == 2);
var start = SimToCanvasSpace(seg.ControlPoints[0], center, scale);
var end = SimToCanvasSpace(seg.ControlPoints[1], center, scale);
cr.LineWidth = railLineWidth;
cr.SetSourceColor(seg.Oneway == false ? aluminium6 : aluminium5);
cr.MoveTo(start);
cr.LineTo(end);
cr.Stroke();
// DrawTextRegular(cr, $"{seg.Id}", new PointD((start.X + end.X) / 2, (start.Y + end.Y) / 2), 9);
}
// Draw stations
foreach (var station in ndb.EnumerateStations())
{
PointD pos0 = new PointD();
cr.SetSourceColor(skyBlue2);
foreach (var stop in station.Stops)
{
var pos = ndb.GetSegmentById(stop.SegmentId).GetPoint(stop.T);
var posCS = SimToCanvasSpace(pos, center, scale);
pos0 = posCS;
cr.LineWidth = 0.5;
DrawCrosshair(cr, posCS, 5);
}
cr.SetSourceColor(aluminium2);
DrawTextRegular(cr, station.Name, pos0, fontSize);
}
// Draw trains
int unitIndex = 0;
foreach (var unit in units.EnumerateUnits())
{
var pos = unit.Pos;
var head = unit.Pos + Vector3.Transform(new Vector3((float)(5 / scale), 0, 0), unit.Orientation);
var posCS = SimToCanvasSpace(pos, center, scale);
var headCS = SimToCanvasSpace(head, center, scale);
var info = $"{unit.Class.Name}\n{unit.Velocity.Length() * 3.6:F1} km/h";
if (controllerMap != null && controllerMap.ContainsKey(unitIndex))
{
info += "\n" + controllerMap[unitIndex].SchedulerState;
var route = controllerMap[unitIndex].SegmentsToFollow;
if (route != null)
{
foreach (var entry in route)
{
// try {
// Console.WriteLine($"Segment => {entry.SegmentId}");
var seg = ndb.GetSegmentById(entry.SegmentId);
Trace.Assert(seg.ControlPoints.Length == 2);
var startXyz = seg.GetEndpoint(entry.EntryEp);
var endXyz = entry.GoalT >= 0 ? seg.GetPoint(entry.GoalT) : seg.GetEndpoint(entry.EntryEp.Other());
var start = SimToCanvasSpace(startXyz, center, scale);
var end = SimToCanvasSpace(endXyz, center, scale);
cr.LineWidth = railLineWidth * 2;
cr.SetSourceColor(plum1);
cr.MoveTo(start);
cr.LineTo(end);
cr.Stroke();
// }
// catch (System.InvalidOperationException ex) {
// }
}
}
}
cr.LineWidth = railLineWidth * 2;
cr.SetSourceColor(chameleon1);
cr.MoveTo(posCS.X * 2 - headCS.X, posCS.Y * 2 - headCS.Y);
cr.LineTo(headCS);
cr.Stroke();
cr.SetSourceColor(chameleon3);
DrawTextBold(cr, info, posCS, fontSize);
unitIndex++;
}
// Draw info about agents
// if (agents != null)
// {
// int i = 0;
// foreach (var agent in agents)
// {
// DrawTextRegular(cr, agent.ToString(), new PointD(0, i * 10), 9);
// i++;
// }
// }
cr.LineWidth = 1;
cr.SetSourceColor(scarledRed1);
DrawCrosshair(cr, center, 10);
//Console.WriteLine("RenderFullView done");
}
