1 #include <msp/core/maputils.h>
6 #include "trainroutemetric.h"
7 #include "trainrouteplanner.h"
8 #include "trainrouter.h"
16 TrainRoutePlanner::TrainRoutePlanner(Layout &layout):
21 const map<unsigned, Train *> &trains = layout.get_trains();
22 for(map<unsigned, Train *>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
24 TrainRoutingInfo info(*i->second);
25 if(info.router && info.router->get_destination())
26 routed_trains.push_back(info);
30 TrainRoutePlanner::~TrainRoutePlanner()
35 TrainRoutePlanner::Result TrainRoutePlanner::plan()
45 void TrainRoutePlanner::plan_async()
48 throw logic_error("already planning");
51 thread = new PlanningThread(*this);
54 TrainRoutePlanner::Result TrainRoutePlanner::check()
56 if(result==PENDING && goal)
66 const list<Route *> &TrainRoutePlanner::get_routes_for(const Train &train) const
68 return get_train_info(train).routes;
71 const list<TrainRouter::SequencePoint> &TrainRoutePlanner::get_sequence_for(const Train &train) const
73 return get_train_info(train).sequence;
76 const TrainRoutePlanner::TrainRoutingInfo &TrainRoutePlanner::get_train_info(const Train &train) const
78 for(vector<TrainRoutingInfo>::const_iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
82 throw key_error(train.get_name());
85 const TrainRoutePlanner::RoutingStep &TrainRoutePlanner::get_step()
87 steps.splice(steps.end(), queue, queue.begin());
91 void TrainRoutePlanner::prepare_plan()
98 queue.push_back(RoutingStep());
99 RoutingStep &start = queue.back();
100 for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
101 start.trains.push_back(TrainRoutingState(*i));
102 start.update_estimate();
105 void TrainRoutePlanner::create_plan()
107 while(!queue.empty())
109 const RoutingStep &step = get_step();
122 void TrainRoutePlanner::add_steps(const RoutingStep &step)
124 list<RoutingStep> new_steps;
125 step.create_successors(new_steps);
127 queue.merge(new_steps);
130 void TrainRoutePlanner::finalize_plan()
132 for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
136 for(unsigned j=0; j<3; ++j)
137 i->track_history[j] = 0;
140 map<Track *, TrainRouter::SequencePoint *> sequenced_tracks;
141 unsigned sequence = steps.size();
142 for(const RoutingStep *i=goal; i; i=i->prev)
143 for(vector<TrainRoutingState>::const_iterator j=i->trains.begin(); j!=i->trains.end(); ++j)
145 Track **history = j->info->track_history;
146 if(j->track.track()==history[0])
150 bool start_new_route = true;
151 if(!j->info->routes.empty())
153 route = j->info->routes.front();
154 start_new_route = route->has_track(*j->track);
157 unsigned nls = j->track->get_n_link_slots();
158 for(unsigned k=0; (!start_new_route && k<nls); ++k)
160 Track *link = j->track->get_link(k);
161 start_new_route = (link && link!=history[0] && route->has_track(*link));
168 route = new Route(j->info->train->get_layout());
169 route->set_name("Router");
170 route->set_temporary(true);
171 for(unsigned k=2; k>0; --k)
173 route->add_track(*history[k]);
174 j->info->routes.push_front(route);
178 route->add_track(*history[0]);
179 for(unsigned k=2; k>0; --k)
180 history[k] = history[k-1];
181 history[0] = j->track.track();
183 bool waitable = j->track.endpoint().paths!=j->track->get_type().get_paths();
184 map<Track *, TrainRouter::SequencePoint *>::iterator k = sequenced_tracks.find(j->track.track());
185 if(k!=sequenced_tracks.end())
187 if(!k->second->preceding_train)
189 k->second->preceding_train = j->info->train;
190 k->second->sequence_in = sequence;
192 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
194 k->second = &j->info->sequence.front();
199 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
200 sequenced_tracks[j->track.track()] = &j->info->sequence.front();
209 TrainRoutePlanner::TrainRoutingInfo::TrainRoutingInfo(Train &t):
211 speed(train->get_maximum_speed()),
212 router(train->get_ai_of_type<TrainRouter>())
214 // If no maximum speed is specified, use a sensible default
216 speed = 20*train->get_layout().get_catalogue().get_scale();
220 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(Track &t, unsigned p, OccupiedTrack *n):
222 path_length(track->get_type().get_path_length(p)),
224 n_tracks(next ? next->n_tracks+1 : 1),
231 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(const OccupiedTrack &other):
233 path_length(other.path_length),
235 n_tracks(other.n_tracks),
242 TrainRoutePlanner::OccupiedTrack::~OccupiedTrack()
244 if(next && !--next->refcount)
249 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
253 delay(info->router->get_departure_delay()),
254 waypoint(info->router->get_n_waypoints() ? 0 : -1),
257 const Vehicle *veh = &info->train->get_vehicle(0);
259 TrackOffsetIter track_and_offs = veh->get_placement().get_position(VehiclePlacement::FRONT_BUFFER);
260 track = track_and_offs.track_iter();
261 offset = track_and_offs.offset();
262 path = track->get_active_path();
264 while(Vehicle *next = veh->get_link(1))
266 track_and_offs = veh->get_placement().get_position(VehiclePlacement::BACK_BUFFER);
267 back_offset = track_and_offs.offset();
269 TrackIter iter = track_and_offs.track_iter();
272 occupied_tracks = new OccupiedTrack(*iter, iter->get_active_path(), occupied_tracks);
273 if(iter.track()==track.track())
281 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other):
285 occupied_tracks(other.occupied_tracks),
286 offset(other.offset),
287 back_offset(other.back_offset),
290 waypoint(other.waypoint),
291 distance_traveled(other.distance_traveled),
292 remaining_estimate(other.remaining_estimate),
293 wait_time(other.wait_time),
294 blocked_by(other.blocked_by)
296 ++occupied_tracks->refcount;
299 TrainRoutePlanner::TrainRoutingState::~TrainRoutingState()
301 if(occupied_tracks && !--occupied_tracks->refcount)
302 delete occupied_tracks;
305 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() const
307 return ((track->get_type().get_path_length(path)-offset)/info->speed)*Time::sec+delay;
310 bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const
312 OccupiedTrack *occ = occupied_tracks;
313 for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next)
319 bool TrainRoutePlanner::TrainRoutingState::check_arrival()
321 TrainRouter &router = *info->router;
322 TrackIter next_track = track.next(path);
324 if(waypoint<0 && router.is_destination(*track) && !router.is_destination(*next_track))
329 else if(waypoint>=0 && router.is_waypoint(waypoint, *track) && !router.is_waypoint(waypoint, *next_track))
332 if(waypoint>=static_cast<int>(router.get_n_waypoints()))
339 void TrainRoutePlanner::TrainRoutingState::advance(float distance)
342 back_offset += distance;
344 OccupiedTrack *last_occ = occupied_tracks;
345 for(unsigned n=occupied_tracks->n_tracks; n>1; --n)
346 last_occ = last_occ->next;
348 // XXX What if there's multiple tracks to remove?
349 if(back_offset>last_occ->path_length)
351 back_offset -= last_occ->path_length;
352 if(occupied_tracks->refcount>1)
354 --occupied_tracks->refcount;
355 occupied_tracks = new OccupiedTrack(*occupied_tracks);
357 --occupied_tracks->n_tracks;
360 distance_traveled += distance;
361 remaining_estimate -= distance;
364 void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt)
372 float secs = dt/Time::sec;
375 secs -= delay/Time::sec;
380 advance(info->speed*secs);
381 else if(state!=ARRIVED)
382 wait_time += secs*Time::sec;
385 void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
387 float distance = occupied_tracks->path_length-offset;
388 track = track.next(path);
390 occupied_tracks = new OccupiedTrack(*track, path, occupied_tracks);
395 void TrainRoutePlanner::TrainRoutingState::update_estimate()
397 TrackIter iter = track.reverse(path);
398 float distance = info->router->get_metric(waypoint).get_distance_from(*iter.track(), iter.entry());
399 distance += track->get_type().get_path_length(path)-offset;
400 remaining_estimate = distance;
404 TrainRoutePlanner::RoutingStep::RoutingStep():
408 TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p):
410 cost_estimate(p->cost_estimate),
415 void TrainRoutePlanner::RoutingStep::create_successors(list<RoutingStep> &new_steps) const
417 RoutingStep next(this);
418 if(next.update_states())
420 if(next.check_deadlocks())
423 new_steps.push_back(next);
427 int train_index = find_next_train();
431 TrainRoutingState &train = next.trains[train_index];
433 Time::TimeDelta dt = train.get_time_to_next_track();
436 if(train.check_arrival())
438 new_steps.push_back(next);
442 TrackIter next_track = train.track.next(train.path);
443 train.advance_track(0);
445 const TrackType::Endpoint &next_entry_ep = next_track.endpoint();
446 for(unsigned i=0; next_entry_ep.paths>>i; ++i)
447 if(next_entry_ep.has_path(i))
450 train.update_estimate();
451 next.update_estimate();
453 new_steps.push_back(next);
456 if(next_entry_ep.paths!=next_track->get_type().get_paths())
458 RoutingStep wait(this);
460 wait.trains[train_index].state = WAITING;
462 new_steps.push_back(wait);
466 bool TrainRoutePlanner::RoutingStep::update_states()
468 bool changes = false;
469 for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
471 if(i->state==ARRIVED)
474 TrainState old_state = i->state;
476 TrackIter next_track = i->track.next(i->path);
479 i->blocked_by = get_occupant(*next_track);
482 else if(i->state==BLOCKED)
488 if(i->state!=old_state)
495 bool TrainRoutePlanner::RoutingStep::check_deadlocks() const
497 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
499 if(i->state!=BLOCKED)
505 int slow = i->blocked_by;
506 int fast = trains[slow].blocked_by;
507 while(fast>=0 && trains[fast].blocked_by>=0)
512 slow = trains[slow].blocked_by;
513 fast = trains[trains[fast].blocked_by].blocked_by;
520 int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const
522 for(unsigned i=0; i<trains.size(); ++i)
523 if(trains[i].is_occupying(track))
529 int TrainRoutePlanner::RoutingStep::find_next_train() const
531 Time::TimeDelta min_dt;
533 for(unsigned i=0; i<trains.size(); ++i)
534 if(trains[i].state==MOVING)
536 Time::TimeDelta dt = trains[i].get_time_to_next_track();
537 if(dt<min_dt || next_train<0)
547 void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
550 for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
554 void TrainRoutePlanner::RoutingStep::update_estimate()
556 cost_estimate = Time::zero;
557 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
558 if(i->remaining_estimate>=0)
559 cost_estimate += i->wait_time+((i->distance_traveled+i->remaining_estimate)/i->info->speed)*Time::sec;
562 bool TrainRoutePlanner::RoutingStep::is_viable() const
564 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
565 if(i->remaining_estimate<0)
568 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
575 bool TrainRoutePlanner::RoutingStep::is_goal() const
577 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
578 if(i->state!=ARRIVED)
583 bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const
585 return cost_estimate<other.cost_estimate;
589 TrainRoutePlanner::PlanningThread::PlanningThread(TrainRoutePlanner &p):
595 void TrainRoutePlanner::PlanningThread::main()
597 planner.create_plan();