1 #include <msp/core/maputils.h>
2 #include <msp/time/utils.h>
7 #include "trainroutemetric.h"
8 #include "trainrouteplanner.h"
9 #include "trainrouter.h"
17 TrainRoutePlanner::TrainRoutePlanner(Layout &layout):
19 path_switch_bias(15*Time::sec),
20 timeout(10*Time::sec),
24 const map<unsigned, Train *> &trains = layout.get_trains();
25 for(map<unsigned, Train *>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
27 TrainRoutingInfo info(*i->second);
28 if(!info.waypoints.empty())
29 routed_trains.push_back(info);
33 TrainRoutePlanner::~TrainRoutePlanner()
42 void TrainRoutePlanner::set_timeout(const Time::TimeDelta &t)
47 TrainRoutePlanner::Result TrainRoutePlanner::plan()
57 void TrainRoutePlanner::plan_async()
60 throw logic_error("already planning");
63 thread = new PlanningThread(*this);
66 TrainRoutePlanner::Result TrainRoutePlanner::check()
68 if(result==PENDING && goal)
82 const list<Route *> &TrainRoutePlanner::get_routes_for(const Train &train) const
84 return get_train_info(train).routes;
87 const list<TrainRouter::SequencePoint> &TrainRoutePlanner::get_sequence_for(const Train &train) const
89 return get_train_info(train).sequence;
92 const TrainRoutePlanner::TrainRoutingInfo &TrainRoutePlanner::get_train_info(const Train &train) const
94 for(vector<TrainRoutingInfo>::const_iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
98 throw key_error(train.get_name());
101 const TrainRoutePlanner::RoutingStep &TrainRoutePlanner::get_step()
103 steps.splice(steps.end(), queue, queue.begin());
107 void TrainRoutePlanner::prepare_plan()
114 queue.push_back(RoutingStep());
115 RoutingStep &start = queue.back();
116 for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
117 start.trains.push_back(TrainRoutingState(*i));
118 start.update_estimate();
121 void TrainRoutePlanner::create_plan()
123 Time::TimeStamp timeout_stamp = Time::now()+timeout;
125 while(!queue.empty())
127 const RoutingStep &step = get_step();
138 if(Time::now()>timeout_stamp)
147 void TrainRoutePlanner::add_steps(const RoutingStep &step)
149 list<RoutingStep> new_steps;
150 step.create_successors(new_steps);
151 if(new_steps.empty())
155 if(!queue.empty() && new_steps.front().cost_estimate<queue.front().cost_estimate+path_switch_bias)
156 new_steps.front().preferred = true;
157 queue.merge(new_steps);
160 void TrainRoutePlanner::finalize_plan()
162 for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
166 for(unsigned j=0; j<2; ++j)
167 i->track_history[j] = 0;
170 map<Track *, TrainRouter::SequencePoint *> sequenced_tracks;
171 unsigned sequence = steps.size();
172 for(const RoutingStep *i=goal; i; i=i->prev)
173 for(vector<TrainRoutingState>::const_iterator j=i->trains.begin(); j!=i->trains.end(); ++j)
175 Track **history = j->info->track_history;
176 // Don't process the same track again.
177 if(j->track.track()==history[0])
181 bool start_new_route = true;
182 if(!j->info->routes.empty())
184 /* If we already have a route and this track or any linked track is
185 in it, start a new one to avoid loops. */
186 route = j->info->routes.front();
187 start_new_route = route->has_track(*j->track);
190 unsigned nls = j->track->get_n_link_slots();
191 for(unsigned k=0; (!start_new_route && k<nls); ++k)
193 Track *link = j->track->get_link(k);
194 start_new_route = (link && link!=history[0] && route->has_track(*link));
201 route = new Route(j->info->train->get_layout());
202 route->set_name("Router");
203 route->set_temporary(true);
204 /* Have the routes overlap by two tracks to ensure that turnout
205 paths can be deduced. */
206 for(unsigned k=0; (k<2 && history[k]); ++k)
207 route->add_track(*history[k]);
208 j->info->routes.push_front(route);
211 route->add_track(*j->track.track());
212 history[1] = history[0];
213 history[0] = j->track.track();
215 bool waitable = j->track.endpoint().paths!=j->track->get_type().get_paths();
216 map<Track *, TrainRouter::SequencePoint *>::iterator k = sequenced_tracks.find(j->track.track());
217 if(k!=sequenced_tracks.end())
219 // Add a sequence point if another train uses this track afterwards.
220 if(!k->second->preceding_train)
222 k->second->preceding_train = j->info->train;
223 k->second->sequence_in = sequence;
225 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
227 k->second = &j->info->sequence.front();
232 /* Create a sequence point if it's possible to wait and let another
234 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
235 sequenced_tracks[j->track.track()] = &j->info->sequence.front();
244 TrainRoutePlanner::TrainRoutingInfo::TrainRoutingInfo(Train &t):
247 speed(train->get_maximum_speed()),
248 first_noncritical(train->get_last_critical_block().next().block()),
249 router(train->get_ai_of_type<TrainRouter>()),
252 if(unsigned n_wps = router->get_n_waypoints())
254 waypoints.reserve(n_wps),
255 metrics.reserve(n_wps);
256 for(unsigned i=0; i<n_wps; ++i)
258 waypoints.push_back(router->get_waypoint(i));
259 metrics.push_back(&router->get_metric(i));
261 has_duration = router->get_trip_duration();
264 unsigned n_vehs = train->get_n_vehicles();
265 for(unsigned i=0; i<n_vehs; ++i)
266 length += train->get_vehicle(i).get_type().get_length();
268 // If no maximum speed is specified, use a sensible default
270 speed = 20*train->get_layout().get_catalogue().get_scale();
274 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(Track &t, unsigned p, OccupiedTrack *n):
276 path_length(track->get_type().get_path_length(p)),
278 n_tracks(next ? next->n_tracks+1 : 1),
285 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(const OccupiedTrack &other):
287 path_length(other.path_length),
289 n_tracks(other.n_tracks),
296 TrainRoutePlanner::OccupiedTrack::~OccupiedTrack()
298 if(next && !--next->refcount)
303 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
308 delay(info->router->get_departure_delay()),
309 duration(info->router->get_trip_duration()),
311 distance_traveled(0),
314 const Vehicle *veh = &info->train->get_vehicle(0);
316 TrackOffsetIter track_and_offs = veh->get_placement().get_position(VehiclePlacement::FRONT_BUFFER);
317 track = track_and_offs.track_iter();
318 offset = track_and_offs.offset();
319 path = track->get_active_path();
321 while(Vehicle *next = veh->get_link(1))
323 track_and_offs = veh->get_placement().get_position(VehiclePlacement::BACK_BUFFER);
324 back_offset = track_and_offs.offset();
326 TrackIter iter = track_and_offs.track_iter();
329 occupied_tracks = new OccupiedTrack(*iter, iter->get_active_path(), occupied_tracks);
330 if(iter.track()==track.track())
335 travel_multiplier = info->metrics[waypoint]->get_travel_multiplier(*track, track.reverse(path).entry());
340 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other):
344 critical(other.critical),
345 occupied_tracks(other.occupied_tracks),
346 offset(other.offset),
347 back_offset(other.back_offset),
350 duration(other.duration),
351 waypoint(other.waypoint),
352 travel_multiplier(other.travel_multiplier),
353 distance_traveled(other.distance_traveled),
354 remaining_estimate(other.remaining_estimate),
355 wait_time(other.wait_time),
356 estimated_wait(other.estimated_wait),
357 blocked_by(other.blocked_by)
359 ++occupied_tracks->refcount;
362 TrainRoutePlanner::TrainRoutingState::~TrainRoutingState()
364 if(occupied_tracks && !--occupied_tracks->refcount)
365 delete occupied_tracks;
368 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() const
370 return ((occupied_tracks->path_length-offset)/info->speed)*Time::sec+delay;
373 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_pass(Track &trk) const
375 if(is_occupying(trk))
377 float passed_length = 0;
378 for(const OccupiedTrack *occ=occupied_tracks; (occ && occ->track!=&trk); occ=occ->next)
379 passed_length += occ->path_length;
380 return (max(info->length-passed_length, 0.0f)/info->speed)*Time::sec+delay;
383 for(unsigned wp=waypoint; wp<info->waypoints.size(); ++wp)
385 float distance = info->metrics[wp]->get_distance_from(trk);
386 if(distance>=0 && distance<remaining_estimate)
387 return ((remaining_estimate-distance+info->length)/info->speed)*Time::sec+delay;
393 bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const
395 if(state==ARRIVED && !duration && info->has_duration)
398 OccupiedTrack *occ = occupied_tracks;
399 for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next)
405 bool TrainRoutePlanner::TrainRoutingState::check_arrival()
407 TrackIter next_track = track.next(path);
409 // Check if we're about the exit the current waypoint's tracks.
410 const TrainRouter::Waypoint &wp = info->waypoints[waypoint];
411 if(wp.chain->has_track(*track) && !wp.chain->has_track(*next_track))
412 if(wp.direction==TrackChain::UNSPECIFIED || track==wp.chain->iter_for(*track, wp.direction))
414 if(waypoint+1<info->waypoints.size())
423 // If we're entering the first non-critical block, clear the critical flag.
424 if(info->first_noncritical->has_track(*next_track))
430 void TrainRoutePlanner::TrainRoutingState::advance(float distance)
433 back_offset += distance;
435 // See if the tail end of the train has passed any sensors.
436 unsigned count_to_free = 0;
437 unsigned last_sensor_addr = 0;
438 float distance_after_sensor = 0;
439 OccupiedTrack *occ = occupied_tracks;
440 for(unsigned n=occupied_tracks->n_tracks; n>0; --n)
442 if(unsigned saddr = occ->track->get_sensor_address())
444 if(saddr!=last_sensor_addr)
447 distance_after_sensor = 0;
449 last_sensor_addr = saddr;
453 distance_after_sensor += occ->path_length;
458 // Free the last passed sensor and any tracks behind it.
459 if(count_to_free && back_offset>distance_after_sensor)
461 back_offset -= distance_after_sensor;
462 if(occupied_tracks->refcount>1)
464 --occupied_tracks->refcount;
465 occupied_tracks = new OccupiedTrack(*occupied_tracks);
467 occupied_tracks->n_tracks -= count_to_free;
470 distance_traveled += distance*travel_multiplier;
471 remaining_estimate -= distance*travel_multiplier;
474 void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt)
482 float secs = dt/Time::sec;
483 // There may be some delay remaining.
486 secs -= delay/Time::sec;
491 duration = max(duration-secs*Time::sec, Time::zero);
494 estimated_wait = max(estimated_wait-secs*Time::sec, Time::zero);
496 float distance = info->speed*secs;
497 float remaining_on_track = occupied_tracks->path_length-offset;
498 if(state==MOVING || distance<remaining_on_track)
499 advance(info->speed*secs);
500 else if(state!=ARRIVED)
502 if(remaining_on_track>0)
504 advance(remaining_on_track);
505 wait_time += (secs-remaining_on_track/info->speed)*Time::sec;
508 wait_time += secs*Time::sec;
512 void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
514 float distance = occupied_tracks->path_length-offset;
516 track = track.next(path);
518 occupied_tracks = new OccupiedTrack(*track, path, occupied_tracks);
522 travel_multiplier = info->metrics[waypoint]->get_travel_multiplier(*track, track.reverse(path).entry());
525 void TrainRoutePlanner::TrainRoutingState::set_path(unsigned p)
528 OccupiedTrack *next_occ = occupied_tracks->next;
529 if(!--occupied_tracks->refcount)
530 delete occupied_tracks;
531 occupied_tracks = new OccupiedTrack(*track, path, next_occ);
535 void TrainRoutePlanner::TrainRoutingState::update_estimate()
537 TrackIter iter = track.reverse(path);
538 const TrainRouteMetric *metric = info->metrics[waypoint];
539 remaining_estimate = metric->get_distance_from(*iter, iter.entry());
540 travel_multiplier = metric->get_travel_multiplier(*iter, iter.entry());
541 if(remaining_estimate>=0)
542 remaining_estimate += (occupied_tracks->path_length-offset)*travel_multiplier;
545 bool TrainRoutePlanner::TrainRoutingState::is_viable() const
547 if(remaining_estimate<0)
549 if(critical && state==BLOCKED)
555 TrainRoutePlanner::RoutingStep::RoutingStep():
560 TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p):
562 cost_estimate(p->cost_estimate),
568 void TrainRoutePlanner::RoutingStep::create_successors(list<RoutingStep> &new_steps) const
570 RoutingStep next(this);
571 if(next.update_states() && next.check_deadlocks())
574 int train_index = next.find_next_train();
578 TrainRoutingState &train = next.trains[train_index];
580 Time::TimeDelta dt = train.get_time_to_next_track();
583 /* Check arrival after the train has advanced to the end of its current track
584 so travel time and occupied tracks will be correct. */
585 if(train.check_arrival())
587 new_steps.push_back(next);
591 if(train.state==MOVING)
592 train.advance_track(0);
595 new_steps.push_back(next);
599 const TrackType::Endpoint &entry_ep = train.track.endpoint();
602 /* Only create a successor step matching the currently set path for a
604 unsigned critical_path = train.track->get_type().coerce_path(train.track.entry(), train.track->get_active_path());
605 create_successor(next, train_index, critical_path, new_steps);
609 // Create successor steps for all possible paths through the new track.
610 for(unsigned i=0; entry_ep.paths>>i; ++i)
611 if(entry_ep.has_path(i))
612 create_successor(next, train_index, i, new_steps);
615 if(entry_ep.paths!=train.track->get_type().get_paths() && !train.critical)
617 /* Create a waiting state before the track if there's at least one path
618 that doesn't pass through the entry endpoint. */
619 RoutingStep wait(this);
621 wait.trains[train_index].state = WAITING;
623 Time::TimeDelta estimated_wait = Time::day;
624 for(unsigned i=0; i<wait.trains.size(); ++i)
625 if(i!=static_cast<unsigned>(train_index) && wait.trains[i].state!=ARRIVED)
627 Time::TimeDelta ttp = wait.trains[i].get_time_to_pass(*train.track);
628 estimated_wait = min(estimated_wait, ttp);
630 wait.trains[train_index].estimated_wait = estimated_wait;
632 wait.update_estimate();
634 new_steps.push_back(wait);
638 void TrainRoutePlanner::RoutingStep::create_successor(RoutingStep &next, unsigned train_index, unsigned path, list<RoutingStep> &new_steps)
640 TrainRoutingState &train = next.trains[train_index];
642 train.set_path(path);
643 next.update_estimate();
645 new_steps.push_back(next);
648 bool TrainRoutePlanner::RoutingStep::update_states()
650 bool changes = false;
651 for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
653 if(i->state==ARRIVED)
656 TrainState old_state = i->state;
658 TrackIter next_track = i->track.next(i->path);
661 i->blocked_by = get_occupant(*next_track);
664 /* If the train is still traversing its last critical track, the
665 flag needs to be cleared here to pass viability test. */
666 if(i->info->first_noncritical->has_track(*next_track))
669 if(i->state!=BLOCKED)
670 i->estimated_wait = trains[i->blocked_by].get_time_to_pass(*next_track);
672 /* Trains in the WAITING state will also transition to BLOCKED and
673 then to MOVING when the other train has passed. */
676 else if(i->state==BLOCKED)
678 i->estimated_wait = Time::zero;
685 if(i->state!=old_state)
692 bool TrainRoutePlanner::RoutingStep::check_deadlocks() const
694 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
696 if(i->state!=BLOCKED)
699 // A train blocked by end of track is always considered a deadlock.
703 /* Use the tortoise and hare algorithm to check if trains are blocked
704 cyclically (A blocks B, which blocks ..., which blocks A). */
705 int slow = i->blocked_by;
706 int fast = trains[slow].blocked_by;
707 while(fast>=0 && trains[fast].blocked_by>=0)
712 slow = trains[slow].blocked_by;
713 fast = trains[trains[fast].blocked_by].blocked_by;
720 int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const
722 for(unsigned i=0; i<trains.size(); ++i)
723 if(trains[i].is_occupying(track))
729 int TrainRoutePlanner::RoutingStep::find_next_train() const
731 /* Pick a moving train with the lowest time to next track. A train that
732 just became blocked can still travel until the end of its current track,
733 so consider those too. */
734 Time::TimeDelta min_dt;
736 for(unsigned i=0; i<trains.size(); ++i)
737 if(trains[i].state==MOVING || (trains[i].state==BLOCKED && prev && prev->trains[i].state==MOVING))
739 Time::TimeDelta dt = trains[i].get_time_to_next_track();
740 if(dt<min_dt || next_train<0)
750 void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
753 for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
757 void TrainRoutePlanner::RoutingStep::update_estimate()
759 cost_estimate = Time::zero;
760 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
761 if(i->remaining_estimate>=0)
762 cost_estimate += i->wait_time+i->estimated_wait+((i->distance_traveled+i->remaining_estimate)/i->info->speed)*Time::sec;
765 bool TrainRoutePlanner::RoutingStep::is_viable() const
767 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
771 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
778 bool TrainRoutePlanner::RoutingStep::is_goal() const
780 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
781 if(i->state!=ARRIVED)
786 bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const
788 if(preferred!=other.preferred)
789 return preferred>other.preferred;
790 return cost_estimate<other.cost_estimate;
794 TrainRoutePlanner::PlanningThread::PlanningThread(TrainRoutePlanner &p):
800 void TrainRoutePlanner::PlanningThread::main()
802 planner.create_plan();