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 timeout(10*Time::sec),
23 const map<unsigned, Train *> &trains = layout.get_trains();
24 for(map<unsigned, Train *>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
26 TrainRoutingInfo info(*i->second);
27 if(!info.waypoints.empty())
28 routed_trains.push_back(info);
32 TrainRoutePlanner::~TrainRoutePlanner()
41 void TrainRoutePlanner::set_timeout(const Time::TimeDelta &t)
46 TrainRoutePlanner::Result TrainRoutePlanner::plan()
56 void TrainRoutePlanner::plan_async()
59 throw logic_error("already planning");
62 thread = new PlanningThread(*this);
65 TrainRoutePlanner::Result TrainRoutePlanner::check()
67 if(result==PENDING && goal)
81 const list<Route *> &TrainRoutePlanner::get_routes_for(const Train &train) const
83 return get_train_info(train).routes;
86 const list<TrainRouter::SequencePoint> &TrainRoutePlanner::get_sequence_for(const Train &train) const
88 return get_train_info(train).sequence;
91 const TrainRoutePlanner::TrainRoutingInfo &TrainRoutePlanner::get_train_info(const Train &train) const
93 for(vector<TrainRoutingInfo>::const_iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
97 throw key_error(train.get_name());
100 const TrainRoutePlanner::RoutingStep &TrainRoutePlanner::get_step()
102 steps.splice(steps.end(), queue, queue.begin());
106 void TrainRoutePlanner::prepare_plan()
113 queue.push_back(RoutingStep());
114 RoutingStep &start = queue.back();
115 for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
116 start.trains.push_back(TrainRoutingState(*i));
117 start.update_estimate();
120 void TrainRoutePlanner::create_plan()
122 Time::TimeStamp timeout_stamp = Time::now()+timeout;
124 while(!queue.empty())
126 const RoutingStep &step = get_step();
137 if(Time::now()>timeout_stamp)
146 void TrainRoutePlanner::add_steps(const RoutingStep &step)
148 list<RoutingStep> new_steps;
149 step.create_successors(new_steps);
151 queue.merge(new_steps);
154 void TrainRoutePlanner::finalize_plan()
156 for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
160 for(unsigned j=0; j<2; ++j)
161 i->track_history[j] = 0;
164 map<Track *, TrainRouter::SequencePoint *> sequenced_tracks;
165 unsigned sequence = steps.size();
166 for(const RoutingStep *i=goal; i; i=i->prev)
167 for(vector<TrainRoutingState>::const_iterator j=i->trains.begin(); j!=i->trains.end(); ++j)
169 Track **history = j->info->track_history;
170 if(j->track.track()==history[0])
174 bool start_new_route = true;
175 if(!j->info->routes.empty())
177 route = j->info->routes.front();
178 start_new_route = route->has_track(*j->track);
181 unsigned nls = j->track->get_n_link_slots();
182 for(unsigned k=0; (!start_new_route && k<nls); ++k)
184 Track *link = j->track->get_link(k);
185 start_new_route = (link && link!=history[0] && route->has_track(*link));
192 route = new Route(j->info->train->get_layout());
193 route->set_name("Router");
194 route->set_temporary(true);
195 for(unsigned k=0; (k<2 && history[k]); ++k)
196 route->add_track(*history[k]);
197 j->info->routes.push_front(route);
200 route->add_track(*j->track.track());
201 history[1] = history[0];
202 history[0] = j->track.track();
204 bool waitable = j->track.endpoint().paths!=j->track->get_type().get_paths();
205 map<Track *, TrainRouter::SequencePoint *>::iterator k = sequenced_tracks.find(j->track.track());
206 if(k!=sequenced_tracks.end())
208 if(!k->second->preceding_train)
210 k->second->preceding_train = j->info->train;
211 k->second->sequence_in = sequence;
213 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
215 k->second = &j->info->sequence.front();
220 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
221 sequenced_tracks[j->track.track()] = &j->info->sequence.front();
230 TrainRoutePlanner::TrainRoutingInfo::TrainRoutingInfo(Train &t):
232 speed(train->get_maximum_speed()),
233 first_noncritical(train->get_last_critical_block().next().block()),
234 router(train->get_ai_of_type<TrainRouter>()),
237 if(unsigned n_wps = router->get_n_waypoints())
239 waypoints.reserve(n_wps),
240 metrics.reserve(n_wps);
241 for(unsigned i=0; i<n_wps; ++i)
243 waypoints.push_back(router->get_waypoint(i));
244 metrics.push_back(&router->get_metric(i));
246 has_duration = router->get_trip_duration();
249 // If no maximum speed is specified, use a sensible default
251 speed = 20*train->get_layout().get_catalogue().get_scale();
255 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(Track &t, unsigned p, OccupiedTrack *n):
257 path_length(track->get_type().get_path_length(p)),
259 n_tracks(next ? next->n_tracks+1 : 1),
266 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(const OccupiedTrack &other):
268 path_length(other.path_length),
270 n_tracks(other.n_tracks),
277 TrainRoutePlanner::OccupiedTrack::~OccupiedTrack()
279 if(next && !--next->refcount)
284 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
289 delay(info->router->get_departure_delay()),
290 duration(info->router->get_trip_duration()),
294 const Vehicle *veh = &info->train->get_vehicle(0);
296 TrackOffsetIter track_and_offs = veh->get_placement().get_position(VehiclePlacement::FRONT_BUFFER);
297 track = track_and_offs.track_iter();
298 offset = track_and_offs.offset();
299 path = track->get_active_path();
301 while(Vehicle *next = veh->get_link(1))
303 track_and_offs = veh->get_placement().get_position(VehiclePlacement::BACK_BUFFER);
304 back_offset = track_and_offs.offset();
306 TrackIter iter = track_and_offs.track_iter();
309 occupied_tracks = new OccupiedTrack(*iter, iter->get_active_path(), occupied_tracks);
310 if(iter.track()==track.track())
318 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other):
322 critical(other.critical),
323 occupied_tracks(other.occupied_tracks),
324 offset(other.offset),
325 back_offset(other.back_offset),
328 duration(other.duration),
329 waypoint(other.waypoint),
330 distance_traveled(other.distance_traveled),
331 remaining_estimate(other.remaining_estimate),
332 wait_time(other.wait_time),
333 blocked_by(other.blocked_by)
335 ++occupied_tracks->refcount;
338 TrainRoutePlanner::TrainRoutingState::~TrainRoutingState()
340 if(occupied_tracks && !--occupied_tracks->refcount)
341 delete occupied_tracks;
344 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() const
346 return ((track->get_type().get_path_length(path)-offset)/info->speed)*Time::sec+delay;
349 bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const
351 if(state==ARRIVED && !duration && info->has_duration)
354 OccupiedTrack *occ = occupied_tracks;
355 for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next)
361 bool TrainRoutePlanner::TrainRoutingState::check_arrival()
363 TrackIter next_track = track.next(path);
365 const TrainRouter::Waypoint &wp = info->waypoints[waypoint];
366 if(wp.chain->has_track(*track) && !wp.chain->has_track(*next_track))
367 if(wp.direction==TrackChain::UNSPECIFIED || track==wp.chain->iter_for(*track, wp.direction))
369 if(waypoint+1<info->waypoints.size())
378 if(info->first_noncritical->has_track(*track))
384 void TrainRoutePlanner::TrainRoutingState::advance(float distance)
387 back_offset += distance;
389 unsigned count_to_free = 0;
390 unsigned last_sensor_addr = 0;
391 float distance_after_sensor = 0;
392 OccupiedTrack *occ = occupied_tracks;
393 for(unsigned n=occupied_tracks->n_tracks; n>0; --n)
395 if(unsigned saddr = occ->track->get_sensor_address())
397 if(saddr!=last_sensor_addr)
400 distance_after_sensor = 0;
402 last_sensor_addr = saddr;
406 distance_after_sensor += occ->path_length;
411 if(count_to_free && back_offset>distance_after_sensor)
413 back_offset -= distance_after_sensor;
414 if(occupied_tracks->refcount>1)
416 --occupied_tracks->refcount;
417 occupied_tracks = new OccupiedTrack(*occupied_tracks);
419 occupied_tracks->n_tracks -= count_to_free;
422 distance_traveled += distance;
423 remaining_estimate -= distance;
426 void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt)
434 float secs = dt/Time::sec;
437 secs -= delay/Time::sec;
442 duration = max(duration-secs*Time::sec, Time::zero);
445 advance(info->speed*secs);
446 else if(state!=ARRIVED)
447 wait_time += secs*Time::sec;
450 void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
452 float distance = occupied_tracks->path_length-offset;
453 track = track.next(path);
455 occupied_tracks = new OccupiedTrack(*track, path, occupied_tracks);
460 void TrainRoutePlanner::TrainRoutingState::update_estimate()
462 TrackIter iter = track.reverse(path);
463 remaining_estimate = info->metrics[waypoint]->get_distance_from(*iter.track(), iter.entry());
464 if(remaining_estimate>=0)
465 remaining_estimate += track->get_type().get_path_length(path)-offset;
468 bool TrainRoutePlanner::TrainRoutingState::is_viable() const
470 if(remaining_estimate<0)
472 if(critical && state==BLOCKED)
478 TrainRoutePlanner::RoutingStep::RoutingStep():
482 TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p):
485 cost_estimate(p->cost_estimate),
490 void TrainRoutePlanner::RoutingStep::create_successors(list<RoutingStep> &new_steps) const
492 RoutingStep next(this);
493 if(next.update_states())
495 if(next.check_deadlocks())
498 new_steps.push_back(next);
502 int train_index = find_next_train();
506 TrainRoutingState &train = next.trains[train_index];
508 Time::TimeDelta dt = train.get_time_to_next_track();
511 if(train.check_arrival())
513 new_steps.push_back(next);
517 train.advance_track(0);
519 const TrackType::Endpoint &entry_ep = train.track.endpoint();
522 train.path = train.track->get_type().coerce_path(train.track.entry(), train.track->get_active_path());
523 train.update_estimate();
524 next.update_estimate();
526 new_steps.push_back(next);
530 for(unsigned i=0; entry_ep.paths>>i; ++i)
531 if(entry_ep.has_path(i))
534 train.update_estimate();
535 next.update_estimate();
537 new_steps.push_back(next);
542 for(list<RoutingStep>::iterator i=new_steps.begin(); ++i!=new_steps.end(); )
544 i->penalty += 5*Time::sec;
545 i->update_estimate();
548 if(entry_ep.paths!=train.track->get_type().get_paths() && !train.critical)
550 RoutingStep wait(this);
552 wait.trains[train_index].state = WAITING;
553 wait.penalty += 15*Time::sec;
554 wait.update_estimate();
556 new_steps.push_back(wait);
560 bool TrainRoutePlanner::RoutingStep::update_states()
562 bool changes = false;
563 for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
565 if(i->state==ARRIVED)
568 TrainState old_state = i->state;
570 TrackIter next_track = i->track.next(i->path);
573 i->blocked_by = get_occupant(*next_track);
576 if(i->info->first_noncritical->has_track(*next_track))
580 else if(i->state==BLOCKED)
586 if(i->state!=old_state)
593 bool TrainRoutePlanner::RoutingStep::check_deadlocks() const
595 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
597 if(i->state!=BLOCKED)
603 int slow = i->blocked_by;
604 int fast = trains[slow].blocked_by;
605 while(fast>=0 && trains[fast].blocked_by>=0)
610 slow = trains[slow].blocked_by;
611 fast = trains[trains[fast].blocked_by].blocked_by;
618 int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const
620 for(unsigned i=0; i<trains.size(); ++i)
621 if(trains[i].is_occupying(track))
627 int TrainRoutePlanner::RoutingStep::find_next_train() const
629 Time::TimeDelta min_dt;
631 for(unsigned i=0; i<trains.size(); ++i)
632 if(trains[i].state==MOVING)
634 Time::TimeDelta dt = trains[i].get_time_to_next_track();
635 if(dt<min_dt || next_train<0)
645 void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
648 for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
652 void TrainRoutePlanner::RoutingStep::update_estimate()
654 cost_estimate = penalty;
655 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
656 if(i->remaining_estimate>=0)
657 cost_estimate += i->wait_time+((i->distance_traveled+i->remaining_estimate)/i->info->speed)*Time::sec;
660 bool TrainRoutePlanner::RoutingStep::is_viable() const
662 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
666 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
673 bool TrainRoutePlanner::RoutingStep::is_goal() const
675 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
676 if(i->state!=ARRIVED)
681 bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const
683 return cost_estimate<other.cost_estimate;
687 TrainRoutePlanner::PlanningThread::PlanningThread(TrainRoutePlanner &p):
693 void TrainRoutePlanner::PlanningThread::main()
695 planner.create_plan();