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 // Don't process the same track again.
171 if(j->track.track()==history[0])
175 bool start_new_route = true;
176 if(!j->info->routes.empty())
178 /* If we already have a route and this track or any linked track is
179 in it, start a new one to avoid loops. */
180 route = j->info->routes.front();
181 start_new_route = route->has_track(*j->track);
184 unsigned nls = j->track->get_n_link_slots();
185 for(unsigned k=0; (!start_new_route && k<nls); ++k)
187 Track *link = j->track->get_link(k);
188 start_new_route = (link && link!=history[0] && route->has_track(*link));
195 route = new Route(j->info->train->get_layout());
196 route->set_name("Router");
197 route->set_temporary(true);
198 /* Have the routes overlap by two tracks to ensure that turnout
199 paths can be deduced. */
200 for(unsigned k=0; (k<2 && history[k]); ++k)
201 route->add_track(*history[k]);
202 j->info->routes.push_front(route);
205 route->add_track(*j->track.track());
206 history[1] = history[0];
207 history[0] = j->track.track();
209 bool waitable = j->track.endpoint().paths!=j->track->get_type().get_paths();
210 map<Track *, TrainRouter::SequencePoint *>::iterator k = sequenced_tracks.find(j->track.track());
211 if(k!=sequenced_tracks.end())
213 // Add a sequence point if another train uses this track afterwards.
214 if(!k->second->preceding_train)
216 k->second->preceding_train = j->info->train;
217 k->second->sequence_in = sequence;
219 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
221 k->second = &j->info->sequence.front();
226 /* Create a sequence point if it's possible to wait and let another
228 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
229 sequenced_tracks[j->track.track()] = &j->info->sequence.front();
238 TrainRoutePlanner::TrainRoutingInfo::TrainRoutingInfo(Train &t):
240 speed(train->get_maximum_speed()),
241 first_noncritical(train->get_last_critical_block().next().block()),
242 router(train->get_ai_of_type<TrainRouter>()),
245 if(unsigned n_wps = router->get_n_waypoints())
247 waypoints.reserve(n_wps),
248 metrics.reserve(n_wps);
249 for(unsigned i=0; i<n_wps; ++i)
251 waypoints.push_back(router->get_waypoint(i));
252 metrics.push_back(&router->get_metric(i));
254 has_duration = router->get_trip_duration();
257 // If no maximum speed is specified, use a sensible default
259 speed = 20*train->get_layout().get_catalogue().get_scale();
263 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(Track &t, unsigned p, OccupiedTrack *n):
265 path_length(track->get_type().get_path_length(p)),
267 n_tracks(next ? next->n_tracks+1 : 1),
274 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(const OccupiedTrack &other):
276 path_length(other.path_length),
278 n_tracks(other.n_tracks),
285 TrainRoutePlanner::OccupiedTrack::~OccupiedTrack()
287 if(next && !--next->refcount)
292 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
297 delay(info->router->get_departure_delay()),
298 duration(info->router->get_trip_duration()),
302 const Vehicle *veh = &info->train->get_vehicle(0);
304 TrackOffsetIter track_and_offs = veh->get_placement().get_position(VehiclePlacement::FRONT_BUFFER);
305 track = track_and_offs.track_iter();
306 offset = track_and_offs.offset();
307 path = track->get_active_path();
309 while(Vehicle *next = veh->get_link(1))
311 track_and_offs = veh->get_placement().get_position(VehiclePlacement::BACK_BUFFER);
312 back_offset = track_and_offs.offset();
314 TrackIter iter = track_and_offs.track_iter();
317 occupied_tracks = new OccupiedTrack(*iter, iter->get_active_path(), occupied_tracks);
318 if(iter.track()==track.track())
326 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other):
330 critical(other.critical),
331 occupied_tracks(other.occupied_tracks),
332 offset(other.offset),
333 back_offset(other.back_offset),
336 duration(other.duration),
337 waypoint(other.waypoint),
338 distance_traveled(other.distance_traveled),
339 remaining_estimate(other.remaining_estimate),
340 wait_time(other.wait_time),
341 estimated_wait(other.estimated_wait),
342 blocked_by(other.blocked_by)
344 ++occupied_tracks->refcount;
347 TrainRoutePlanner::TrainRoutingState::~TrainRoutingState()
349 if(occupied_tracks && !--occupied_tracks->refcount)
350 delete occupied_tracks;
353 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() const
355 return ((track->get_type().get_path_length(path)-offset)/info->speed)*Time::sec+delay;
358 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_pass(Track &trk) const
360 if(is_occupying(trk))
363 for(unsigned wp=waypoint; wp<info->waypoints.size(); ++wp)
365 float distance = info->metrics[wp]->get_distance_from(trk);
366 if(distance>=0 && distance<remaining_estimate)
367 return ((remaining_estimate-distance)/info->speed)*Time::sec+delay;
373 bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const
375 if(state==ARRIVED && !duration && info->has_duration)
378 OccupiedTrack *occ = occupied_tracks;
379 for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next)
385 bool TrainRoutePlanner::TrainRoutingState::check_arrival()
387 TrackIter next_track = track.next(path);
389 // Check if we're about the exit the current waypoint's tracks.
390 const TrainRouter::Waypoint &wp = info->waypoints[waypoint];
391 if(wp.chain->has_track(*track) && !wp.chain->has_track(*next_track))
392 if(wp.direction==TrackChain::UNSPECIFIED || track==wp.chain->iter_for(*track, wp.direction))
394 if(waypoint+1<info->waypoints.size())
403 // If we're entering the first non-critical block, clear the critical flag.
404 if(info->first_noncritical->has_track(*next_track))
410 void TrainRoutePlanner::TrainRoutingState::advance(float distance)
413 back_offset += distance;
415 // See if the tail end of the train has passed any sensors.
416 unsigned count_to_free = 0;
417 unsigned last_sensor_addr = 0;
418 float distance_after_sensor = 0;
419 OccupiedTrack *occ = occupied_tracks;
420 for(unsigned n=occupied_tracks->n_tracks; n>0; --n)
422 if(unsigned saddr = occ->track->get_sensor_address())
424 if(saddr!=last_sensor_addr)
427 distance_after_sensor = 0;
429 last_sensor_addr = saddr;
433 distance_after_sensor += occ->path_length;
438 // Free the last passed sensor and any tracks behind it.
439 if(count_to_free && back_offset>distance_after_sensor)
441 back_offset -= distance_after_sensor;
442 if(occupied_tracks->refcount>1)
444 --occupied_tracks->refcount;
445 occupied_tracks = new OccupiedTrack(*occupied_tracks);
447 occupied_tracks->n_tracks -= count_to_free;
450 distance_traveled += distance;
451 remaining_estimate -= distance;
454 void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt)
462 float secs = dt/Time::sec;
463 // There may be negative delay remaining after previous step.
466 secs -= delay/Time::sec;
471 duration = max(duration-secs*Time::sec, Time::zero);
474 estimated_wait = max(estimated_wait-secs*Time::sec, Time::zero);
477 advance(info->speed*secs);
478 else if(state!=ARRIVED)
479 wait_time += secs*Time::sec;
482 void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
484 float distance = occupied_tracks->path_length-offset;
485 track = track.next(path);
487 occupied_tracks = new OccupiedTrack(*track, path, occupied_tracks);
492 void TrainRoutePlanner::TrainRoutingState::update_estimate()
494 TrackIter iter = track.reverse(path);
495 remaining_estimate = info->metrics[waypoint]->get_distance_from(*iter.track(), iter.entry());
496 if(remaining_estimate>=0)
497 remaining_estimate += track->get_type().get_path_length(path)-offset;
500 bool TrainRoutePlanner::TrainRoutingState::is_viable() const
502 if(remaining_estimate<0)
504 if(critical && state==BLOCKED)
510 TrainRoutePlanner::RoutingStep::RoutingStep():
514 TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p):
517 cost_estimate(p->cost_estimate),
522 void TrainRoutePlanner::RoutingStep::create_successors(list<RoutingStep> &new_steps) const
524 RoutingStep next(this);
525 if(next.update_states() && next.check_deadlocks())
528 int train_index = find_next_train();
532 TrainRoutingState &train = next.trains[train_index];
534 Time::TimeDelta dt = train.get_time_to_next_track();
537 /* Check arrival after the train has advanced to the end of its current track
538 so travel time and occupied tracks will be correct. */
539 if(train.check_arrival())
541 new_steps.push_back(next);
545 train.advance_track(0);
547 const TrackType::Endpoint &entry_ep = train.track.endpoint();
550 /* Only create a successor step matching the currently set path for a
552 unsigned critical_path = train.track->get_type().coerce_path(train.track.entry(), train.track->get_active_path());
553 create_successor(next, train_index, critical_path, new_steps);
557 // Create successor steps for all possible paths through the new track.
558 for(unsigned i=0; entry_ep.paths>>i; ++i)
559 if(entry_ep.has_path(i))
560 create_successor(next, train_index, i, new_steps);
564 for(list<RoutingStep>::iterator i=new_steps.begin(); ++i!=new_steps.end(); )
566 i->penalty += 5*Time::sec;
567 i->update_estimate();
570 if(entry_ep.paths!=train.track->get_type().get_paths() && !train.critical)
572 /* Create a waiting state before the track if there's at least one path
573 that doesn't pass through the entry endpoint. */
574 RoutingStep wait(this);
576 wait.trains[train_index].state = WAITING;
578 Time::TimeDelta estimated_wait = Time::day;
579 for(unsigned i=0; i<wait.trains.size(); ++i)
580 if(i!=static_cast<unsigned>(train_index) && wait.trains[i].state!=ARRIVED)
582 Time::TimeDelta ttp = wait.trains[i].get_time_to_pass(*train.track);
583 estimated_wait = min(estimated_wait, ttp);
585 wait.trains[train_index].estimated_wait = estimated_wait;
587 wait.update_estimate();
589 new_steps.push_back(wait);
593 void TrainRoutePlanner::RoutingStep::create_successor(RoutingStep &next, unsigned train_index, unsigned path, list<RoutingStep> &new_steps)
595 TrainRoutingState &train = next.trains[train_index];
598 train.update_estimate();
599 next.update_estimate();
601 new_steps.push_back(next);
604 bool TrainRoutePlanner::RoutingStep::update_states()
606 bool changes = false;
607 for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
609 if(i->state==ARRIVED)
612 TrainState old_state = i->state;
614 TrackIter next_track = i->track.next(i->path);
617 i->blocked_by = get_occupant(*next_track);
620 /* If the train is still traversing its last critical track, the
621 flag needs to be cleared here to pass viability test. */
622 if(i->info->first_noncritical->has_track(*next_track))
625 /* Trains in the WAITING state will also transition to BLOCKED and
626 then to MOVING when the other train has passed. */
629 else if(i->state==BLOCKED)
631 i->estimated_wait = Time::zero;
638 if(i->state!=old_state)
645 bool TrainRoutePlanner::RoutingStep::check_deadlocks() const
647 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
649 if(i->state!=BLOCKED)
652 // A train blocked by end of track is always considered a deadlock.
656 /* Use the tortoise and hare algorithm to check if trains are blocked
657 cyclically (A blocks B, which blocks ..., which blocks A). */
658 int slow = i->blocked_by;
659 int fast = trains[slow].blocked_by;
660 while(fast>=0 && trains[fast].blocked_by>=0)
665 slow = trains[slow].blocked_by;
666 fast = trains[trains[fast].blocked_by].blocked_by;
673 int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const
675 for(unsigned i=0; i<trains.size(); ++i)
676 if(trains[i].is_occupying(track))
682 int TrainRoutePlanner::RoutingStep::find_next_train() const
684 Time::TimeDelta min_dt;
686 for(unsigned i=0; i<trains.size(); ++i)
687 if(trains[i].state==MOVING)
689 Time::TimeDelta dt = trains[i].get_time_to_next_track();
690 if(dt<min_dt || next_train<0)
700 void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
703 for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
707 void TrainRoutePlanner::RoutingStep::update_estimate()
709 cost_estimate = penalty;
710 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
711 if(i->remaining_estimate>=0)
712 cost_estimate += i->wait_time+i->estimated_wait+((i->distance_traveled+i->remaining_estimate)/i->info->speed)*Time::sec;
715 bool TrainRoutePlanner::RoutingStep::is_viable() const
717 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
721 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
728 bool TrainRoutePlanner::RoutingStep::is_goal() const
730 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
731 if(i->state!=ARRIVED)
736 bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const
738 return cost_estimate<other.cost_estimate;
742 TrainRoutePlanner::PlanningThread::PlanningThread(TrainRoutePlanner &p):
748 void TrainRoutePlanner::PlanningThread::main()
750 planner.create_plan();