X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Ftrainrouteplanner.cpp;h=ad97cf79f77c0255f23b9c1be7ed5cf0cfe58e69;hb=5b71cb905051d654c150cb0e098cade0cb502105;hp=c115d924bed8e0603436c0705a0a4bd46deab364;hpb=19274ec3b805af126e562c805e0c14baa14c5833;p=r2c2.git diff --git a/source/libr2c2/trainrouteplanner.cpp b/source/libr2c2/trainrouteplanner.cpp index c115d92..ad97cf7 100644 --- a/source/libr2c2/trainrouteplanner.cpp +++ b/source/libr2c2/trainrouteplanner.cpp @@ -1,7 +1,10 @@ +#include +#include #include "catalogue.h" #include "layout.h" #include "route.h" #include "train.h" +#include "trainroutemetric.h" #include "trainrouteplanner.h" #include "trainrouter.h" #include "vehicle.h" @@ -11,88 +14,257 @@ using namespace Msp; namespace R2C2 { -TrainRoutePlanner::TrainRoutePlanner(Layout &layout) +TrainRoutePlanner::TrainRoutePlanner(Layout &layout): + goal(0), + path_switch_bias(15*Time::sec), + timeout(10*Time::sec), + result(PENDING), + thread(0) { const map &trains = layout.get_trains(); for(map::const_iterator i=trains.begin(); i!=trains.end(); ++i) { TrainRoutingInfo info(*i->second); - if(info.router && info.router->get_destination()) + if(!info.waypoints.empty()) routed_trains.push_back(info); } +} + +TrainRoutePlanner::~TrainRoutePlanner() +{ + if(thread) + { + thread->join(); + delete thread; + } +} + +void TrainRoutePlanner::set_timeout(const Time::TimeDelta &t) +{ + timeout = t; +} + +TrainRoutePlanner::Result TrainRoutePlanner::plan() +{ + prepare_plan(); + create_plan(); + if(result==PENDING) + finalize_plan(); + + return result; +} + +void TrainRoutePlanner::plan_async() +{ + if(thread) + throw logic_error("already planning"); + + prepare_plan(); + thread = new PlanningThread(*this); +} + +TrainRoutePlanner::Result TrainRoutePlanner::check() +{ + if(result==PENDING && goal) + { + if(thread) + { + thread->join(); + delete thread; + thread = 0; + } + finalize_plan(); + } - steps.push_back(RoutingStep()); - RoutingStep &start = steps.back(); + return result; +} + +const list &TrainRoutePlanner::get_routes_for(const Train &train) const +{ + return get_train_info(train).routes; +} + +const list &TrainRoutePlanner::get_sequence_for(const Train &train) const +{ + return get_train_info(train).sequence; +} + +const TrainRoutePlanner::TrainRoutingInfo &TrainRoutePlanner::get_train_info(const Train &train) const +{ + for(vector::const_iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i) + if(i->train==&train) + return *i; + + throw key_error(train.get_name()); +} + +const TrainRoutePlanner::RoutingStep &TrainRoutePlanner::get_step() +{ + steps.splice(steps.end(), queue, queue.begin()); + return steps.back(); +} + +void TrainRoutePlanner::prepare_plan() +{ + steps.clear(); + queue.clear(); + goal = 0; + result = PENDING; + + queue.push_back(RoutingStep()); + RoutingStep &start = queue.back(); for(vector::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i) start.trains.push_back(TrainRoutingState(*i)); + start.update_estimate(); } -void TrainRoutePlanner::plan() +void TrainRoutePlanner::create_plan() { - RoutingStep *goal = 0; - for(list::iterator i=steps.begin(); i!=steps.end(); ++i) + Time::TimeStamp timeout_stamp = Time::now()+timeout; + unsigned count = 0; + while(!queue.empty()) { - if(i->is_goal()) + const RoutingStep &step = get_step(); + if(step.is_goal()) { - goal = &*i; - break; + goal = &step; + return; } - add_steps(*i); + add_steps(step); + + if(++count>=1000) + { + if(Time::now()>timeout_stamp) + break; + count = 0; + } } - if(goal) - create_routes(*goal); + result = FAILED; } -void TrainRoutePlanner::add_steps(RoutingStep &step) +void TrainRoutePlanner::add_steps(const RoutingStep &step) { list new_steps; step.create_successors(new_steps); + if(new_steps.empty()) + return; + new_steps.sort(); - steps.merge(new_steps); + if(!queue.empty() && new_steps.front().cost_estimate::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i) { - i->route = new Route(i->train->get_layout()); - i->route->set_name("Router"); - i->route->set_temporary(true); + i->routes.clear(); + i->sequence.clear(); + for(unsigned j=0; j<2; ++j) + i->track_history[j] = 0; } - for(RoutingStep *i=&goal; i; i=i->prev) - { - for(vector::iterator j=i->trains.begin(); j!=i->trains.end(); ++j) + map sequenced_tracks; + unsigned sequence = steps.size(); + for(const RoutingStep *i=goal; i; i=i->prev) + for(vector::const_iterator j=i->trains.begin(); j!=i->trains.end(); ++j) { - if(j->state==WAITING || j->state==BLOCKED) - j->info->waits.push_front(&*j); - j->info->route->add_track(*j->track); - } - } + Track **history = j->info->track_history; + // Don't process the same track again. + if(j->track.track()==history[0]) + continue; - for(vector::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i) - { - i->router->set_route(i->route); - TrainRoutingState *current_wait = 0; - for(list::iterator j=i->waits.begin(); j!=i->waits.end(); ++j) - if(!current_wait || (*j)->track.track()!=current_wait->track.track()) + Route *route = 0; + bool start_new_route = true; + if(!j->info->routes.empty()) { - Block &block = (*j)->track.next()->get_block(); - i->router->add_wait(block, 0); - current_wait = *j; + /* If we already have a route and this track or any linked track is + in it, start a new one to avoid loops. */ + route = j->info->routes.front(); + start_new_route = route->has_track(*j->track); + if(!start_new_route) + { + unsigned nls = j->track->get_n_link_slots(); + for(unsigned k=0; (!start_new_route && ktrack->get_link(k); + start_new_route = (link && link!=history[0] && route->has_track(*link)); + } + } } - } + + if(start_new_route) + { + route = new Route(j->info->train->get_layout()); + route->set_name("Router"); + route->set_temporary(true); + /* Have the routes overlap by two tracks to ensure that turnout + paths can be deduced. */ + for(unsigned k=0; (k<2 && history[k]); ++k) + route->add_track(*history[k]); + j->info->routes.push_front(route); + } + + route->add_track(*j->track.track()); + history[1] = history[0]; + history[0] = j->track.track(); + + bool waitable = j->track.endpoint().paths!=j->track->get_type().get_paths(); + map::iterator k = sequenced_tracks.find(j->track.track()); + if(k!=sequenced_tracks.end()) + { + // Add a sequence point if another train uses this track afterwards. + if(!k->second->preceding_train) + { + k->second->preceding_train = j->info->train; + k->second->sequence_in = sequence; + } + j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence)); + if(waitable) + k->second = &j->info->sequence.front(); + --sequence; + } + else if(waitable) + { + /* Create a sequence point if it's possible to wait and let another + train past. */ + j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence)); + sequenced_tracks[j->track.track()] = &j->info->sequence.front(); + --sequence; + } + } + + result = COMPLETE; } TrainRoutePlanner::TrainRoutingInfo::TrainRoutingInfo(Train &t): train(&t), + length(0), speed(train->get_maximum_speed()), + first_noncritical(train->get_last_critical_block().next().block()), router(train->get_ai_of_type()), - route(0) + has_duration(false) { + if(unsigned n_wps = router->get_n_waypoints()) + { + waypoints.reserve(n_wps), + metrics.reserve(n_wps); + for(unsigned i=0; iget_waypoint(i)); + metrics.push_back(&router->get_metric(i)); + } + has_duration = router->get_trip_duration(); + } + + unsigned n_vehs = train->get_n_vehicles(); + for(unsigned i=0; iget_vehicle(i).get_type().get_length(); + // If no maximum speed is specified, use a sensible default if(!speed) speed = 20*train->get_layout().get_catalogue().get_scale(); @@ -130,10 +302,12 @@ TrainRoutePlanner::OccupiedTrack::~OccupiedTrack() TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf): info(&inf), + critical(true), occupied_tracks(0), state(MOVING), delay(info->router->get_departure_delay()), - waypoint(info->router->get_n_waypoints() ? 0 : -1), + duration(info->router->get_trip_duration()), + waypoint(0), blocked_by(-1) { const Vehicle *veh = &info->train->get_vehicle(0); @@ -156,18 +330,26 @@ TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf): break; iter = iter.next(); } + + update_estimate(); } TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other): info(other.info), track(other.track), path(other.path), + critical(other.critical), occupied_tracks(other.occupied_tracks), offset(other.offset), back_offset(other.back_offset), state(other.state), delay(other.delay), + duration(other.duration), waypoint(other.waypoint), + distance_traveled(other.distance_traveled), + remaining_estimate(other.remaining_estimate), + wait_time(other.wait_time), + estimated_wait(other.estimated_wait), blocked_by(other.blocked_by) { ++occupied_tracks->refcount; @@ -175,17 +357,40 @@ TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState TrainRoutePlanner::TrainRoutingState::~TrainRoutingState() { - if(!--occupied_tracks->refcount) + if(occupied_tracks && !--occupied_tracks->refcount) delete occupied_tracks; } Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() const { - return ((track->get_type().get_path_length(path)-offset)/info->speed)*Time::sec+delay; + return ((occupied_tracks->path_length-offset)/info->speed)*Time::sec+delay; +} + +Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_pass(Track &trk) const +{ + if(is_occupying(trk)) + { + float passed_length = 0; + for(const OccupiedTrack *occ=occupied_tracks; (occ && occ->track!=&trk); occ=occ->next) + passed_length += occ->path_length; + return (max(info->length-passed_length, 0.0f)/info->speed)*Time::sec+delay; + } + + for(unsigned wp=waypoint; wpwaypoints.size(); ++wp) + { + float distance = info->metrics[wp]->get_distance_from(trk); + if(distance>=0 && distancelength)/info->speed)*Time::sec+delay; + } + + return Time::day; } -bool TrainRoutePlanner::TrainRoutingState::is_occupied(Track &trk) const +bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const { + if(state==ARRIVED && !duration && info->has_duration) + return false; + OccupiedTrack *occ = occupied_tracks; for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next) if(occ->track==&trk) @@ -195,20 +400,25 @@ bool TrainRoutePlanner::TrainRoutingState::is_occupied(Track &trk) const bool TrainRoutePlanner::TrainRoutingState::check_arrival() { - TrainRouter &router = *info->router; TrackIter next_track = track.next(path); - if(waypoint<0 && router.is_destination(*track) && !router.is_destination(*next_track)) - { - state = ARRIVED; - return true; - } - else if(waypoint>=0 && router.is_waypoint(waypoint, *track) && !router.is_waypoint(waypoint, *next_track)) - { - ++waypoint; - if(waypoint>=static_cast(router.get_n_waypoints())) - waypoint = -1; - } + // Check if we're about the exit the current waypoint's tracks. + const TrainRouter::Waypoint &wp = info->waypoints[waypoint]; + if(wp.chain->has_track(*track) && !wp.chain->has_track(*next_track)) + if(wp.direction==TrackChain::UNSPECIFIED || track==wp.chain->iter_for(*track, wp.direction)) + { + if(waypoint+1waypoints.size()) + ++waypoint; + else + { + state = ARRIVED; + return true; + } + } + + // If we're entering the first non-critical block, clear the critical flag. + if(info->first_noncritical->has_track(*next_track)) + critical = false; return false; } @@ -218,21 +428,71 @@ void TrainRoutePlanner::TrainRoutingState::advance(float distance) offset += distance; back_offset += distance; - OccupiedTrack *last_occ = occupied_tracks; - for(unsigned n=occupied_tracks->n_tracks; n>1; --n) - last_occ = last_occ->next; + // See if the tail end of the train has passed any sensors. + unsigned count_to_free = 0; + unsigned last_sensor_addr = 0; + float distance_after_sensor = 0; + OccupiedTrack *occ = occupied_tracks; + for(unsigned n=occupied_tracks->n_tracks; n>0; --n) + { + if(unsigned saddr = occ->track->get_sensor_address()) + { + if(saddr!=last_sensor_addr) + { + count_to_free = 0; + distance_after_sensor = 0; + } + last_sensor_addr = saddr; + } + + ++count_to_free; + distance_after_sensor += occ->path_length; + + occ = occ->next; + } - // XXX What if there's multiple tracks to remove? - if(back_offset>last_occ->path_length) + // Free the last passed sensor and any tracks behind it. + if(count_to_free && back_offset>distance_after_sensor) { - back_offset -= last_occ->path_length; + back_offset -= distance_after_sensor; if(occupied_tracks->refcount>1) { --occupied_tracks->refcount; occupied_tracks = new OccupiedTrack(*occupied_tracks); } - --occupied_tracks->n_tracks; + occupied_tracks->n_tracks -= count_to_free; } + + distance_traveled += distance; + remaining_estimate -= distance; +} + +void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt) +{ + if(delay>=dt) + { + delay -= dt; + return; + } + + float secs = dt/Time::sec; + // There may be negative delay remaining after previous step. + if(delay) + { + secs -= delay/Time::sec; + delay = Time::zero; + } + + if(duration) + duration = max(duration-secs*Time::sec, Time::zero); + + if(estimated_wait) + estimated_wait = max(estimated_wait-secs*Time::sec, Time::zero); + + if(state==MOVING) + advance(info->speed*secs); + else if(state!=ARRIVED) + wait_time += secs*Time::sec; } void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path) @@ -245,28 +505,52 @@ void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path) offset = 0; } +void TrainRoutePlanner::TrainRoutingState::set_path(unsigned p) +{ + path = p; + OccupiedTrack *next_occ = occupied_tracks->next; + if(!--occupied_tracks->refcount) + delete occupied_tracks; + occupied_tracks = new OccupiedTrack(*track, path, next_occ); + update_estimate(); +} + +void TrainRoutePlanner::TrainRoutingState::update_estimate() +{ + TrackIter iter = track.reverse(path); + remaining_estimate = info->metrics[waypoint]->get_distance_from(*iter.track(), iter.entry()); + if(remaining_estimate>=0) + remaining_estimate += occupied_tracks->path_length-offset; +} + +bool TrainRoutePlanner::TrainRoutingState::is_viable() const +{ + if(remaining_estimate<0) + return false; + if(critical && state==BLOCKED) + return false; + return true; +} + TrainRoutePlanner::RoutingStep::RoutingStep(): + preferred(false), prev(0) { } -TrainRoutePlanner::RoutingStep::RoutingStep(RoutingStep *p): +TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p): time(p->time), + cost_estimate(p->cost_estimate), + preferred(false), trains(p->trains), prev(p) { } -void TrainRoutePlanner::RoutingStep::create_successors(list &new_steps) +void TrainRoutePlanner::RoutingStep::create_successors(list &new_steps) const { RoutingStep next(this); - if(next.update_states()) - { - if(next.check_deadlocks()) - return; - - new_steps.push_back(next); + if(next.update_states() && next.check_deadlocks()) return; - } int train_index = find_next_train(); if(train_index<0) @@ -277,34 +561,65 @@ void TrainRoutePlanner::RoutingStep::create_successors(list &new_st Time::TimeDelta dt = train.get_time_to_next_track(); next.advance(dt); + /* Check arrival after the train has advanced to the end of its current track + so travel time and occupied tracks will be correct. */ if(train.check_arrival()) { new_steps.push_back(next); return; } - TrackIter next_track = train.track.next(train.path); train.advance_track(0); - const TrackType::Endpoint &next_entry_ep = next_track.endpoint(); - for(unsigned i=0; next_entry_ep.paths>>i; ++i) - if(next_entry_ep.has_path(i)) - { - train.path = i; - if(next.is_viable()) - new_steps.push_back(next); - } + const TrackType::Endpoint &entry_ep = train.track.endpoint(); + if(train.critical) + { + /* Only create a successor step matching the currently set path for a + critical track. */ + unsigned critical_path = train.track->get_type().coerce_path(train.track.entry(), train.track->get_active_path()); + create_successor(next, train_index, critical_path, new_steps); + } + else + { + // Create successor steps for all possible paths through the new track. + for(unsigned i=0; entry_ep.paths>>i; ++i) + if(entry_ep.has_path(i)) + create_successor(next, train_index, i, new_steps); + } - if(next_entry_ep.paths!=next_track->get_type().get_paths()) + if(entry_ep.paths!=train.track->get_type().get_paths() && !train.critical) { + /* Create a waiting state before the track if there's at least one path + that doesn't pass through the entry endpoint. */ RoutingStep wait(this); wait.advance(dt); wait.trains[train_index].state = WAITING; + + Time::TimeDelta estimated_wait = Time::day; + for(unsigned i=0; i(train_index) && wait.trains[i].state!=ARRIVED) + { + Time::TimeDelta ttp = wait.trains[i].get_time_to_pass(*train.track); + estimated_wait = min(estimated_wait, ttp); + } + wait.trains[train_index].estimated_wait = estimated_wait; + + wait.update_estimate(); if(wait.is_viable()) new_steps.push_back(wait); } } +void TrainRoutePlanner::RoutingStep::create_successor(RoutingStep &next, unsigned train_index, unsigned path, list &new_steps) +{ + TrainRoutingState &train = next.trains[train_index]; + + train.set_path(path); + next.update_estimate(); + if(next.is_viable()) + new_steps.push_back(next); +} + bool TrainRoutePlanner::RoutingStep::update_states() { bool changes = false; @@ -320,9 +635,24 @@ bool TrainRoutePlanner::RoutingStep::update_states() { i->blocked_by = get_occupant(*next_track); if(i->blocked_by>=0) + { + /* If the train is still traversing its last critical track, the + flag needs to be cleared here to pass viability test. */ + if(i->info->first_noncritical->has_track(*next_track)) + i->critical = false; + + if(i->state!=BLOCKED) + i->estimated_wait = trains[i->blocked_by].get_time_to_pass(*next_track); + + /* Trains in the WAITING state will also transition to BLOCKED and + then to MOVING when the other train has passed. */ i->state = BLOCKED; + } else if(i->state==BLOCKED) + { + i->estimated_wait = Time::zero; i->state = MOVING; + } } else i->state = BLOCKED; @@ -336,17 +666,27 @@ bool TrainRoutePlanner::RoutingStep::update_states() bool TrainRoutePlanner::RoutingStep::check_deadlocks() const { - for(unsigned i=0; i::const_iterator i=trains.begin(); i!=trains.end(); ++i) { - const TrainRoutingState &train = trains[i]; - if(train.state!=BLOCKED) + if(i->state!=BLOCKED) continue; - if(train.blocked_by<0) + // A train blocked by end of track is always considered a deadlock. + if(i->blocked_by<0) return true; - if(trains[train.blocked_by].blocked_by==static_cast(i)) - return true; + /* Use the tortoise and hare algorithm to check if trains are blocked + cyclically (A blocks B, which blocks ..., which blocks A). */ + int slow = i->blocked_by; + int fast = trains[slow].blocked_by; + while(fast>=0 && trains[fast].blocked_by>=0) + { + if(fast==slow) + return true; + + slow = trains[slow].blocked_by; + fast = trains[trains[fast].blocked_by].blocked_by; + } } return false; @@ -355,7 +695,7 @@ bool TrainRoutePlanner::RoutingStep::check_deadlocks() const int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const { for(unsigned i=0; i::iterator i=trains.begin(); i!=trains.end(); ++i) - { - if(i->delay) - { - i->delay -= dt; - if(i->delay>Time::zero) - continue; - i->delay = Time::zero; - } - else if(i->state==MOVING) - i->advance(i->info->speed*(dt/Time::sec)); - } + i->advance(dt); +} + +void TrainRoutePlanner::RoutingStep::update_estimate() +{ + cost_estimate = Time::zero; + for(vector::const_iterator i=trains.begin(); i!=trains.end(); ++i) + if(i->remaining_estimate>=0) + cost_estimate += i->wait_time+i->estimated_wait+((i->distance_traveled+i->remaining_estimate)/i->info->speed)*Time::sec; } bool TrainRoutePlanner::RoutingStep::is_viable() const { + for(vector::const_iterator i=trains.begin(); i!=trains.end(); ++i) + if(!i->is_viable()) + return false; + for(vector::const_iterator i=trains.begin(); i!=trains.end(); ++i) if(i->state==MOVING) return true; @@ -415,7 +757,21 @@ bool TrainRoutePlanner::RoutingStep::is_goal() const bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const { - return timeother.preferred; + return cost_estimate