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<2; ++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=0; (k<2 && history[k]); ++k)
172 route->add_track(*history[k]);
173 j->info->routes.push_front(route);
176 route->add_track(*j->track.track());
177 history[1] = history[0];
178 history[0] = j->track.track();
180 bool waitable = j->track.endpoint().paths!=j->track->get_type().get_paths();
181 map<Track *, TrainRouter::SequencePoint *>::iterator k = sequenced_tracks.find(j->track.track());
182 if(k!=sequenced_tracks.end())
184 if(!k->second->preceding_train)
186 k->second->preceding_train = j->info->train;
187 k->second->sequence_in = sequence;
189 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
191 k->second = &j->info->sequence.front();
196 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
197 sequenced_tracks[j->track.track()] = &j->info->sequence.front();
206 TrainRoutePlanner::TrainRoutingInfo::TrainRoutingInfo(Train &t):
208 speed(train->get_maximum_speed()),
209 router(train->get_ai_of_type<TrainRouter>())
211 // If no maximum speed is specified, use a sensible default
213 speed = 20*train->get_layout().get_catalogue().get_scale();
217 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(Track &t, unsigned p, OccupiedTrack *n):
219 path_length(track->get_type().get_path_length(p)),
221 n_tracks(next ? next->n_tracks+1 : 1),
228 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(const OccupiedTrack &other):
230 path_length(other.path_length),
232 n_tracks(other.n_tracks),
239 TrainRoutePlanner::OccupiedTrack::~OccupiedTrack()
241 if(next && !--next->refcount)
246 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
250 delay(info->router->get_departure_delay()),
251 waypoint(info->router->get_n_waypoints() ? 0 : -1),
254 const Vehicle *veh = &info->train->get_vehicle(0);
256 TrackOffsetIter track_and_offs = veh->get_placement().get_position(VehiclePlacement::FRONT_BUFFER);
257 track = track_and_offs.track_iter();
258 offset = track_and_offs.offset();
259 path = track->get_active_path();
261 while(Vehicle *next = veh->get_link(1))
263 track_and_offs = veh->get_placement().get_position(VehiclePlacement::BACK_BUFFER);
264 back_offset = track_and_offs.offset();
266 TrackIter iter = track_and_offs.track_iter();
269 occupied_tracks = new OccupiedTrack(*iter, iter->get_active_path(), occupied_tracks);
270 if(iter.track()==track.track())
278 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other):
282 occupied_tracks(other.occupied_tracks),
283 offset(other.offset),
284 back_offset(other.back_offset),
287 waypoint(other.waypoint),
288 distance_traveled(other.distance_traveled),
289 remaining_estimate(other.remaining_estimate),
290 wait_time(other.wait_time),
291 blocked_by(other.blocked_by)
293 ++occupied_tracks->refcount;
296 TrainRoutePlanner::TrainRoutingState::~TrainRoutingState()
298 if(occupied_tracks && !--occupied_tracks->refcount)
299 delete occupied_tracks;
302 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() const
304 return ((track->get_type().get_path_length(path)-offset)/info->speed)*Time::sec+delay;
307 bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const
309 OccupiedTrack *occ = occupied_tracks;
310 for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next)
316 bool TrainRoutePlanner::TrainRoutingState::check_arrival()
318 TrainRouter &router = *info->router;
319 TrackIter next_track = track.next(path);
321 if(waypoint<0 && router.is_destination(*track) && !router.is_destination(*next_track))
326 else if(waypoint>=0 && router.is_waypoint(waypoint, *track) && !router.is_waypoint(waypoint, *next_track))
329 if(waypoint>=static_cast<int>(router.get_n_waypoints()))
336 void TrainRoutePlanner::TrainRoutingState::advance(float distance)
339 back_offset += distance;
341 OccupiedTrack *last_occ = occupied_tracks;
342 for(unsigned n=occupied_tracks->n_tracks; n>1; --n)
343 last_occ = last_occ->next;
345 // XXX What if there's multiple tracks to remove?
346 if(back_offset>last_occ->path_length)
348 back_offset -= last_occ->path_length;
349 if(occupied_tracks->refcount>1)
351 --occupied_tracks->refcount;
352 occupied_tracks = new OccupiedTrack(*occupied_tracks);
354 --occupied_tracks->n_tracks;
357 distance_traveled += distance;
358 remaining_estimate -= distance;
361 void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt)
369 float secs = dt/Time::sec;
372 secs -= delay/Time::sec;
377 advance(info->speed*secs);
378 else if(state!=ARRIVED)
379 wait_time += secs*Time::sec;
382 void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
384 float distance = occupied_tracks->path_length-offset;
385 track = track.next(path);
387 occupied_tracks = new OccupiedTrack(*track, path, occupied_tracks);
392 void TrainRoutePlanner::TrainRoutingState::update_estimate()
394 TrackIter iter = track.reverse(path);
395 float distance = info->router->get_metric(waypoint).get_distance_from(*iter.track(), iter.entry());
396 distance += track->get_type().get_path_length(path)-offset;
397 remaining_estimate = distance;
401 TrainRoutePlanner::RoutingStep::RoutingStep():
405 TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p):
407 cost_estimate(p->cost_estimate),
412 void TrainRoutePlanner::RoutingStep::create_successors(list<RoutingStep> &new_steps) const
414 RoutingStep next(this);
415 if(next.update_states())
417 if(next.check_deadlocks())
420 new_steps.push_back(next);
424 int train_index = find_next_train();
428 TrainRoutingState &train = next.trains[train_index];
430 Time::TimeDelta dt = train.get_time_to_next_track();
433 if(train.check_arrival())
435 new_steps.push_back(next);
439 TrackIter next_track = train.track.next(train.path);
440 train.advance_track(0);
442 const TrackType::Endpoint &next_entry_ep = next_track.endpoint();
443 for(unsigned i=0; next_entry_ep.paths>>i; ++i)
444 if(next_entry_ep.has_path(i))
447 train.update_estimate();
448 next.update_estimate();
450 new_steps.push_back(next);
453 if(next_entry_ep.paths!=next_track->get_type().get_paths())
455 RoutingStep wait(this);
457 wait.trains[train_index].state = WAITING;
459 new_steps.push_back(wait);
463 bool TrainRoutePlanner::RoutingStep::update_states()
465 bool changes = false;
466 for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
468 if(i->state==ARRIVED)
471 TrainState old_state = i->state;
473 TrackIter next_track = i->track.next(i->path);
476 i->blocked_by = get_occupant(*next_track);
479 else if(i->state==BLOCKED)
485 if(i->state!=old_state)
492 bool TrainRoutePlanner::RoutingStep::check_deadlocks() const
494 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
496 if(i->state!=BLOCKED)
502 int slow = i->blocked_by;
503 int fast = trains[slow].blocked_by;
504 while(fast>=0 && trains[fast].blocked_by>=0)
509 slow = trains[slow].blocked_by;
510 fast = trains[trains[fast].blocked_by].blocked_by;
517 int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const
519 for(unsigned i=0; i<trains.size(); ++i)
520 if(trains[i].is_occupying(track))
526 int TrainRoutePlanner::RoutingStep::find_next_train() const
528 Time::TimeDelta min_dt;
530 for(unsigned i=0; i<trains.size(); ++i)
531 if(trains[i].state==MOVING)
533 Time::TimeDelta dt = trains[i].get_time_to_next_track();
534 if(dt<min_dt || next_train<0)
544 void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
547 for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
551 void TrainRoutePlanner::RoutingStep::update_estimate()
553 cost_estimate = Time::zero;
554 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
555 if(i->remaining_estimate>=0)
556 cost_estimate += i->wait_time+((i->distance_traveled+i->remaining_estimate)/i->info->speed)*Time::sec;
559 bool TrainRoutePlanner::RoutingStep::is_viable() const
561 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
562 if(i->remaining_estimate<0)
565 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
572 bool TrainRoutePlanner::RoutingStep::is_goal() const
574 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
575 if(i->state!=ARRIVED)
580 bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const
582 return cost_estimate<other.cost_estimate;
586 TrainRoutePlanner::PlanningThread::PlanningThread(TrainRoutePlanner &p):
592 void TrainRoutePlanner::PlanningThread::main()
594 planner.create_plan();