source/libr2c2/trainrouteplanner.cpp

   1 #include <msp/core/maputils.h>
   2 #include "catalogue.h"
   3 #include "layout.h"
   4 #include "route.h"
   5 #include "train.h"
   6 #include "trainroutemetric.h"
   7 #include "trainrouteplanner.h"
   8 #include "trainrouter.h"
   9 #include "vehicle.h"
  10
  11 using namespace std;
  12 using namespace Msp;
  13
  14 namespace R2C2 {
  15
  16 TrainRoutePlanner::TrainRoutePlanner(Layout &layout):
  17         goal(0),
  18         result(PENDING),
  19         thread(0)
  20 {
  21         const map<unsigned, Train *> &trains = layout.get_trains();
  22         for(map<unsigned, Train *>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
  23         {
  24                 TrainRoutingInfo info(*i->second);
  25                 if(!info.waypoints.empty())
  26                         routed_trains.push_back(info);
  27         }
  28 }
  29
  30 TrainRoutePlanner::~TrainRoutePlanner()
  31 {
  32         if(thread)
  33         {
  34                 thread->join();
  35                 delete thread;
  36         }
  37 }
  38
  39 TrainRoutePlanner::Result TrainRoutePlanner::plan()
  40 {
  41         prepare_plan();
  42         create_plan();
  43         if(result==PENDING)
  44                 finalize_plan();
  45
  46         return result;
  47 }
  48
  49 void TrainRoutePlanner::plan_async()
  50 {
  51         if(thread)
  52                 throw logic_error("already planning");
  53
  54         prepare_plan();
  55         thread = new PlanningThread(*this);
  56 }
  57
  58 TrainRoutePlanner::Result TrainRoutePlanner::check()
  59 {
  60         if(result==PENDING && goal)
  61         {
  62                 if(thread)
  63                 {
  64                         thread->join();
  65                         delete thread;
  66                         thread = 0;
  67                 }
  68                 finalize_plan();
  69         }
  70
  71         return result;
  72 }
  73
  74 const list<Route *> &TrainRoutePlanner::get_routes_for(const Train &train) const
  75 {
  76         return get_train_info(train).routes;
  77 }
  78
  79 const list<TrainRouter::SequencePoint> &TrainRoutePlanner::get_sequence_for(const Train &train) const
  80 {
  81         return get_train_info(train).sequence;
  82 }
  83
  84 const TrainRoutePlanner::TrainRoutingInfo &TrainRoutePlanner::get_train_info(const Train &train) const
  85 {
  86         for(vector<TrainRoutingInfo>::const_iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
  87                 if(i->train==&train)
  88                         return *i;
  89
  90         throw key_error(train.get_name());
  91 }
  92
  93 const TrainRoutePlanner::RoutingStep &TrainRoutePlanner::get_step()
  94 {
  95         steps.splice(steps.end(), queue, queue.begin());
  96         return steps.back();
  97 }
  98
  99 void TrainRoutePlanner::prepare_plan()
 100 {
 101         steps.clear();
 102         queue.clear();
 103         goal = 0;
 104         result = PENDING;
 105
 106         queue.push_back(RoutingStep());
 107         RoutingStep &start = queue.back();
 108         for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
 109                 start.trains.push_back(TrainRoutingState(*i));
 110         start.update_estimate();
 111 }
 112
 113 void TrainRoutePlanner::create_plan()
 114 {
 115         while(!queue.empty())
 116         {
 117                 const RoutingStep &step = get_step();
 118                 if(step.is_goal())
 119                 {
 120                         goal = &step;
 121                         return;
 122                 }
 123
 124                 add_steps(step);
 125         }
 126
 127         result = FAILED;
 128 }
 129
 130 void TrainRoutePlanner::add_steps(const RoutingStep &step)
 131 {
 132         list<RoutingStep> new_steps;
 133         step.create_successors(new_steps);
 134         new_steps.sort();
 135         queue.merge(new_steps);
 136 }
 137
 138 void TrainRoutePlanner::finalize_plan()
 139 {
 140         for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
 141         {
 142                 i->routes.clear();
 143                 i->sequence.clear();
 144                 for(unsigned j=0; j<2; ++j)
 145                         i->track_history[j] = 0;
 146         }
 147
 148         map<Track *, TrainRouter::SequencePoint *> sequenced_tracks;
 149         unsigned sequence = steps.size();
 150         for(const RoutingStep *i=goal; i; i=i->prev)
 151                 for(vector<TrainRoutingState>::const_iterator j=i->trains.begin(); j!=i->trains.end(); ++j)
 152                 {
 153                         Track **history = j->info->track_history;
 154                         if(j->track.track()==history[0])
 155                                 continue;
 156
 157                         Route *route = 0;
 158                         bool start_new_route = true;
 159                         if(!j->info->routes.empty())
 160                         {
 161                                 route = j->info->routes.front();
 162                                 start_new_route = route->has_track(*j->track);
 163                                 if(!start_new_route)
 164                                 {
 165                                         unsigned nls = j->track->get_n_link_slots();
 166                                         for(unsigned k=0; (!start_new_route && k<nls); ++k)
 167                                         {
 168                                                 Track *link = j->track->get_link(k);
 169                                                 start_new_route = (link && link!=history[0] && route->has_track(*link));
 170                                         }
 171                                 }
 172                         }
 173
 174                         if(start_new_route)
 175                         {
 176                                 route = new Route(j->info->train->get_layout());
 177                                 route->set_name("Router");
 178                                 route->set_temporary(true);
 179                                 for(unsigned k=0; (k<2 && history[k]); ++k)
 180                                         route->add_track(*history[k]);
 181                                 j->info->routes.push_front(route);
 182                         }
 183
 184                         route->add_track(*j->track.track());
 185                         history[1] = history[0];
 186                         history[0] = j->track.track();
 187
 188                         bool waitable = j->track.endpoint().paths!=j->track->get_type().get_paths();
 189                         map<Track *, TrainRouter::SequencePoint *>::iterator k = sequenced_tracks.find(j->track.track());
 190                         if(k!=sequenced_tracks.end())
 191                         {
 192                                 if(!k->second->preceding_train)
 193                                 {
 194                                         k->second->preceding_train = j->info->train;
 195                                         k->second->sequence_in = sequence;
 196                                 }
 197                                 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
 198                                 if(waitable)
 199                                         k->second = &j->info->sequence.front();
 200                                 --sequence;
 201                         }
 202                         else if(waitable)
 203                         {
 204                                 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
 205                                 sequenced_tracks[j->track.track()] = &j->info->sequence.front();
 206                                 --sequence;
 207                         }
 208                 }
 209
 210         result = COMPLETE;
 211 }
 212
 213
 214 TrainRoutePlanner::TrainRoutingInfo::TrainRoutingInfo(Train &t):
 215         train(&t),
 216         speed(train->get_maximum_speed()),
 217         first_noncritical(train->get_first_noncritical_block().block()),
 218         router(train->get_ai_of_type<TrainRouter>()),
 219         waypoints(router ? router->get_n_waypoints() : 0),
 220         has_duration(false)
 221 {
 222         if(!waypoints.empty())
 223         {
 224                 metrics.resize(waypoints.size());
 225                 for(unsigned i=0; i<waypoints.size(); ++i)
 226                 {
 227                         waypoints[i] = &router->get_waypoint(i);
 228                         metrics[i] = &router->get_metric(i);
 229                 }
 230                 has_duration = router->get_trip_duration();
 231         }
 232
 233         // If no maximum speed is specified, use a sensible default
 234         if(!speed)
 235                 speed = 20*train->get_layout().get_catalogue().get_scale();
 236 }
 237
 238
 239 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(Track &t, unsigned p, OccupiedTrack *n):
 240         track(&t),
 241         path_length(track->get_type().get_path_length(p)),
 242         next(n),
 243         n_tracks(next ? next->n_tracks+1 : 1),
 244         refcount(1)
 245 {
 246         if(next)
 247                 ++next->refcount;
 248 }
 249
 250 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(const OccupiedTrack &other):
 251         track(other.track),
 252         path_length(other.path_length),
 253         next(other.next),
 254         n_tracks(other.n_tracks),
 255         refcount(1)
 256 {
 257         if(next)
 258                 ++next->refcount;
 259 }
 260
 261 TrainRoutePlanner::OccupiedTrack::~OccupiedTrack()
 262 {
 263         if(next && !--next->refcount)
 264                 delete next;
 265 }
 266
 267
 268 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
 269         info(&inf),
 270         critical(true),
 271         occupied_tracks(0),
 272         state(MOVING),
 273         delay(info->router->get_departure_delay()),
 274         duration(info->router->get_trip_duration()),
 275         waypoint(0),
 276         blocked_by(-1)
 277 {
 278         const Vehicle *veh = &info->train->get_vehicle(0);
 279         // TODO margins
 280         TrackOffsetIter track_and_offs = veh->get_placement().get_position(VehiclePlacement::FRONT_BUFFER);
 281         track = track_and_offs.track_iter();
 282         offset = track_and_offs.offset();
 283         path = track->get_active_path();
 284
 285         while(Vehicle *next = veh->get_link(1))
 286                 veh = next;
 287         track_and_offs = veh->get_placement().get_position(VehiclePlacement::BACK_BUFFER);
 288         back_offset = track_and_offs.offset();
 289
 290         TrackIter iter = track_and_offs.track_iter();
 291         while(1)
 292         {
 293                 occupied_tracks = new OccupiedTrack(*iter, iter->get_active_path(), occupied_tracks);
 294                 if(iter.track()==track.track())
 295                         break;
 296                 iter = iter.next();
 297         }
 298
 299         update_estimate();
 300 }
 301
 302 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other):
 303         info(other.info),
 304         track(other.track),
 305         path(other.path),
 306         critical(other.critical),
 307         occupied_tracks(other.occupied_tracks),
 308         offset(other.offset),
 309         back_offset(other.back_offset),
 310         state(other.state),
 311         delay(other.delay),
 312         duration(other.duration),
 313         waypoint(other.waypoint),
 314         distance_traveled(other.distance_traveled),
 315         remaining_estimate(other.remaining_estimate),
 316         wait_time(other.wait_time),
 317         blocked_by(other.blocked_by)
 318 {
 319         ++occupied_tracks->refcount;
 320 }
 321
 322 TrainRoutePlanner::TrainRoutingState::~TrainRoutingState()
 323 {
 324         if(occupied_tracks && !--occupied_tracks->refcount)
 325                 delete occupied_tracks;
 326 }
 327
 328 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() const
 329 {
 330         return ((track->get_type().get_path_length(path)-offset)/info->speed)*Time::sec+delay;
 331 }
 332
 333 bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const
 334 {
 335         if(state==ARRIVED && !duration && info->has_duration)
 336                 return false;
 337
 338         OccupiedTrack *occ = occupied_tracks;
 339         for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next)
 340                 if(occ->track==&trk)
 341                         return true;
 342         return false;
 343 }
 344
 345 bool TrainRoutePlanner::TrainRoutingState::check_arrival()
 346 {
 347         TrackIter next_track = track.next(path);
 348
 349         const TrackChain *wp_chain = info->waypoints[waypoint];
 350         if(wp_chain->has_track(*track) && !wp_chain->has_track(*next_track))
 351         {
 352                 if(waypoint+1<info->waypoints.size())
 353                         ++waypoint;
 354                 else
 355                 {
 356                         state = ARRIVED;
 357                         return true;
 358                 }
 359         }
 360
 361         if(info->first_noncritical->has_track(*track))
 362                 critical = false;
 363
 364         return false;
 365 }
 366
 367 void TrainRoutePlanner::TrainRoutingState::advance(float distance)
 368 {
 369         offset += distance;
 370         back_offset += distance;
 371
 372         unsigned count_to_free = 0;
 373         unsigned last_sensor_addr = 0;
 374         float distance_after_sensor = 0;
 375         OccupiedTrack *occ = occupied_tracks;
 376         for(unsigned n=occupied_tracks->n_tracks; n>0; --n)
 377         {
 378                 if(unsigned saddr = occ->track->get_sensor_address())
 379                 {
 380                         if(saddr!=last_sensor_addr)
 381                         {
 382                                 count_to_free = 0;
 383                                 distance_after_sensor = 0;
 384                         }
 385                         last_sensor_addr = saddr;
 386                 }
 387
 388                 ++count_to_free;
 389                 distance_after_sensor += occ->path_length;
 390
 391                 occ = occ->next;
 392         }
 393
 394         if(count_to_free && back_offset>distance_after_sensor)
 395         {
 396                 back_offset -= distance_after_sensor;
 397                 if(occupied_tracks->refcount>1)
 398                 {
 399                         --occupied_tracks->refcount;
 400                         occupied_tracks = new OccupiedTrack(*occupied_tracks);
 401                 }
 402                 occupied_tracks->n_tracks -= count_to_free;
 403         }
 404
 405         distance_traveled += distance;
 406         remaining_estimate -= distance;
 407 }
 408
 409 void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt)
 410 {
 411         if(delay>=dt)
 412         {
 413                 delay -= dt;
 414                 return;
 415         }
 416
 417         float secs = dt/Time::sec;
 418         if(delay)
 419         {
 420                 secs -= delay/Time::sec;
 421                 delay = Time::zero;
 422         }
 423
 424         if(duration)
 425                 duration = max(duration-secs*Time::sec, Time::zero);
 426
 427         if(state==MOVING)
 428                 advance(info->speed*secs);
 429         else if(state!=ARRIVED)
 430                 wait_time += secs*Time::sec;
 431 }
 432
 433 void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
 434 {
 435         float distance = occupied_tracks->path_length-offset;
 436         track = track.next(path);
 437         path = next_path;
 438         occupied_tracks = new OccupiedTrack(*track, path, occupied_tracks);
 439         advance(distance);
 440         offset = 0;
 441 }
 442
 443 void TrainRoutePlanner::TrainRoutingState::update_estimate()
 444 {
 445         TrackIter iter = track.reverse(path);
 446         float distance = info->metrics[waypoint]->get_distance_from(*iter.track(), iter.entry());
 447         distance += track->get_type().get_path_length(path)-offset;
 448         remaining_estimate = distance;
 449 }
 450
 451
 452 TrainRoutePlanner::RoutingStep::RoutingStep():
 453         prev(0)
 454 { }
 455
 456 TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p):
 457         time(p->time),
 458         penalty(p->penalty),
 459         cost_estimate(p->cost_estimate),
 460         trains(p->trains),
 461         prev(p)
 462 { }
 463
 464 void TrainRoutePlanner::RoutingStep::create_successors(list<RoutingStep> &new_steps) const
 465 {
 466         RoutingStep next(this);
 467         if(next.update_states())
 468         {
 469                 if(next.check_deadlocks())
 470                         return;
 471
 472                 new_steps.push_back(next);
 473                 return;
 474         }
 475
 476         int train_index = find_next_train();
 477         if(train_index<0)
 478                 return;
 479
 480         TrainRoutingState &train = next.trains[train_index];
 481
 482         Time::TimeDelta dt = train.get_time_to_next_track();
 483         next.advance(dt);
 484
 485         if(train.check_arrival())
 486         {
 487                 new_steps.push_back(next);
 488                 return;
 489         }
 490
 491         train.advance_track(0);
 492
 493         const TrackType::Endpoint &entry_ep = train.track.endpoint();
 494         if(train.critical)
 495         {
 496                 train.path = train.track->get_type().coerce_path(train.track.entry(), train.track->get_active_path());
 497                 train.update_estimate();
 498                 next.update_estimate();
 499                 if(next.is_viable())
 500                         new_steps.push_back(next);
 501         }
 502         else
 503         {
 504                 for(unsigned i=0; entry_ep.paths>>i; ++i)
 505                         if(entry_ep.has_path(i))
 506                         {
 507                                 train.path = i;
 508                                 train.update_estimate();
 509                                 next.update_estimate();
 510                                 if(next.is_viable())
 511                                         new_steps.push_back(next);
 512                         }
 513         }
 514
 515         new_steps.sort();
 516         for(list<RoutingStep>::iterator i=new_steps.begin(); ++i!=new_steps.end(); )
 517         {
 518                 i->penalty += 5*Time::sec;
 519                 i->update_estimate();
 520         }
 521
 522         if(entry_ep.paths!=train.track->get_type().get_paths() && !train.critical)
 523         {
 524                 RoutingStep wait(this);
 525                 wait.advance(dt);
 526                 wait.trains[train_index].state = WAITING;
 527                 wait.penalty += 15*Time::sec;
 528                 wait.update_estimate();
 529                 if(wait.is_viable())
 530                         new_steps.push_back(wait);
 531         }
 532 }
 533
 534 bool TrainRoutePlanner::RoutingStep::update_states()
 535 {
 536         bool changes = false;
 537         for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
 538         {
 539                 if(i->state==ARRIVED)
 540                         continue;
 541
 542                 TrainState old_state = i->state;
 543
 544                 TrackIter next_track = i->track.next(i->path);
 545                 if(next_track)
 546                 {
 547                         i->blocked_by = get_occupant(*next_track);
 548                         if(i->blocked_by>=0)
 549                                 i->state = BLOCKED;
 550                         else if(i->state==BLOCKED)
 551                                 i->state = MOVING;
 552                 }
 553                 else
 554                         i->state = BLOCKED;
 555
 556                 if(i->state!=old_state)
 557                         changes = true;
 558         }
 559
 560         return changes;
 561 }
 562
 563 bool TrainRoutePlanner::RoutingStep::check_deadlocks() const
 564 {
 565         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 566         {
 567                 if(i->state!=BLOCKED)
 568                         continue;
 569
 570                 if(i->blocked_by<0)
 571                         return true;
 572
 573                 int slow = i->blocked_by;
 574                 int fast = trains[slow].blocked_by;
 575                 while(fast>=0 && trains[fast].blocked_by>=0)
 576                 {
 577                         if(fast==slow)
 578                                 return true;
 579
 580                         slow = trains[slow].blocked_by;
 581                         fast = trains[trains[fast].blocked_by].blocked_by;
 582                 }
 583         }
 584
 585         return false;
 586 }
 587
 588 int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const
 589 {
 590         for(unsigned i=0; i<trains.size(); ++i)
 591                 if(trains[i].is_occupying(track))
 592                         return i;
 593
 594         return -1;
 595 }
 596
 597 int TrainRoutePlanner::RoutingStep::find_next_train() const
 598 {
 599         Time::TimeDelta min_dt;
 600         int next_train = -1;
 601         for(unsigned i=0; i<trains.size(); ++i)
 602                 if(trains[i].state==MOVING)
 603                 {
 604                         Time::TimeDelta dt = trains[i].get_time_to_next_track();
 605                         if(dt<min_dt || next_train<0)
 606                         {
 607                                 min_dt = dt;
 608                                 next_train = i;
 609                         }
 610                 }
 611
 612         return next_train;
 613 }
 614
 615 void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
 616 {
 617         time += dt;
 618         for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
 619                 i->advance(dt);
 620 }
 621
 622 void TrainRoutePlanner::RoutingStep::update_estimate()
 623 {
 624         cost_estimate = penalty;
 625         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 626                 if(i->remaining_estimate>=0)
 627                         cost_estimate += i->wait_time+((i->distance_traveled+i->remaining_estimate)/i->info->speed)*Time::sec;
 628 }
 629
 630 bool TrainRoutePlanner::RoutingStep::is_viable() const
 631 {
 632         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 633                 if(i->remaining_estimate<0)
 634                         return false;
 635
 636         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 637                 if(i->state==MOVING)
 638                         return true;
 639
 640         return false;
 641 }
 642
 643 bool TrainRoutePlanner::RoutingStep::is_goal() const
 644 {
 645         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 646                 if(i->state!=ARRIVED)
 647                         return false;
 648         return true;
 649 }
 650
 651 bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const
 652 {
 653         return cost_estimate<other.cost_estimate;
 654 }
 655
 656
 657 TrainRoutePlanner::PlanningThread::PlanningThread(TrainRoutePlanner &p):
 658         planner(p)
 659 {
 660         launch();
 661 }
 662
 663 void TrainRoutePlanner::PlanningThread::main()
 664 {
 665         planner.create_plan();
 666 }
 667
 668 } // namespace R2C2