source/libr2c2/trainrouteplanner.cpp

   1 #include <msp/core/maputils.h>
   2 #include <msp/time/utils.h>
   3 #include "catalogue.h"
   4 #include "layout.h"
   5 #include "route.h"
   6 #include "train.h"
   7 #include "trainroutemetric.h"
   8 #include "trainrouteplanner.h"
   9 #include "trainrouter.h"
  10 #include "vehicle.h"
  11
  12 using namespace std;
  13 using namespace Msp;
  14
  15 namespace R2C2 {
  16
  17 TrainRoutePlanner::TrainRoutePlanner(Layout &layout):
  18         goal(0),
  19         timeout(10*Time::sec),
  20         result(PENDING),
  21         thread(0)
  22 {
  23         const map<unsigned, Train *> &trains = layout.get_trains();
  24         for(map<unsigned, Train *>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
  25         {
  26                 TrainRoutingInfo info(*i->second);
  27                 if(!info.waypoints.empty())
  28                         routed_trains.push_back(info);
  29         }
  30 }
  31
  32 TrainRoutePlanner::~TrainRoutePlanner()
  33 {
  34         if(thread)
  35         {
  36                 thread->join();
  37                 delete thread;
  38         }
  39 }
  40
  41 void TrainRoutePlanner::set_timeout(const Time::TimeDelta &t)
  42 {
  43         timeout = t;
  44 }
  45
  46 TrainRoutePlanner::Result TrainRoutePlanner::plan()
  47 {
  48         prepare_plan();
  49         create_plan();
  50         if(result==PENDING)
  51                 finalize_plan();
  52
  53         return result;
  54 }
  55
  56 void TrainRoutePlanner::plan_async()
  57 {
  58         if(thread)
  59                 throw logic_error("already planning");
  60
  61         prepare_plan();
  62         thread = new PlanningThread(*this);
  63 }
  64
  65 TrainRoutePlanner::Result TrainRoutePlanner::check()
  66 {
  67         if(result==PENDING && goal)
  68         {
  69                 if(thread)
  70                 {
  71                         thread->join();
  72                         delete thread;
  73                         thread = 0;
  74                 }
  75                 finalize_plan();
  76         }
  77
  78         return result;
  79 }
  80
  81 const list<Route *> &TrainRoutePlanner::get_routes_for(const Train &train) const
  82 {
  83         return get_train_info(train).routes;
  84 }
  85
  86 const list<TrainRouter::SequencePoint> &TrainRoutePlanner::get_sequence_for(const Train &train) const
  87 {
  88         return get_train_info(train).sequence;
  89 }
  90
  91 const TrainRoutePlanner::TrainRoutingInfo &TrainRoutePlanner::get_train_info(const Train &train) const
  92 {
  93         for(vector<TrainRoutingInfo>::const_iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
  94                 if(i->train==&train)
  95                         return *i;
  96
  97         throw key_error(train.get_name());
  98 }
  99
 100 const TrainRoutePlanner::RoutingStep &TrainRoutePlanner::get_step()
 101 {
 102         steps.splice(steps.end(), queue, queue.begin());
 103         return steps.back();
 104 }
 105
 106 void TrainRoutePlanner::prepare_plan()
 107 {
 108         steps.clear();
 109         queue.clear();
 110         goal = 0;
 111         result = PENDING;
 112
 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();
 118 }
 119
 120 void TrainRoutePlanner::create_plan()
 121 {
 122         Time::TimeStamp timeout_stamp = Time::now()+timeout;
 123         unsigned count = 0;
 124         while(!queue.empty())
 125         {
 126                 const RoutingStep &step = get_step();
 127                 if(step.is_goal())
 128                 {
 129                         goal = &step;
 130                         return;
 131                 }
 132
 133                 add_steps(step);
 134
 135                 if(++count>=1000)
 136                 {
 137                         if(Time::now()>timeout_stamp)
 138                                 break;
 139                         count = 0;
 140                 }
 141         }
 142
 143         result = FAILED;
 144 }
 145
 146 void TrainRoutePlanner::add_steps(const RoutingStep &step)
 147 {
 148         list<RoutingStep> new_steps;
 149         step.create_successors(new_steps);
 150         new_steps.sort();
 151         queue.merge(new_steps);
 152 }
 153
 154 void TrainRoutePlanner::finalize_plan()
 155 {
 156         for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
 157         {
 158                 i->routes.clear();
 159                 i->sequence.clear();
 160                 for(unsigned j=0; j<2; ++j)
 161                         i->track_history[j] = 0;
 162         }
 163
 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)
 168                 {
 169                         Track **history = j->info->track_history;
 170                         // Don't process the same track again.
 171                         if(j->track.track()==history[0])
 172                                 continue;
 173
 174                         Route *route = 0;
 175                         bool start_new_route = true;
 176                         if(!j->info->routes.empty())
 177                         {
 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);
 182                                 if(!start_new_route)
 183                                 {
 184                                         unsigned nls = j->track->get_n_link_slots();
 185                                         for(unsigned k=0; (!start_new_route && k<nls); ++k)
 186                                         {
 187                                                 Track *link = j->track->get_link(k);
 188                                                 start_new_route = (link && link!=history[0] && route->has_track(*link));
 189                                         }
 190                                 }
 191                         }
 192
 193                         if(start_new_route)
 194                         {
 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);
 203                         }
 204
 205                         route->add_track(*j->track.track());
 206                         history[1] = history[0];
 207                         history[0] = j->track.track();
 208
 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())
 212                         {
 213                                 // Add a sequence point if another train uses this track afterwards.
 214                                 if(!k->second->preceding_train)
 215                                 {
 216                                         k->second->preceding_train = j->info->train;
 217                                         k->second->sequence_in = sequence;
 218                                 }
 219                                 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
 220                                 if(waitable)
 221                                         k->second = &j->info->sequence.front();
 222                                 --sequence;
 223                         }
 224                         else if(waitable)
 225                         {
 226                                 /* Create a sequence point if it's possible to wait and let another
 227                                 train past. */
 228                                 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
 229                                 sequenced_tracks[j->track.track()] = &j->info->sequence.front();
 230                                 --sequence;
 231                         }
 232                 }
 233
 234         result = COMPLETE;
 235 }
 236
 237
 238 TrainRoutePlanner::TrainRoutingInfo::TrainRoutingInfo(Train &t):
 239         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>()),
 243         has_duration(false)
 244 {
 245         if(unsigned n_wps = router->get_n_waypoints())
 246         {
 247                 waypoints.reserve(n_wps),
 248                 metrics.reserve(n_wps);
 249                 for(unsigned i=0; i<n_wps; ++i)
 250                 {
 251                         waypoints.push_back(router->get_waypoint(i));
 252                         metrics.push_back(&router->get_metric(i));
 253                 }
 254                 has_duration = router->get_trip_duration();
 255         }
 256
 257         // If no maximum speed is specified, use a sensible default
 258         if(!speed)
 259                 speed = 20*train->get_layout().get_catalogue().get_scale();
 260 }
 261
 262
 263 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(Track &t, unsigned p, OccupiedTrack *n):
 264         track(&t),
 265         path_length(track->get_type().get_path_length(p)),
 266         next(n),
 267         n_tracks(next ? next->n_tracks+1 : 1),
 268         refcount(1)
 269 {
 270         if(next)
 271                 ++next->refcount;
 272 }
 273
 274 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(const OccupiedTrack &other):
 275         track(other.track),
 276         path_length(other.path_length),
 277         next(other.next),
 278         n_tracks(other.n_tracks),
 279         refcount(1)
 280 {
 281         if(next)
 282                 ++next->refcount;
 283 }
 284
 285 TrainRoutePlanner::OccupiedTrack::~OccupiedTrack()
 286 {
 287         if(next && !--next->refcount)
 288                 delete next;
 289 }
 290
 291
 292 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
 293         info(&inf),
 294         critical(true),
 295         occupied_tracks(0),
 296         state(MOVING),
 297         delay(info->router->get_departure_delay()),
 298         duration(info->router->get_trip_duration()),
 299         waypoint(0),
 300         blocked_by(-1)
 301 {
 302         const Vehicle *veh = &info->train->get_vehicle(0);
 303         // TODO margins
 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();
 308
 309         while(Vehicle *next = veh->get_link(1))
 310                 veh = next;
 311         track_and_offs = veh->get_placement().get_position(VehiclePlacement::BACK_BUFFER);
 312         back_offset = track_and_offs.offset();
 313
 314         TrackIter iter = track_and_offs.track_iter();
 315         while(1)
 316         {
 317                 occupied_tracks = new OccupiedTrack(*iter, iter->get_active_path(), occupied_tracks);
 318                 if(iter.track()==track.track())
 319                         break;
 320                 iter = iter.next();
 321         }
 322
 323         update_estimate();
 324 }
 325
 326 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other):
 327         info(other.info),
 328         track(other.track),
 329         path(other.path),
 330         critical(other.critical),
 331         occupied_tracks(other.occupied_tracks),
 332         offset(other.offset),
 333         back_offset(other.back_offset),
 334         state(other.state),
 335         delay(other.delay),
 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)
 343 {
 344         ++occupied_tracks->refcount;
 345 }
 346
 347 TrainRoutePlanner::TrainRoutingState::~TrainRoutingState()
 348 {
 349         if(occupied_tracks && !--occupied_tracks->refcount)
 350                 delete occupied_tracks;
 351 }
 352
 353 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() const
 354 {
 355         return ((track->get_type().get_path_length(path)-offset)/info->speed)*Time::sec+delay;
 356 }
 357
 358 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_pass(Track &trk) const
 359 {
 360         if(is_occupying(trk))
 361                 return Time::zero;
 362
 363         for(unsigned wp=waypoint; wp<info->waypoints.size(); ++wp)
 364         {
 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;
 368         }
 369
 370         return Time::day;
 371 }
 372
 373 bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const
 374 {
 375         if(state==ARRIVED && !duration && info->has_duration)
 376                 return false;
 377
 378         OccupiedTrack *occ = occupied_tracks;
 379         for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next)
 380                 if(occ->track==&trk)
 381                         return true;
 382         return false;
 383 }
 384
 385 bool TrainRoutePlanner::TrainRoutingState::check_arrival()
 386 {
 387         TrackIter next_track = track.next(path);
 388
 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))
 393                 {
 394                         if(waypoint+1<info->waypoints.size())
 395                                 ++waypoint;
 396                         else
 397                         {
 398                                 state = ARRIVED;
 399                                 return true;
 400                         }
 401                 }
 402
 403         // If we're entering the first non-critical block, clear the critical flag.
 404         if(info->first_noncritical->has_track(*next_track))
 405                 critical = false;
 406
 407         return false;
 408 }
 409
 410 void TrainRoutePlanner::TrainRoutingState::advance(float distance)
 411 {
 412         offset += distance;
 413         back_offset += distance;
 414
 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)
 421         {
 422                 if(unsigned saddr = occ->track->get_sensor_address())
 423                 {
 424                         if(saddr!=last_sensor_addr)
 425                         {
 426                                 count_to_free = 0;
 427                                 distance_after_sensor = 0;
 428                         }
 429                         last_sensor_addr = saddr;
 430                 }
 431
 432                 ++count_to_free;
 433                 distance_after_sensor += occ->path_length;
 434
 435                 occ = occ->next;
 436         }
 437
 438         // Free the last passed sensor and any tracks behind it.
 439         if(count_to_free && back_offset>distance_after_sensor)
 440         {
 441                 back_offset -= distance_after_sensor;
 442                 if(occupied_tracks->refcount>1)
 443                 {
 444                         --occupied_tracks->refcount;
 445                         occupied_tracks = new OccupiedTrack(*occupied_tracks);
 446                 }
 447                 occupied_tracks->n_tracks -= count_to_free;
 448         }
 449
 450         distance_traveled += distance;
 451         remaining_estimate -= distance;
 452 }
 453
 454 void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt)
 455 {
 456         if(delay>=dt)
 457         {
 458                 delay -= dt;
 459                 return;
 460         }
 461
 462         float secs = dt/Time::sec;
 463         // There may be negative delay remaining after previous step.
 464         if(delay)
 465         {
 466                 secs -= delay/Time::sec;
 467                 delay = Time::zero;
 468         }
 469
 470         if(duration)
 471                 duration = max(duration-secs*Time::sec, Time::zero);
 472
 473         if(estimated_wait)
 474                 estimated_wait = max(estimated_wait-secs*Time::sec, Time::zero);
 475
 476         if(state==MOVING)
 477                 advance(info->speed*secs);
 478         else if(state!=ARRIVED)
 479                 wait_time += secs*Time::sec;
 480 }
 481
 482 void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
 483 {
 484         float distance = occupied_tracks->path_length-offset;
 485         track = track.next(path);
 486         path = next_path;
 487         occupied_tracks = new OccupiedTrack(*track, path, occupied_tracks);
 488         advance(distance);
 489         offset = 0;
 490 }
 491
 492 void TrainRoutePlanner::TrainRoutingState::update_estimate()
 493 {
 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;
 498 }
 499
 500 bool TrainRoutePlanner::TrainRoutingState::is_viable() const
 501 {
 502         if(remaining_estimate<0)
 503                 return false;
 504         if(critical && state==BLOCKED)
 505                 return false;
 506         return true;
 507 }
 508
 509
 510 TrainRoutePlanner::RoutingStep::RoutingStep():
 511         prev(0)
 512 { }
 513
 514 TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p):
 515         time(p->time),
 516         penalty(p->penalty),
 517         cost_estimate(p->cost_estimate),
 518         trains(p->trains),
 519         prev(p)
 520 { }
 521
 522 void TrainRoutePlanner::RoutingStep::create_successors(list<RoutingStep> &new_steps) const
 523 {
 524         RoutingStep next(this);
 525         if(next.update_states() && next.check_deadlocks())
 526                 return;
 527
 528         int train_index = find_next_train();
 529         if(train_index<0)
 530                 return;
 531
 532         TrainRoutingState &train = next.trains[train_index];
 533
 534         Time::TimeDelta dt = train.get_time_to_next_track();
 535         next.advance(dt);
 536
 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())
 540         {
 541                 new_steps.push_back(next);
 542                 return;
 543         }
 544
 545         train.advance_track(0);
 546
 547         const TrackType::Endpoint &entry_ep = train.track.endpoint();
 548         if(train.critical)
 549         {
 550                 /* Only create a successor step matching the currently set path for a
 551                 critical track. */
 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);
 554         }
 555         else
 556         {
 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);
 561         }
 562
 563         new_steps.sort();
 564         for(list<RoutingStep>::iterator i=new_steps.begin(); ++i!=new_steps.end(); )
 565         {
 566                 i->penalty += 5*Time::sec;
 567                 i->update_estimate();
 568         }
 569
 570         if(entry_ep.paths!=train.track->get_type().get_paths() && !train.critical)
 571         {
 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);
 575                 wait.advance(dt);
 576                 wait.trains[train_index].state = WAITING;
 577
 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)
 581                         {
 582                                 Time::TimeDelta ttp = wait.trains[i].get_time_to_pass(*train.track);
 583                                 estimated_wait = min(estimated_wait, ttp);
 584                         }
 585                 wait.trains[train_index].estimated_wait = estimated_wait;
 586
 587                 wait.update_estimate();
 588                 if(wait.is_viable())
 589                         new_steps.push_back(wait);
 590         }
 591 }
 592
 593 void TrainRoutePlanner::RoutingStep::create_successor(RoutingStep &next, unsigned train_index, unsigned path, list<RoutingStep> &new_steps)
 594 {
 595         TrainRoutingState &train = next.trains[train_index];
 596
 597         train.path = path;
 598         train.update_estimate();
 599         next.update_estimate();
 600         if(next.is_viable())
 601                 new_steps.push_back(next);
 602 }
 603
 604 bool TrainRoutePlanner::RoutingStep::update_states()
 605 {
 606         bool changes = false;
 607         for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
 608         {
 609                 if(i->state==ARRIVED)
 610                         continue;
 611
 612                 TrainState old_state = i->state;
 613
 614                 TrackIter next_track = i->track.next(i->path);
 615                 if(next_track)
 616                 {
 617                         i->blocked_by = get_occupant(*next_track);
 618                         if(i->blocked_by>=0)
 619                         {
 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))
 623                                         i->critical = false;
 624
 625                                 /* Trains in the WAITING state will also transition to BLOCKED and
 626                                 then to MOVING when the other train has passed. */
 627                                 i->state = BLOCKED;
 628                         }
 629                         else if(i->state==BLOCKED)
 630                         {
 631                                 i->estimated_wait = Time::zero;
 632                                 i->state = MOVING;
 633                         }
 634                 }
 635                 else
 636                         i->state = BLOCKED;
 637
 638                 if(i->state!=old_state)
 639                         changes = true;
 640         }
 641
 642         return changes;
 643 }
 644
 645 bool TrainRoutePlanner::RoutingStep::check_deadlocks() const
 646 {
 647         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 648         {
 649                 if(i->state!=BLOCKED)
 650                         continue;
 651
 652                 // A train blocked by end of track is always considered a deadlock.
 653                 if(i->blocked_by<0)
 654                         return true;
 655
 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)
 661                 {
 662                         if(fast==slow)
 663                                 return true;
 664
 665                         slow = trains[slow].blocked_by;
 666                         fast = trains[trains[fast].blocked_by].blocked_by;
 667                 }
 668         }
 669
 670         return false;
 671 }
 672
 673 int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const
 674 {
 675         for(unsigned i=0; i<trains.size(); ++i)
 676                 if(trains[i].is_occupying(track))
 677                         return i;
 678
 679         return -1;
 680 }
 681
 682 int TrainRoutePlanner::RoutingStep::find_next_train() const
 683 {
 684         Time::TimeDelta min_dt;
 685         int next_train = -1;
 686         for(unsigned i=0; i<trains.size(); ++i)
 687                 if(trains[i].state==MOVING)
 688                 {
 689                         Time::TimeDelta dt = trains[i].get_time_to_next_track();
 690                         if(dt<min_dt || next_train<0)
 691                         {
 692                                 min_dt = dt;
 693                                 next_train = i;
 694                         }
 695                 }
 696
 697         return next_train;
 698 }
 699
 700 void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
 701 {
 702         time += dt;
 703         for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
 704                 i->advance(dt);
 705 }
 706
 707 void TrainRoutePlanner::RoutingStep::update_estimate()
 708 {
 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;
 713 }
 714
 715 bool TrainRoutePlanner::RoutingStep::is_viable() const
 716 {
 717         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 718                 if(!i->is_viable())
 719                         return false;
 720
 721         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 722                 if(i->state==MOVING)
 723                         return true;
 724
 725         return false;
 726 }
 727
 728 bool TrainRoutePlanner::RoutingStep::is_goal() const
 729 {
 730         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 731                 if(i->state!=ARRIVED)
 732                         return false;
 733         return true;
 734 }
 735
 736 bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const
 737 {
 738         return cost_estimate<other.cost_estimate;
 739 }
 740
 741
 742 TrainRoutePlanner::PlanningThread::PlanningThread(TrainRoutePlanner &p):
 743         planner(p)
 744 {
 745         launch();
 746 }
 747
 748 void TrainRoutePlanner::PlanningThread::main()
 749 {
 750         planner.create_plan();
 751 }
 752
 753 } // namespace R2C2