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                         if(j->track.track()==history[0])
 171                                 continue;
 172
 173                         Route *route = 0;
 174                         bool start_new_route = true;
 175                         if(!j->info->routes.empty())
 176                         {
 177                                 route = j->info->routes.front();
 178                                 start_new_route = route->has_track(*j->track);
 179                                 if(!start_new_route)
 180                                 {
 181                                         unsigned nls = j->track->get_n_link_slots();
 182                                         for(unsigned k=0; (!start_new_route && k<nls); ++k)
 183                                         {
 184                                                 Track *link = j->track->get_link(k);
 185                                                 start_new_route = (link && link!=history[0] && route->has_track(*link));
 186                                         }
 187                                 }
 188                         }
 189
 190                         if(start_new_route)
 191                         {
 192                                 route = new Route(j->info->train->get_layout());
 193                                 route->set_name("Router");
 194                                 route->set_temporary(true);
 195                                 for(unsigned k=0; (k<2 && history[k]); ++k)
 196                                         route->add_track(*history[k]);
 197                                 j->info->routes.push_front(route);
 198                         }
 199
 200                         route->add_track(*j->track.track());
 201                         history[1] = history[0];
 202                         history[0] = j->track.track();
 203
 204                         bool waitable = j->track.endpoint().paths!=j->track->get_type().get_paths();
 205                         map<Track *, TrainRouter::SequencePoint *>::iterator k = sequenced_tracks.find(j->track.track());
 206                         if(k!=sequenced_tracks.end())
 207                         {
 208                                 if(!k->second->preceding_train)
 209                                 {
 210                                         k->second->preceding_train = j->info->train;
 211                                         k->second->sequence_in = sequence;
 212                                 }
 213                                 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
 214                                 if(waitable)
 215                                         k->second = &j->info->sequence.front();
 216                                 --sequence;
 217                         }
 218                         else if(waitable)
 219                         {
 220                                 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
 221                                 sequenced_tracks[j->track.track()] = &j->info->sequence.front();
 222                                 --sequence;
 223                         }
 224                 }
 225
 226         result = COMPLETE;
 227 }
 228
 229
 230 TrainRoutePlanner::TrainRoutingInfo::TrainRoutingInfo(Train &t):
 231         train(&t),
 232         speed(train->get_maximum_speed()),
 233         first_noncritical(train->get_last_critical_block().next().block()),
 234         router(train->get_ai_of_type<TrainRouter>()),
 235         has_duration(false)
 236 {
 237         if(unsigned n_wps = router->get_n_waypoints())
 238         {
 239                 waypoints.reserve(n_wps),
 240                 metrics.reserve(n_wps);
 241                 for(unsigned i=0; i<n_wps; ++i)
 242                 {
 243                         waypoints.push_back(router->get_waypoint(i));
 244                         metrics.push_back(&router->get_metric(i));
 245                 }
 246                 has_duration = router->get_trip_duration();
 247         }
 248
 249         // If no maximum speed is specified, use a sensible default
 250         if(!speed)
 251                 speed = 20*train->get_layout().get_catalogue().get_scale();
 252 }
 253
 254
 255 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(Track &t, unsigned p, OccupiedTrack *n):
 256         track(&t),
 257         path_length(track->get_type().get_path_length(p)),
 258         next(n),
 259         n_tracks(next ? next->n_tracks+1 : 1),
 260         refcount(1)
 261 {
 262         if(next)
 263                 ++next->refcount;
 264 }
 265
 266 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(const OccupiedTrack &other):
 267         track(other.track),
 268         path_length(other.path_length),
 269         next(other.next),
 270         n_tracks(other.n_tracks),
 271         refcount(1)
 272 {
 273         if(next)
 274                 ++next->refcount;
 275 }
 276
 277 TrainRoutePlanner::OccupiedTrack::~OccupiedTrack()
 278 {
 279         if(next && !--next->refcount)
 280                 delete next;
 281 }
 282
 283
 284 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
 285         info(&inf),
 286         critical(true),
 287         occupied_tracks(0),
 288         state(MOVING),
 289         delay(info->router->get_departure_delay()),
 290         duration(info->router->get_trip_duration()),
 291         waypoint(0),
 292         blocked_by(-1)
 293 {
 294         const Vehicle *veh = &info->train->get_vehicle(0);
 295         // TODO margins
 296         TrackOffsetIter track_and_offs = veh->get_placement().get_position(VehiclePlacement::FRONT_BUFFER);
 297         track = track_and_offs.track_iter();
 298         offset = track_and_offs.offset();
 299         path = track->get_active_path();
 300
 301         while(Vehicle *next = veh->get_link(1))
 302                 veh = next;
 303         track_and_offs = veh->get_placement().get_position(VehiclePlacement::BACK_BUFFER);
 304         back_offset = track_and_offs.offset();
 305
 306         TrackIter iter = track_and_offs.track_iter();
 307         while(1)
 308         {
 309                 occupied_tracks = new OccupiedTrack(*iter, iter->get_active_path(), occupied_tracks);
 310                 if(iter.track()==track.track())
 311                         break;
 312                 iter = iter.next();
 313         }
 314
 315         update_estimate();
 316 }
 317
 318 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other):
 319         info(other.info),
 320         track(other.track),
 321         path(other.path),
 322         critical(other.critical),
 323         occupied_tracks(other.occupied_tracks),
 324         offset(other.offset),
 325         back_offset(other.back_offset),
 326         state(other.state),
 327         delay(other.delay),
 328         duration(other.duration),
 329         waypoint(other.waypoint),
 330         distance_traveled(other.distance_traveled),
 331         remaining_estimate(other.remaining_estimate),
 332         wait_time(other.wait_time),
 333         blocked_by(other.blocked_by)
 334 {
 335         ++occupied_tracks->refcount;
 336 }
 337
 338 TrainRoutePlanner::TrainRoutingState::~TrainRoutingState()
 339 {
 340         if(occupied_tracks && !--occupied_tracks->refcount)
 341                 delete occupied_tracks;
 342 }
 343
 344 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() const
 345 {
 346         return ((track->get_type().get_path_length(path)-offset)/info->speed)*Time::sec+delay;
 347 }
 348
 349 bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const
 350 {
 351         if(state==ARRIVED && !duration && info->has_duration)
 352                 return false;
 353
 354         OccupiedTrack *occ = occupied_tracks;
 355         for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next)
 356                 if(occ->track==&trk)
 357                         return true;
 358         return false;
 359 }
 360
 361 bool TrainRoutePlanner::TrainRoutingState::check_arrival()
 362 {
 363         TrackIter next_track = track.next(path);
 364
 365         const TrainRouter::Waypoint &wp = info->waypoints[waypoint];
 366         if(wp.chain->has_track(*track) && !wp.chain->has_track(*next_track))
 367                 if(wp.direction==TrackChain::UNSPECIFIED || track==wp.chain->iter_for(*track, wp.direction))
 368                 {
 369                         if(waypoint+1<info->waypoints.size())
 370                                 ++waypoint;
 371                         else
 372                         {
 373                                 state = ARRIVED;
 374                                 return true;
 375                         }
 376                 }
 377
 378         if(info->first_noncritical->has_track(*track))
 379                 critical = false;
 380
 381         return false;
 382 }
 383
 384 void TrainRoutePlanner::TrainRoutingState::advance(float distance)
 385 {
 386         offset += distance;
 387         back_offset += distance;
 388
 389         unsigned count_to_free = 0;
 390         unsigned last_sensor_addr = 0;
 391         float distance_after_sensor = 0;
 392         OccupiedTrack *occ = occupied_tracks;
 393         for(unsigned n=occupied_tracks->n_tracks; n>0; --n)
 394         {
 395                 if(unsigned saddr = occ->track->get_sensor_address())
 396                 {
 397                         if(saddr!=last_sensor_addr)
 398                         {
 399                                 count_to_free = 0;
 400                                 distance_after_sensor = 0;
 401                         }
 402                         last_sensor_addr = saddr;
 403                 }
 404
 405                 ++count_to_free;
 406                 distance_after_sensor += occ->path_length;
 407
 408                 occ = occ->next;
 409         }
 410
 411         if(count_to_free && back_offset>distance_after_sensor)
 412         {
 413                 back_offset -= distance_after_sensor;
 414                 if(occupied_tracks->refcount>1)
 415                 {
 416                         --occupied_tracks->refcount;
 417                         occupied_tracks = new OccupiedTrack(*occupied_tracks);
 418                 }
 419                 occupied_tracks->n_tracks -= count_to_free;
 420         }
 421
 422         distance_traveled += distance;
 423         remaining_estimate -= distance;
 424 }
 425
 426 void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt)
 427 {
 428         if(delay>=dt)
 429         {
 430                 delay -= dt;
 431                 return;
 432         }
 433
 434         float secs = dt/Time::sec;
 435         if(delay)
 436         {
 437                 secs -= delay/Time::sec;
 438                 delay = Time::zero;
 439         }
 440
 441         if(duration)
 442                 duration = max(duration-secs*Time::sec, Time::zero);
 443
 444         if(state==MOVING)
 445                 advance(info->speed*secs);
 446         else if(state!=ARRIVED)
 447                 wait_time += secs*Time::sec;
 448 }
 449
 450 void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
 451 {
 452         float distance = occupied_tracks->path_length-offset;
 453         track = track.next(path);
 454         path = next_path;
 455         occupied_tracks = new OccupiedTrack(*track, path, occupied_tracks);
 456         advance(distance);
 457         offset = 0;
 458 }
 459
 460 void TrainRoutePlanner::TrainRoutingState::update_estimate()
 461 {
 462         TrackIter iter = track.reverse(path);
 463         remaining_estimate = info->metrics[waypoint]->get_distance_from(*iter.track(), iter.entry());
 464         if(remaining_estimate>=0)
 465                 remaining_estimate += track->get_type().get_path_length(path)-offset;
 466 }
 467
 468 bool TrainRoutePlanner::TrainRoutingState::is_viable() const
 469 {
 470         if(remaining_estimate<0)
 471                 return false;
 472         if(critical && state==BLOCKED)
 473                 return false;
 474         return true;
 475 }
 476
 477
 478 TrainRoutePlanner::RoutingStep::RoutingStep():
 479         prev(0)
 480 { }
 481
 482 TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p):
 483         time(p->time),
 484         penalty(p->penalty),
 485         cost_estimate(p->cost_estimate),
 486         trains(p->trains),
 487         prev(p)
 488 { }
 489
 490 void TrainRoutePlanner::RoutingStep::create_successors(list<RoutingStep> &new_steps) const
 491 {
 492         RoutingStep next(this);
 493         if(next.update_states())
 494         {
 495                 if(next.check_deadlocks())
 496                         return;
 497
 498                 new_steps.push_back(next);
 499                 return;
 500         }
 501
 502         int train_index = find_next_train();
 503         if(train_index<0)
 504                 return;
 505
 506         TrainRoutingState &train = next.trains[train_index];
 507
 508         Time::TimeDelta dt = train.get_time_to_next_track();
 509         next.advance(dt);
 510
 511         if(train.check_arrival())
 512         {
 513                 new_steps.push_back(next);
 514                 return;
 515         }
 516
 517         train.advance_track(0);
 518
 519         const TrackType::Endpoint &entry_ep = train.track.endpoint();
 520         if(train.critical)
 521         {
 522                 unsigned critical_path = train.track->get_type().coerce_path(train.track.entry(), train.track->get_active_path());
 523                 create_successor(next, train_index, critical_path, new_steps);
 524         }
 525         else
 526         {
 527                 for(unsigned i=0; entry_ep.paths>>i; ++i)
 528                         if(entry_ep.has_path(i))
 529                                 create_successor(next, train_index, i, new_steps);
 530         }
 531
 532         new_steps.sort();
 533         for(list<RoutingStep>::iterator i=new_steps.begin(); ++i!=new_steps.end(); )
 534         {
 535                 i->penalty += 5*Time::sec;
 536                 i->update_estimate();
 537         }
 538
 539         if(entry_ep.paths!=train.track->get_type().get_paths() && !train.critical)
 540         {
 541                 RoutingStep wait(this);
 542                 wait.advance(dt);
 543                 wait.trains[train_index].state = WAITING;
 544                 wait.penalty += 15*Time::sec;
 545                 wait.update_estimate();
 546                 if(wait.is_viable())
 547                         new_steps.push_back(wait);
 548         }
 549 }
 550
 551 void TrainRoutePlanner::RoutingStep::create_successor(RoutingStep &next, unsigned train_index, unsigned path, list<RoutingStep> &new_steps)
 552 {
 553         TrainRoutingState &train = next.trains[train_index];
 554
 555         train.path = path;
 556         train.update_estimate();
 557         next.update_estimate();
 558         if(next.is_viable())
 559                 new_steps.push_back(next);
 560 }
 561
 562 bool TrainRoutePlanner::RoutingStep::update_states()
 563 {
 564         bool changes = false;
 565         for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
 566         {
 567                 if(i->state==ARRIVED)
 568                         continue;
 569
 570                 TrainState old_state = i->state;
 571
 572                 TrackIter next_track = i->track.next(i->path);
 573                 if(next_track)
 574                 {
 575                         i->blocked_by = get_occupant(*next_track);
 576                         if(i->blocked_by>=0)
 577                         {
 578                                 if(i->info->first_noncritical->has_track(*next_track))
 579                                         i->critical = false;
 580                                 i->state = BLOCKED;
 581                         }
 582                         else if(i->state==BLOCKED)
 583                                 i->state = MOVING;
 584                 }
 585                 else
 586                         i->state = BLOCKED;
 587
 588                 if(i->state!=old_state)
 589                         changes = true;
 590         }
 591
 592         return changes;
 593 }
 594
 595 bool TrainRoutePlanner::RoutingStep::check_deadlocks() const
 596 {
 597         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 598         {
 599                 if(i->state!=BLOCKED)
 600                         continue;
 601
 602                 if(i->blocked_by<0)
 603                         return true;
 604
 605                 int slow = i->blocked_by;
 606                 int fast = trains[slow].blocked_by;
 607                 while(fast>=0 && trains[fast].blocked_by>=0)
 608                 {
 609                         if(fast==slow)
 610                                 return true;
 611
 612                         slow = trains[slow].blocked_by;
 613                         fast = trains[trains[fast].blocked_by].blocked_by;
 614                 }
 615         }
 616
 617         return false;
 618 }
 619
 620 int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const
 621 {
 622         for(unsigned i=0; i<trains.size(); ++i)
 623                 if(trains[i].is_occupying(track))
 624                         return i;
 625
 626         return -1;
 627 }
 628
 629 int TrainRoutePlanner::RoutingStep::find_next_train() const
 630 {
 631         Time::TimeDelta min_dt;
 632         int next_train = -1;
 633         for(unsigned i=0; i<trains.size(); ++i)
 634                 if(trains[i].state==MOVING)
 635                 {
 636                         Time::TimeDelta dt = trains[i].get_time_to_next_track();
 637                         if(dt<min_dt || next_train<0)
 638                         {
 639                                 min_dt = dt;
 640                                 next_train = i;
 641                         }
 642                 }
 643
 644         return next_train;
 645 }
 646
 647 void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
 648 {
 649         time += dt;
 650         for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
 651                 i->advance(dt);
 652 }
 653
 654 void TrainRoutePlanner::RoutingStep::update_estimate()
 655 {
 656         cost_estimate = penalty;
 657         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 658                 if(i->remaining_estimate>=0)
 659                         cost_estimate += i->wait_time+((i->distance_traveled+i->remaining_estimate)/i->info->speed)*Time::sec;
 660 }
 661
 662 bool TrainRoutePlanner::RoutingStep::is_viable() const
 663 {
 664         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 665                 if(!i->is_viable())
 666                         return false;
 667
 668         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 669                 if(i->state==MOVING)
 670                         return true;
 671
 672         return false;
 673 }
 674
 675 bool TrainRoutePlanner::RoutingStep::is_goal() const
 676 {
 677         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 678                 if(i->state!=ARRIVED)
 679                         return false;
 680         return true;
 681 }
 682
 683 bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const
 684 {
 685         return cost_estimate<other.cost_estimate;
 686 }
 687
 688
 689 TrainRoutePlanner::PlanningThread::PlanningThread(TrainRoutePlanner &p):
 690         planner(p)
 691 {
 692         launch();
 693 }
 694
 695 void TrainRoutePlanner::PlanningThread::main()
 696 {
 697         planner.create_plan();
 698 }
 699
 700 } // namespace R2C2