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         length(0),
 241         speed(train->get_maximum_speed()),
 242         first_noncritical(train->get_last_critical_block().next().block()),
 243         router(train->get_ai_of_type<TrainRouter>()),
 244         has_duration(false)
 245 {
 246         if(unsigned n_wps = router->get_n_waypoints())
 247         {
 248                 waypoints.reserve(n_wps),
 249                 metrics.reserve(n_wps);
 250                 for(unsigned i=0; i<n_wps; ++i)
 251                 {
 252                         waypoints.push_back(router->get_waypoint(i));
 253                         metrics.push_back(&router->get_metric(i));
 254                 }
 255                 has_duration = router->get_trip_duration();
 256         }
 257
 258         unsigned n_vehs = train->get_n_vehicles();
 259         for(unsigned i=0; i<n_vehs; ++i)
 260                 length += train->get_vehicle(i).get_type().get_length();
 261
 262         // If no maximum speed is specified, use a sensible default
 263         if(!speed)
 264                 speed = 20*train->get_layout().get_catalogue().get_scale();
 265 }
 266
 267
 268 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(Track &t, unsigned p, OccupiedTrack *n):
 269         track(&t),
 270         path_length(track->get_type().get_path_length(p)),
 271         next(n),
 272         n_tracks(next ? next->n_tracks+1 : 1),
 273         refcount(1)
 274 {
 275         if(next)
 276                 ++next->refcount;
 277 }
 278
 279 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(const OccupiedTrack &other):
 280         track(other.track),
 281         path_length(other.path_length),
 282         next(other.next),
 283         n_tracks(other.n_tracks),
 284         refcount(1)
 285 {
 286         if(next)
 287                 ++next->refcount;
 288 }
 289
 290 TrainRoutePlanner::OccupiedTrack::~OccupiedTrack()
 291 {
 292         if(next && !--next->refcount)
 293                 delete next;
 294 }
 295
 296
 297 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
 298         info(&inf),
 299         critical(true),
 300         occupied_tracks(0),
 301         state(MOVING),
 302         delay(info->router->get_departure_delay()),
 303         duration(info->router->get_trip_duration()),
 304         waypoint(0),
 305         blocked_by(-1)
 306 {
 307         const Vehicle *veh = &info->train->get_vehicle(0);
 308         // TODO margins
 309         TrackOffsetIter track_and_offs = veh->get_placement().get_position(VehiclePlacement::FRONT_BUFFER);
 310         track = track_and_offs.track_iter();
 311         offset = track_and_offs.offset();
 312         path = track->get_active_path();
 313
 314         while(Vehicle *next = veh->get_link(1))
 315                 veh = next;
 316         track_and_offs = veh->get_placement().get_position(VehiclePlacement::BACK_BUFFER);
 317         back_offset = track_and_offs.offset();
 318
 319         TrackIter iter = track_and_offs.track_iter();
 320         while(1)
 321         {
 322                 occupied_tracks = new OccupiedTrack(*iter, iter->get_active_path(), occupied_tracks);
 323                 if(iter.track()==track.track())
 324                         break;
 325                 iter = iter.next();
 326         }
 327
 328         update_estimate();
 329 }
 330
 331 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other):
 332         info(other.info),
 333         track(other.track),
 334         path(other.path),
 335         critical(other.critical),
 336         occupied_tracks(other.occupied_tracks),
 337         offset(other.offset),
 338         back_offset(other.back_offset),
 339         state(other.state),
 340         delay(other.delay),
 341         duration(other.duration),
 342         waypoint(other.waypoint),
 343         distance_traveled(other.distance_traveled),
 344         remaining_estimate(other.remaining_estimate),
 345         wait_time(other.wait_time),
 346         estimated_wait(other.estimated_wait),
 347         blocked_by(other.blocked_by)
 348 {
 349         ++occupied_tracks->refcount;
 350 }
 351
 352 TrainRoutePlanner::TrainRoutingState::~TrainRoutingState()
 353 {
 354         if(occupied_tracks && !--occupied_tracks->refcount)
 355                 delete occupied_tracks;
 356 }
 357
 358 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() const
 359 {
 360         return ((track->get_type().get_path_length(path)-offset)/info->speed)*Time::sec+delay;
 361 }
 362
 363 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_pass(Track &trk) const
 364 {
 365         if(is_occupying(trk))
 366         {
 367                 float passed_length = 0;
 368                 for(const OccupiedTrack *occ=occupied_tracks; (occ && occ->track!=&trk); occ=occ->next)
 369                         passed_length += occ->path_length;
 370                 return (max(info->length-passed_length, 0.0f)/info->speed)*Time::sec+delay;
 371         }
 372
 373         for(unsigned wp=waypoint; wp<info->waypoints.size(); ++wp)
 374         {
 375                 float distance = info->metrics[wp]->get_distance_from(trk);
 376                 if(distance>=0 && distance<remaining_estimate)
 377                         return ((remaining_estimate-distance+info->length)/info->speed)*Time::sec+delay;
 378         }
 379
 380         return Time::day;
 381 }
 382
 383 bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const
 384 {
 385         if(state==ARRIVED && !duration && info->has_duration)
 386                 return false;
 387
 388         OccupiedTrack *occ = occupied_tracks;
 389         for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next)
 390                 if(occ->track==&trk)
 391                         return true;
 392         return false;
 393 }
 394
 395 bool TrainRoutePlanner::TrainRoutingState::check_arrival()
 396 {
 397         TrackIter next_track = track.next(path);
 398
 399         // Check if we're about the exit the current waypoint's tracks.
 400         const TrainRouter::Waypoint &wp = info->waypoints[waypoint];
 401         if(wp.chain->has_track(*track) && !wp.chain->has_track(*next_track))
 402                 if(wp.direction==TrackChain::UNSPECIFIED || track==wp.chain->iter_for(*track, wp.direction))
 403                 {
 404                         if(waypoint+1<info->waypoints.size())
 405                                 ++waypoint;
 406                         else
 407                         {
 408                                 state = ARRIVED;
 409                                 return true;
 410                         }
 411                 }
 412
 413         // If we're entering the first non-critical block, clear the critical flag.
 414         if(info->first_noncritical->has_track(*next_track))
 415                 critical = false;
 416
 417         return false;
 418 }
 419
 420 void TrainRoutePlanner::TrainRoutingState::advance(float distance)
 421 {
 422         offset += distance;
 423         back_offset += distance;
 424
 425         // See if the tail end of the train has passed any sensors.
 426         unsigned count_to_free = 0;
 427         unsigned last_sensor_addr = 0;
 428         float distance_after_sensor = 0;
 429         OccupiedTrack *occ = occupied_tracks;
 430         for(unsigned n=occupied_tracks->n_tracks; n>0; --n)
 431         {
 432                 if(unsigned saddr = occ->track->get_sensor_address())
 433                 {
 434                         if(saddr!=last_sensor_addr)
 435                         {
 436                                 count_to_free = 0;
 437                                 distance_after_sensor = 0;
 438                         }
 439                         last_sensor_addr = saddr;
 440                 }
 441
 442                 ++count_to_free;
 443                 distance_after_sensor += occ->path_length;
 444
 445                 occ = occ->next;
 446         }
 447
 448         // Free the last passed sensor and any tracks behind it.
 449         if(count_to_free && back_offset>distance_after_sensor)
 450         {
 451                 back_offset -= distance_after_sensor;
 452                 if(occupied_tracks->refcount>1)
 453                 {
 454                         --occupied_tracks->refcount;
 455                         occupied_tracks = new OccupiedTrack(*occupied_tracks);
 456                 }
 457                 occupied_tracks->n_tracks -= count_to_free;
 458         }
 459
 460         distance_traveled += distance;
 461         remaining_estimate -= distance;
 462 }
 463
 464 void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt)
 465 {
 466         if(delay>=dt)
 467         {
 468                 delay -= dt;
 469                 return;
 470         }
 471
 472         float secs = dt/Time::sec;
 473         // There may be negative delay remaining after previous step.
 474         if(delay)
 475         {
 476                 secs -= delay/Time::sec;
 477                 delay = Time::zero;
 478         }
 479
 480         if(duration)
 481                 duration = max(duration-secs*Time::sec, Time::zero);
 482
 483         if(estimated_wait)
 484                 estimated_wait = max(estimated_wait-secs*Time::sec, Time::zero);
 485
 486         if(state==MOVING)
 487                 advance(info->speed*secs);
 488         else if(state!=ARRIVED)
 489                 wait_time += secs*Time::sec;
 490 }
 491
 492 void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
 493 {
 494         float distance = occupied_tracks->path_length-offset;
 495         track = track.next(path);
 496         path = next_path;
 497         occupied_tracks = new OccupiedTrack(*track, path, occupied_tracks);
 498         advance(distance);
 499         offset = 0;
 500 }
 501
 502 void TrainRoutePlanner::TrainRoutingState::update_estimate()
 503 {
 504         TrackIter iter = track.reverse(path);
 505         remaining_estimate = info->metrics[waypoint]->get_distance_from(*iter.track(), iter.entry());
 506         if(remaining_estimate>=0)
 507                 remaining_estimate += track->get_type().get_path_length(path)-offset;
 508 }
 509
 510 bool TrainRoutePlanner::TrainRoutingState::is_viable() const
 511 {
 512         if(remaining_estimate<0)
 513                 return false;
 514         if(critical && state==BLOCKED)
 515                 return false;
 516         return true;
 517 }
 518
 519
 520 TrainRoutePlanner::RoutingStep::RoutingStep():
 521         prev(0)
 522 { }
 523
 524 TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p):
 525         time(p->time),
 526         penalty(p->penalty),
 527         cost_estimate(p->cost_estimate),
 528         trains(p->trains),
 529         prev(p)
 530 { }
 531
 532 void TrainRoutePlanner::RoutingStep::create_successors(list<RoutingStep> &new_steps) const
 533 {
 534         RoutingStep next(this);
 535         if(next.update_states() && next.check_deadlocks())
 536                 return;
 537
 538         int train_index = find_next_train();
 539         if(train_index<0)
 540                 return;
 541
 542         TrainRoutingState &train = next.trains[train_index];
 543
 544         Time::TimeDelta dt = train.get_time_to_next_track();
 545         next.advance(dt);
 546
 547         /* Check arrival after the train has advanced to the end of its current track
 548         so travel time and occupied tracks will be correct. */
 549         if(train.check_arrival())
 550         {
 551                 new_steps.push_back(next);
 552                 return;
 553         }
 554
 555         train.advance_track(0);
 556
 557         const TrackType::Endpoint &entry_ep = train.track.endpoint();
 558         if(train.critical)
 559         {
 560                 /* Only create a successor step matching the currently set path for a
 561                 critical track. */
 562                 unsigned critical_path = train.track->get_type().coerce_path(train.track.entry(), train.track->get_active_path());
 563                 create_successor(next, train_index, critical_path, new_steps);
 564         }
 565         else
 566         {
 567                 // Create successor steps for all possible paths through the new track.
 568                 for(unsigned i=0; entry_ep.paths>>i; ++i)
 569                         if(entry_ep.has_path(i))
 570                                 create_successor(next, train_index, i, new_steps);
 571         }
 572
 573         new_steps.sort();
 574         for(list<RoutingStep>::iterator i=new_steps.begin(); ++i!=new_steps.end(); )
 575         {
 576                 i->penalty += 5*Time::sec;
 577                 i->update_estimate();
 578         }
 579
 580         if(entry_ep.paths!=train.track->get_type().get_paths() && !train.critical)
 581         {
 582                 /* Create a waiting state before the track if there's at least one path
 583                 that doesn't pass through the entry endpoint. */
 584                 RoutingStep wait(this);
 585                 wait.advance(dt);
 586                 wait.trains[train_index].state = WAITING;
 587
 588                 Time::TimeDelta estimated_wait = Time::day;
 589                 for(unsigned i=0; i<wait.trains.size(); ++i)
 590                         if(i!=static_cast<unsigned>(train_index) && wait.trains[i].state!=ARRIVED)
 591                         {
 592                                 Time::TimeDelta ttp = wait.trains[i].get_time_to_pass(*train.track);
 593                                 estimated_wait = min(estimated_wait, ttp);
 594                         }
 595                 wait.trains[train_index].estimated_wait = estimated_wait;
 596
 597                 wait.update_estimate();
 598                 if(wait.is_viable())
 599                         new_steps.push_back(wait);
 600         }
 601 }
 602
 603 void TrainRoutePlanner::RoutingStep::create_successor(RoutingStep &next, unsigned train_index, unsigned path, list<RoutingStep> &new_steps)
 604 {
 605         TrainRoutingState &train = next.trains[train_index];
 606
 607         train.path = path;
 608         train.update_estimate();
 609         next.update_estimate();
 610         if(next.is_viable())
 611                 new_steps.push_back(next);
 612 }
 613
 614 bool TrainRoutePlanner::RoutingStep::update_states()
 615 {
 616         bool changes = false;
 617         for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
 618         {
 619                 if(i->state==ARRIVED)
 620                         continue;
 621
 622                 TrainState old_state = i->state;
 623
 624                 TrackIter next_track = i->track.next(i->path);
 625                 if(next_track)
 626                 {
 627                         i->blocked_by = get_occupant(*next_track);
 628                         if(i->blocked_by>=0)
 629                         {
 630                                 /* If the train is still traversing its last critical track, the
 631                                 flag needs to be cleared here to pass viability test. */
 632                                 if(i->info->first_noncritical->has_track(*next_track))
 633                                         i->critical = false;
 634
 635                                 if(i->state!=BLOCKED)
 636                                         i->estimated_wait = trains[i->blocked_by].get_time_to_pass(*next_track);
 637
 638                                 /* Trains in the WAITING state will also transition to BLOCKED and
 639                                 then to MOVING when the other train has passed. */
 640                                 i->state = BLOCKED;
 641                         }
 642                         else if(i->state==BLOCKED)
 643                         {
 644                                 i->estimated_wait = Time::zero;
 645                                 i->state = MOVING;
 646                         }
 647                 }
 648                 else
 649                         i->state = BLOCKED;
 650
 651                 if(i->state!=old_state)
 652                         changes = true;
 653         }
 654
 655         return changes;
 656 }
 657
 658 bool TrainRoutePlanner::RoutingStep::check_deadlocks() const
 659 {
 660         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 661         {
 662                 if(i->state!=BLOCKED)
 663                         continue;
 664
 665                 // A train blocked by end of track is always considered a deadlock.
 666                 if(i->blocked_by<0)
 667                         return true;
 668
 669                 /* Use the tortoise and hare algorithm to check if trains are blocked
 670                 cyclically (A blocks B, which blocks ..., which blocks A). */
 671                 int slow = i->blocked_by;
 672                 int fast = trains[slow].blocked_by;
 673                 while(fast>=0 && trains[fast].blocked_by>=0)
 674                 {
 675                         if(fast==slow)
 676                                 return true;
 677
 678                         slow = trains[slow].blocked_by;
 679                         fast = trains[trains[fast].blocked_by].blocked_by;
 680                 }
 681         }
 682
 683         return false;
 684 }
 685
 686 int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const
 687 {
 688         for(unsigned i=0; i<trains.size(); ++i)
 689                 if(trains[i].is_occupying(track))
 690                         return i;
 691
 692         return -1;
 693 }
 694
 695 int TrainRoutePlanner::RoutingStep::find_next_train() const
 696 {
 697         Time::TimeDelta min_dt;
 698         int next_train = -1;
 699         for(unsigned i=0; i<trains.size(); ++i)
 700                 if(trains[i].state==MOVING)
 701                 {
 702                         Time::TimeDelta dt = trains[i].get_time_to_next_track();
 703                         if(dt<min_dt || next_train<0)
 704                         {
 705                                 min_dt = dt;
 706                                 next_train = i;
 707                         }
 708                 }
 709
 710         return next_train;
 711 }
 712
 713 void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
 714 {
 715         time += dt;
 716         for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
 717                 i->advance(dt);
 718 }
 719
 720 void TrainRoutePlanner::RoutingStep::update_estimate()
 721 {
 722         cost_estimate = penalty;
 723         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 724                 if(i->remaining_estimate>=0)
 725                         cost_estimate += i->wait_time+i->estimated_wait+((i->distance_traveled+i->remaining_estimate)/i->info->speed)*Time::sec;
 726 }
 727
 728 bool TrainRoutePlanner::RoutingStep::is_viable() const
 729 {
 730         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 731                 if(!i->is_viable())
 732                         return false;
 733
 734         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 735                 if(i->state==MOVING)
 736                         return true;
 737
 738         return false;
 739 }
 740
 741 bool TrainRoutePlanner::RoutingStep::is_goal() const
 742 {
 743         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 744                 if(i->state!=ARRIVED)
 745                         return false;
 746         return true;
 747 }
 748
 749 bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const
 750 {
 751         return cost_estimate<other.cost_estimate;
 752 }
 753
 754
 755 TrainRoutePlanner::PlanningThread::PlanningThread(TrainRoutePlanner &p):
 756         planner(p)
 757 {
 758         launch();
 759 }
 760
 761 void TrainRoutePlanner::PlanningThread::main()
 762 {
 763         planner.create_plan();
 764 }
 765
 766 } // namespace R2C2