1 #include <msp/core/maputils.h>
6 #include "trainroutemetric.h"
7 #include "trainrouteplanner.h"
8 #include "trainrouter.h"
16 TrainRoutePlanner::TrainRoutePlanner(Layout &layout):
21 const map<unsigned, Train *> &trains = layout.get_trains();
22 for(map<unsigned, Train *>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
24 TrainRoutingInfo info(*i->second);
26 routed_trains.push_back(info);
30 TrainRoutePlanner::~TrainRoutePlanner()
39 TrainRoutePlanner::Result TrainRoutePlanner::plan()
49 void TrainRoutePlanner::plan_async()
52 throw logic_error("already planning");
55 thread = new PlanningThread(*this);
58 TrainRoutePlanner::Result TrainRoutePlanner::check()
60 if(result==PENDING && goal)
74 const list<Route *> &TrainRoutePlanner::get_routes_for(const Train &train) const
76 return get_train_info(train).routes;
79 const list<TrainRouter::SequencePoint> &TrainRoutePlanner::get_sequence_for(const Train &train) const
81 return get_train_info(train).sequence;
84 const TrainRoutePlanner::TrainRoutingInfo &TrainRoutePlanner::get_train_info(const Train &train) const
86 for(vector<TrainRoutingInfo>::const_iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
90 throw key_error(train.get_name());
93 const TrainRoutePlanner::RoutingStep &TrainRoutePlanner::get_step()
95 steps.splice(steps.end(), queue, queue.begin());
99 void TrainRoutePlanner::prepare_plan()
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();
113 void TrainRoutePlanner::create_plan()
115 while(!queue.empty())
117 const RoutingStep &step = get_step();
130 void TrainRoutePlanner::add_steps(const RoutingStep &step)
132 list<RoutingStep> new_steps;
133 step.create_successors(new_steps);
135 queue.merge(new_steps);
138 void TrainRoutePlanner::finalize_plan()
140 for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
144 for(unsigned j=0; j<2; ++j)
145 i->track_history[j] = 0;
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)
153 Track **history = j->info->track_history;
154 if(j->track.track()==history[0])
158 bool start_new_route = true;
159 if(!j->info->routes.empty())
161 route = j->info->routes.front();
162 start_new_route = route->has_track(*j->track);
165 unsigned nls = j->track->get_n_link_slots();
166 for(unsigned k=0; (!start_new_route && k<nls); ++k)
168 Track *link = j->track->get_link(k);
169 start_new_route = (link && link!=history[0] && route->has_track(*link));
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);
184 route->add_track(*j->track.track());
185 history[1] = history[0];
186 history[0] = j->track.track();
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())
192 if(!k->second->preceding_train)
194 k->second->preceding_train = j->info->train;
195 k->second->sequence_in = sequence;
197 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
199 k->second = &j->info->sequence.front();
204 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
205 sequenced_tracks[j->track.track()] = &j->info->sequence.front();
214 TrainRoutePlanner::TrainRoutingInfo::TrainRoutingInfo(Train &t):
216 speed(train->get_maximum_speed()),
217 router(train->get_ai_of_type<TrainRouter>()),
223 destination = router->get_destination();
226 waypoints.resize(router->get_n_waypoints());
227 metrics.resize(waypoints.size()+1);
228 metrics[0] = &router->get_metric(-1);
229 for(unsigned i=0; i<waypoints.size(); ++i)
231 waypoints[i] = &router->get_waypoint(i);
232 metrics[i+1] = &router->get_metric(i);
234 has_duration = router->get_trip_duration();
238 // If no maximum speed is specified, use a sensible default
240 speed = 20*train->get_layout().get_catalogue().get_scale();
244 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(Track &t, unsigned p, OccupiedTrack *n):
246 path_length(track->get_type().get_path_length(p)),
248 n_tracks(next ? next->n_tracks+1 : 1),
255 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(const OccupiedTrack &other):
257 path_length(other.path_length),
259 n_tracks(other.n_tracks),
266 TrainRoutePlanner::OccupiedTrack::~OccupiedTrack()
268 if(next && !--next->refcount)
273 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
277 delay(info->router->get_departure_delay()),
278 duration(info->router->get_trip_duration()),
279 waypoint(info->waypoints.empty() ? -1 : 0),
282 const Vehicle *veh = &info->train->get_vehicle(0);
284 TrackOffsetIter track_and_offs = veh->get_placement().get_position(VehiclePlacement::FRONT_BUFFER);
285 track = track_and_offs.track_iter();
286 offset = track_and_offs.offset();
287 path = track->get_active_path();
289 while(Vehicle *next = veh->get_link(1))
291 track_and_offs = veh->get_placement().get_position(VehiclePlacement::BACK_BUFFER);
292 back_offset = track_and_offs.offset();
294 TrackIter iter = track_and_offs.track_iter();
297 occupied_tracks = new OccupiedTrack(*iter, iter->get_active_path(), occupied_tracks);
298 if(iter.track()==track.track())
306 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other):
310 occupied_tracks(other.occupied_tracks),
311 offset(other.offset),
312 back_offset(other.back_offset),
315 duration(other.duration),
316 waypoint(other.waypoint),
317 distance_traveled(other.distance_traveled),
318 remaining_estimate(other.remaining_estimate),
319 wait_time(other.wait_time),
320 blocked_by(other.blocked_by)
322 ++occupied_tracks->refcount;
325 TrainRoutePlanner::TrainRoutingState::~TrainRoutingState()
327 if(occupied_tracks && !--occupied_tracks->refcount)
328 delete occupied_tracks;
331 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() const
333 return ((track->get_type().get_path_length(path)-offset)/info->speed)*Time::sec+delay;
336 bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const
338 if(state==ARRIVED && !duration && info->has_duration)
341 OccupiedTrack *occ = occupied_tracks;
342 for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next)
348 bool TrainRoutePlanner::TrainRoutingState::check_arrival()
350 TrackIter next_track = track.next(path);
352 if(waypoint<0 && info->destination->has_track(*track) && !info->destination->has_track(*next_track))
357 else if(waypoint>=0 && info->waypoints[waypoint]->has_track(*track) && !info->waypoints[waypoint]->has_track(*next_track))
360 if(waypoint>=static_cast<int>(info->waypoints.size()))
367 void TrainRoutePlanner::TrainRoutingState::advance(float distance)
370 back_offset += distance;
372 OccupiedTrack *last_occ = occupied_tracks;
373 for(unsigned n=occupied_tracks->n_tracks; n>1; --n)
374 last_occ = last_occ->next;
376 // XXX What if there's multiple tracks to remove?
377 if(back_offset>last_occ->path_length)
379 back_offset -= last_occ->path_length;
380 if(occupied_tracks->refcount>1)
382 --occupied_tracks->refcount;
383 occupied_tracks = new OccupiedTrack(*occupied_tracks);
385 --occupied_tracks->n_tracks;
388 distance_traveled += distance;
389 remaining_estimate -= distance;
392 void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt)
400 float secs = dt/Time::sec;
403 secs -= delay/Time::sec;
408 duration = max(duration-secs*Time::sec, Time::zero);
411 advance(info->speed*secs);
412 else if(state!=ARRIVED)
413 wait_time += secs*Time::sec;
416 void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
418 float distance = occupied_tracks->path_length-offset;
419 track = track.next(path);
421 occupied_tracks = new OccupiedTrack(*track, path, occupied_tracks);
426 void TrainRoutePlanner::TrainRoutingState::update_estimate()
428 TrackIter iter = track.reverse(path);
429 float distance = info->metrics[waypoint+1]->get_distance_from(*iter.track(), iter.entry());
430 distance += track->get_type().get_path_length(path)-offset;
431 remaining_estimate = distance;
435 TrainRoutePlanner::RoutingStep::RoutingStep():
439 TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p):
442 cost_estimate(p->cost_estimate),
447 void TrainRoutePlanner::RoutingStep::create_successors(list<RoutingStep> &new_steps) const
449 RoutingStep next(this);
450 if(next.update_states())
452 if(next.check_deadlocks())
455 new_steps.push_back(next);
459 int train_index = find_next_train();
463 TrainRoutingState &train = next.trains[train_index];
465 Time::TimeDelta dt = train.get_time_to_next_track();
468 if(train.check_arrival())
470 new_steps.push_back(next);
474 TrackIter next_track = train.track.next(train.path);
475 train.advance_track(0);
477 const TrackType::Endpoint &next_entry_ep = next_track.endpoint();
478 for(unsigned i=0; next_entry_ep.paths>>i; ++i)
479 if(next_entry_ep.has_path(i))
482 train.update_estimate();
483 next.update_estimate();
485 new_steps.push_back(next);
489 for(list<RoutingStep>::iterator i=new_steps.begin(); ++i!=new_steps.end(); )
491 i->penalty += 5*Time::sec;
492 i->update_estimate();
495 if(next_entry_ep.paths!=next_track->get_type().get_paths())
497 RoutingStep wait(this);
499 wait.trains[train_index].state = WAITING;
500 wait.penalty += 15*Time::sec;
501 wait.update_estimate();
503 new_steps.push_back(wait);
507 bool TrainRoutePlanner::RoutingStep::update_states()
509 bool changes = false;
510 for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
512 if(i->state==ARRIVED)
515 TrainState old_state = i->state;
517 TrackIter next_track = i->track.next(i->path);
520 i->blocked_by = get_occupant(*next_track);
523 else if(i->state==BLOCKED)
529 if(i->state!=old_state)
536 bool TrainRoutePlanner::RoutingStep::check_deadlocks() const
538 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
540 if(i->state!=BLOCKED)
546 int slow = i->blocked_by;
547 int fast = trains[slow].blocked_by;
548 while(fast>=0 && trains[fast].blocked_by>=0)
553 slow = trains[slow].blocked_by;
554 fast = trains[trains[fast].blocked_by].blocked_by;
561 int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const
563 for(unsigned i=0; i<trains.size(); ++i)
564 if(trains[i].is_occupying(track))
570 int TrainRoutePlanner::RoutingStep::find_next_train() const
572 Time::TimeDelta min_dt;
574 for(unsigned i=0; i<trains.size(); ++i)
575 if(trains[i].state==MOVING)
577 Time::TimeDelta dt = trains[i].get_time_to_next_track();
578 if(dt<min_dt || next_train<0)
588 void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
591 for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
595 void TrainRoutePlanner::RoutingStep::update_estimate()
597 cost_estimate = penalty;
598 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
599 if(i->remaining_estimate>=0)
600 cost_estimate += i->wait_time+((i->distance_traveled+i->remaining_estimate)/i->info->speed)*Time::sec;
603 bool TrainRoutePlanner::RoutingStep::is_viable() const
605 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
606 if(i->remaining_estimate<0)
609 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
616 bool TrainRoutePlanner::RoutingStep::is_goal() const
618 for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
619 if(i->state!=ARRIVED)
624 bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const
626 return cost_estimate<other.cost_estimate;
630 TrainRoutePlanner::PlanningThread::PlanningThread(TrainRoutePlanner &p):
636 void TrainRoutePlanner::PlanningThread::main()
638 planner.create_plan();