+#include <msp/core/maputils.h>
+#include "catalogue.h"
#include "layout.h"
#include "route.h"
#include "train.h"
+#include "trainroutemetric.h"
#include "trainrouteplanner.h"
#include "trainrouter.h"
#include "vehicle.h"
namespace R2C2 {
-TrainRoutePlanner::TrainRoutePlanner(Layout &layout)
+TrainRoutePlanner::TrainRoutePlanner(Layout &layout):
+ goal(0),
+ result(PENDING),
+ thread(0)
{
const map<unsigned, Train *> &trains = layout.get_trains();
for(map<unsigned, Train *>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
{
TrainRoutingInfo info(*i->second);
- if(info.router && info.router->has_destination())
+ if(!info.waypoints.empty())
routed_trains.push_back(info);
}
-
- steps.push_back(RoutingStep());
- RoutingStep &start = steps.back();
- for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
- start.trains.push_back(TrainRoutingState(*i));
}
-void TrainRoutePlanner::plan()
+TrainRoutePlanner::~TrainRoutePlanner()
{
- RoutingStep *goal = 0;
- for(list<RoutingStep>::iterator i=steps.begin(); i!=steps.end(); ++i)
+ if(thread)
{
- if(i->is_goal())
- {
- goal = &*i;
- break;
- }
-
- if(update_states(*i))
- {
- int next_train = find_next_train(*i);
- if(next_train>=0)
- add_steps(*i, next_train);
- }
+ thread->join();
+ delete thread;
}
-
- if(goal)
- create_routes(*goal);
}
-bool TrainRoutePlanner::update_states(RoutingStep &step)
+TrainRoutePlanner::Result TrainRoutePlanner::plan()
{
- RoutingStep next(&step);
- bool changes = false;
- for(vector<TrainRoutingState>::iterator i=next.trains.begin(); i!=next.trains.end(); ++i)
- {
- TrainState old_state = i->state;
- if(i->state==BLOCKED)
- i->state = MOVING;
-
- TrackIter next_track = i->track.next(i->path);
- if(!next_track)
- return false;
+ prepare_plan();
+ create_plan();
+ if(result==PENDING)
+ finalize_plan();
- for(vector<TrainRoutingState>::iterator j=next.trains.begin(); j!=next.trains.end(); ++j)
- if(j!=i)
- {
- if(j->track.track()==next_track.track())
- {
- unsigned other_exit = j->track.reverse(j->path).entry();
- if(next_track.entry()==other_exit)
- return false;
- }
- else if(!j->is_occupied(*next_track))
- continue;
+ return result;
+}
- i->state = BLOCKED;
- }
+void TrainRoutePlanner::plan_async()
+{
+ if(thread)
+ throw logic_error("already planning");
- if(i->state!=old_state)
- changes = true;
- }
+ prepare_plan();
+ thread = new PlanningThread(*this);
+}
- if(changes)
+TrainRoutePlanner::Result TrainRoutePlanner::check()
+{
+ if(result==PENDING && goal)
{
- list<RoutingStep>::iterator i;
- for(i=steps.begin(); (i!=steps.end() && !(next<*i)); ++i) ;
- steps.insert(i, next);
+ if(thread)
+ {
+ thread->join();
+ delete thread;
+ thread = 0;
+ }
+ finalize_plan();
}
- return !changes;
+ return result;
}
-int TrainRoutePlanner::find_next_train(RoutingStep &step)
+const list<Route *> &TrainRoutePlanner::get_routes_for(const Train &train) const
{
- Time::TimeDelta min_dt;
- int next_train = -1;
- for(unsigned i=0; i<step.trains.size(); ++i)
- if(step.trains[i].state==MOVING)
- {
- Time::TimeDelta dt = step.trains[i].get_time_to_next_track();
- if(dt<min_dt || next_train<0)
- {
- min_dt = dt;
- next_train = i;
- }
- }
+ return get_train_info(train).routes;
+}
- return next_train;
+const list<TrainRouter::SequencePoint> &TrainRoutePlanner::get_sequence_for(const Train &train) const
+{
+ return get_train_info(train).sequence;
}
-void TrainRoutePlanner::add_steps(RoutingStep &step, unsigned train_index)
+const TrainRoutePlanner::TrainRoutingInfo &TrainRoutePlanner::get_train_info(const Train &train) const
{
- TrainRoutingState &train = step.trains[train_index];
- Time::TimeDelta dt = train.get_time_to_next_track();
- TrackIter next_track = train.track.next(train.path);
+ for(vector<TrainRoutingInfo>::const_iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
+ if(i->train==&train)
+ return *i;
- list<RoutingStep> new_steps;
+ throw key_error(train.get_name());
+}
- RoutingStep next(&step);
- next.advance(dt);
- TrainRouter &router = *train.info->router;
- if(router.is_destination(*train.track) && !router.is_destination(*next_track))
- {
- next.trains[train_index].state = ARRIVED;
- new_steps.push_back(next);
- }
- else
- {
- next.trains[train_index].advance_track(0);
+const TrainRoutePlanner::RoutingStep &TrainRoutePlanner::get_step()
+{
+ steps.splice(steps.end(), queue, queue.begin());
+ return steps.back();
+}
- const TrackType::Endpoint &next_entry_ep = next_track.endpoint();
- for(unsigned i=0; next_entry_ep.paths>>i; ++i)
- if(next_entry_ep.has_path(i))
- {
- next.trains[train_index].path = i;
- new_steps.push_back(next);
- }
+void TrainRoutePlanner::prepare_plan()
+{
+ steps.clear();
+ queue.clear();
+ goal = 0;
+ result = PENDING;
- if(next_entry_ep.paths!=next_track->get_type().get_paths())
+ queue.push_back(RoutingStep());
+ RoutingStep &start = queue.back();
+ for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
+ start.trains.push_back(TrainRoutingState(*i));
+ start.update_estimate();
+}
+
+void TrainRoutePlanner::create_plan()
+{
+ while(!queue.empty())
+ {
+ const RoutingStep &step = get_step();
+ if(step.is_goal())
{
- RoutingStep wait(&step);
- wait.advance(dt);
- wait.trains[train_index].state = WAITING;
- new_steps.push_back(wait);
+ goal = &step;
+ return;
}
+
+ add_steps(step);
}
+ result = FAILED;
+}
+
+void TrainRoutePlanner::add_steps(const RoutingStep &step)
+{
+ list<RoutingStep> new_steps;
+ step.create_successors(new_steps);
new_steps.sort();
- steps.merge(new_steps);
+ queue.merge(new_steps);
}
-void TrainRoutePlanner::create_routes(RoutingStep &goal)
+void TrainRoutePlanner::finalize_plan()
{
for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
{
- i->route = new Route(i->train->get_layout());
- i->route->set_name("Router");
+ i->routes.clear();
+ i->sequence.clear();
+ for(unsigned j=0; j<2; ++j)
+ i->track_history[j] = 0;
}
- for(RoutingStep *i=&goal; i; i=i->prev)
- {
- for(vector<TrainRoutingState>::iterator j=i->trains.begin(); j!=i->trains.end(); ++j)
+ map<Track *, TrainRouter::SequencePoint *> sequenced_tracks;
+ unsigned sequence = steps.size();
+ for(const RoutingStep *i=goal; i; i=i->prev)
+ for(vector<TrainRoutingState>::const_iterator j=i->trains.begin(); j!=i->trains.end(); ++j)
{
- if(j->state==WAITING || j->state==BLOCKED)
- j->info->waits.push_front(&*j);
- j->info->route->add_track(*j->track);
- }
- }
+ Track **history = j->info->track_history;
+ if(j->track.track()==history[0])
+ continue;
- for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
- {
- i->router->set_route(i->route);
- TrainRoutingState *current_wait = 0;
- for(list<TrainRoutingState *>::iterator j=i->waits.begin(); j!=i->waits.end(); ++j)
- if(!current_wait || (*j)->track.track()!=current_wait->track.track())
+ Route *route = 0;
+ bool start_new_route = true;
+ if(!j->info->routes.empty())
{
- Block &block = (*j)->track.next()->get_block();
- i->router->add_wait(block, 0);
- current_wait = *j;
+ route = j->info->routes.front();
+ start_new_route = route->has_track(*j->track);
+ if(!start_new_route)
+ {
+ unsigned nls = j->track->get_n_link_slots();
+ for(unsigned k=0; (!start_new_route && k<nls); ++k)
+ {
+ Track *link = j->track->get_link(k);
+ start_new_route = (link && link!=history[0] && route->has_track(*link));
+ }
+ }
}
- }
+
+ if(start_new_route)
+ {
+ route = new Route(j->info->train->get_layout());
+ route->set_name("Router");
+ route->set_temporary(true);
+ for(unsigned k=0; (k<2 && history[k]); ++k)
+ route->add_track(*history[k]);
+ j->info->routes.push_front(route);
+ }
+
+ route->add_track(*j->track.track());
+ history[1] = history[0];
+ history[0] = j->track.track();
+
+ bool waitable = j->track.endpoint().paths!=j->track->get_type().get_paths();
+ map<Track *, TrainRouter::SequencePoint *>::iterator k = sequenced_tracks.find(j->track.track());
+ if(k!=sequenced_tracks.end())
+ {
+ if(!k->second->preceding_train)
+ {
+ k->second->preceding_train = j->info->train;
+ k->second->sequence_in = sequence;
+ }
+ j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
+ if(waitable)
+ k->second = &j->info->sequence.front();
+ --sequence;
+ }
+ else if(waitable)
+ {
+ j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
+ sequenced_tracks[j->track.track()] = &j->info->sequence.front();
+ --sequence;
+ }
+ }
+
+ result = COMPLETE;
}
TrainRoutePlanner::TrainRoutingInfo::TrainRoutingInfo(Train &t):
train(&t),
+ speed(train->get_maximum_speed()),
+ first_noncritical(train->get_last_critical_block().next().block()),
router(train->get_ai_of_type<TrainRouter>()),
- route(0)
-{ }
+ waypoints(router ? router->get_n_waypoints() : 0),
+ has_duration(false)
+{
+ if(!waypoints.empty())
+ {
+ metrics.resize(waypoints.size());
+ for(unsigned i=0; i<waypoints.size(); ++i)
+ {
+ waypoints[i] = &router->get_waypoint(i);
+ metrics[i] = &router->get_metric(i);
+ }
+ has_duration = router->get_trip_duration();
+ }
+
+ // If no maximum speed is specified, use a sensible default
+ if(!speed)
+ speed = 20*train->get_layout().get_catalogue().get_scale();
+}
TrainRoutePlanner::OccupiedTrack::OccupiedTrack(Track &t, unsigned p, OccupiedTrack *n):
TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
info(&inf),
+ critical(true),
occupied_tracks(0),
- state(MOVING)
+ state(MOVING),
+ delay(info->router->get_departure_delay()),
+ duration(info->router->get_trip_duration()),
+ waypoint(0),
+ blocked_by(-1)
{
const Vehicle *veh = &info->train->get_vehicle(0);
// TODO margins
- float half_length = veh->get_type().get_length()/2;
- TrackOffsetIter track_and_offs = veh->get_track_iter().advance(half_length);
+ TrackOffsetIter track_and_offs = veh->get_placement().get_position(VehiclePlacement::FRONT_BUFFER);
track = track_and_offs.track_iter();
offset = track_and_offs.offset();
path = track->get_active_path();
while(Vehicle *next = veh->get_link(1))
veh = next;
- track_and_offs = veh->get_track_iter().advance(-half_length);
+ track_and_offs = veh->get_placement().get_position(VehiclePlacement::BACK_BUFFER);
back_offset = track_and_offs.offset();
TrackIter iter = track_and_offs.track_iter();
break;
iter = iter.next();
}
+
+ update_estimate();
}
TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other):
info(other.info),
track(other.track),
path(other.path),
+ critical(other.critical),
occupied_tracks(other.occupied_tracks),
offset(other.offset),
back_offset(other.back_offset),
- state(other.state)
+ state(other.state),
+ delay(other.delay),
+ duration(other.duration),
+ waypoint(other.waypoint),
+ distance_traveled(other.distance_traveled),
+ remaining_estimate(other.remaining_estimate),
+ wait_time(other.wait_time),
+ blocked_by(other.blocked_by)
{
++occupied_tracks->refcount;
}
TrainRoutePlanner::TrainRoutingState::~TrainRoutingState()
{
- if(!--occupied_tracks->refcount)
+ if(occupied_tracks && !--occupied_tracks->refcount)
delete occupied_tracks;
}
Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() const
{
- // TODO Consider the speed of the train
- return (track->get_type().get_path_length(path)-offset)*Time::sec;
+ return ((track->get_type().get_path_length(path)-offset)/info->speed)*Time::sec+delay;
}
-bool TrainRoutePlanner::TrainRoutingState::is_occupied(Track &trk) const
+bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const
{
+ if(state==ARRIVED && !duration && info->has_duration)
+ return false;
+
OccupiedTrack *occ = occupied_tracks;
for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next)
if(occ->track==&trk)
return false;
}
+bool TrainRoutePlanner::TrainRoutingState::check_arrival()
+{
+ TrackIter next_track = track.next(path);
+
+ const TrackChain *wp_chain = info->waypoints[waypoint];
+ if(wp_chain->has_track(*track) && !wp_chain->has_track(*next_track))
+ {
+ if(waypoint+1<info->waypoints.size())
+ ++waypoint;
+ else
+ {
+ state = ARRIVED;
+ return true;
+ }
+ }
+
+ if(info->first_noncritical->has_track(*track))
+ critical = false;
+
+ return false;
+}
+
void TrainRoutePlanner::TrainRoutingState::advance(float distance)
{
offset += distance;
back_offset += distance;
- OccupiedTrack *last_occ = occupied_tracks;
- for(unsigned n=occupied_tracks->n_tracks; n>1; --n)
- last_occ = last_occ->next;
+ unsigned count_to_free = 0;
+ unsigned last_sensor_addr = 0;
+ float distance_after_sensor = 0;
+ OccupiedTrack *occ = occupied_tracks;
+ for(unsigned n=occupied_tracks->n_tracks; n>0; --n)
+ {
+ if(unsigned saddr = occ->track->get_sensor_address())
+ {
+ if(saddr!=last_sensor_addr)
+ {
+ count_to_free = 0;
+ distance_after_sensor = 0;
+ }
+ last_sensor_addr = saddr;
+ }
+
+ ++count_to_free;
+ distance_after_sensor += occ->path_length;
+
+ occ = occ->next;
+ }
- // XXX What if there's multiple tracks to remove?
- if(back_offset>last_occ->path_length)
+ if(count_to_free && back_offset>distance_after_sensor)
{
- back_offset -= last_occ->path_length;
+ back_offset -= distance_after_sensor;
if(occupied_tracks->refcount>1)
{
--occupied_tracks->refcount;
occupied_tracks = new OccupiedTrack(*occupied_tracks);
}
- --occupied_tracks->n_tracks;
+ occupied_tracks->n_tracks -= count_to_free;
+ }
+
+ distance_traveled += distance;
+ remaining_estimate -= distance;
+}
+
+void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt)
+{
+ if(delay>=dt)
+ {
+ delay -= dt;
+ return;
+ }
+
+ float secs = dt/Time::sec;
+ if(delay)
+ {
+ secs -= delay/Time::sec;
+ delay = Time::zero;
}
+
+ if(duration)
+ duration = max(duration-secs*Time::sec, Time::zero);
+
+ if(state==MOVING)
+ advance(info->speed*secs);
+ else if(state!=ARRIVED)
+ wait_time += secs*Time::sec;
}
void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
offset = 0;
}
+void TrainRoutePlanner::TrainRoutingState::update_estimate()
+{
+ TrackIter iter = track.reverse(path);
+ float distance = info->metrics[waypoint]->get_distance_from(*iter.track(), iter.entry());
+ distance += track->get_type().get_path_length(path)-offset;
+ remaining_estimate = distance;
+}
+
+bool TrainRoutePlanner::TrainRoutingState::is_viable() const
+{
+ if(remaining_estimate<0)
+ return false;
+ if(critical && state==BLOCKED)
+ return false;
+ return true;
+}
+
TrainRoutePlanner::RoutingStep::RoutingStep():
prev(0)
{ }
-TrainRoutePlanner::RoutingStep::RoutingStep(RoutingStep *p):
+TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p):
time(p->time),
+ penalty(p->penalty),
+ cost_estimate(p->cost_estimate),
trains(p->trains),
prev(p)
{ }
+void TrainRoutePlanner::RoutingStep::create_successors(list<RoutingStep> &new_steps) const
+{
+ RoutingStep next(this);
+ if(next.update_states())
+ {
+ if(next.check_deadlocks())
+ return;
+
+ new_steps.push_back(next);
+ return;
+ }
+
+ int train_index = find_next_train();
+ if(train_index<0)
+ return;
+
+ TrainRoutingState &train = next.trains[train_index];
+
+ Time::TimeDelta dt = train.get_time_to_next_track();
+ next.advance(dt);
+
+ if(train.check_arrival())
+ {
+ new_steps.push_back(next);
+ return;
+ }
+
+ train.advance_track(0);
+
+ const TrackType::Endpoint &entry_ep = train.track.endpoint();
+ if(train.critical)
+ {
+ train.path = train.track->get_type().coerce_path(train.track.entry(), train.track->get_active_path());
+ train.update_estimate();
+ next.update_estimate();
+ if(next.is_viable())
+ new_steps.push_back(next);
+ }
+ else
+ {
+ for(unsigned i=0; entry_ep.paths>>i; ++i)
+ if(entry_ep.has_path(i))
+ {
+ train.path = i;
+ train.update_estimate();
+ next.update_estimate();
+ if(next.is_viable())
+ new_steps.push_back(next);
+ }
+ }
+
+ new_steps.sort();
+ for(list<RoutingStep>::iterator i=new_steps.begin(); ++i!=new_steps.end(); )
+ {
+ i->penalty += 5*Time::sec;
+ i->update_estimate();
+ }
+
+ if(entry_ep.paths!=train.track->get_type().get_paths() && !train.critical)
+ {
+ RoutingStep wait(this);
+ wait.advance(dt);
+ wait.trains[train_index].state = WAITING;
+ wait.penalty += 15*Time::sec;
+ wait.update_estimate();
+ if(wait.is_viable())
+ new_steps.push_back(wait);
+ }
+}
+
+bool TrainRoutePlanner::RoutingStep::update_states()
+{
+ bool changes = false;
+ for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
+ {
+ if(i->state==ARRIVED)
+ continue;
+
+ TrainState old_state = i->state;
+
+ TrackIter next_track = i->track.next(i->path);
+ if(next_track)
+ {
+ i->blocked_by = get_occupant(*next_track);
+ if(i->blocked_by>=0)
+ {
+ if(i->info->first_noncritical->has_track(*next_track))
+ i->critical = false;
+ i->state = BLOCKED;
+ }
+ else if(i->state==BLOCKED)
+ i->state = MOVING;
+ }
+ else
+ i->state = BLOCKED;
+
+ if(i->state!=old_state)
+ changes = true;
+ }
+
+ return changes;
+}
+
+bool TrainRoutePlanner::RoutingStep::check_deadlocks() const
+{
+ for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
+ {
+ if(i->state!=BLOCKED)
+ continue;
+
+ if(i->blocked_by<0)
+ return true;
+
+ int slow = i->blocked_by;
+ int fast = trains[slow].blocked_by;
+ while(fast>=0 && trains[fast].blocked_by>=0)
+ {
+ if(fast==slow)
+ return true;
+
+ slow = trains[slow].blocked_by;
+ fast = trains[trains[fast].blocked_by].blocked_by;
+ }
+ }
+
+ return false;
+}
+
+int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const
+{
+ for(unsigned i=0; i<trains.size(); ++i)
+ if(trains[i].is_occupying(track))
+ return i;
+
+ return -1;
+}
+
+int TrainRoutePlanner::RoutingStep::find_next_train() const
+{
+ Time::TimeDelta min_dt;
+ int next_train = -1;
+ for(unsigned i=0; i<trains.size(); ++i)
+ if(trains[i].state==MOVING)
+ {
+ Time::TimeDelta dt = trains[i].get_time_to_next_track();
+ if(dt<min_dt || next_train<0)
+ {
+ min_dt = dt;
+ next_train = i;
+ }
+ }
+
+ return next_train;
+}
+
void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
{
time += dt;
for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
+ i->advance(dt);
+}
+
+void TrainRoutePlanner::RoutingStep::update_estimate()
+{
+ cost_estimate = penalty;
+ for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
+ if(i->remaining_estimate>=0)
+ cost_estimate += i->wait_time+((i->distance_traveled+i->remaining_estimate)/i->info->speed)*Time::sec;
+}
+
+bool TrainRoutePlanner::RoutingStep::is_viable() const
+{
+ for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
+ if(!i->is_viable())
+ return false;
+
+ for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
if(i->state==MOVING)
- {
- float distance = dt/Time::sec;
- i->advance(distance);
- }
+ return true;
+
+ return false;
}
bool TrainRoutePlanner::RoutingStep::is_goal() const
bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const
{
- return time<other.time;
+ return cost_estimate<other.cost_estimate;
+}
+
+
+TrainRoutePlanner::PlanningThread::PlanningThread(TrainRoutePlanner &p):
+ planner(p)
+{
+ launch();
+}
+
+void TrainRoutePlanner::PlanningThread::main()
+{
+ planner.create_plan();
}
} // namespace R2C2
projects / r2c2.git / blobdiff