[814] | 1 | |
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| 2 | /*! |
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| 3 | \file |
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[819] | 4 | \brief Distributed Traffic light Control Scenario |
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| 5 | \author Vasek Smidl |
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[814] | 6 | |
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| 7 | */ |
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| 8 | |
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| 9 | #include "base/user_info.h" |
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| 10 | #include "base/loggers.h" |
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| 11 | #include "aimsun_bdm/aimsun_ds.h" |
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[819] | 12 | #include "traffic_agent.h" |
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[814] | 13 | |
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[819] | 14 | using namespace bdm; |
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[814] | 15 | |
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| 16 | int main ( int argc, char* argv[] ) { |
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| 17 | const char *fname; |
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| 18 | if ( argc>1 ) {fname = argv[1]; } |
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| 19 | else { cout << "Missing configuration file.\n Usage: \n $> estimator config_file.cfg"<<endl; abort(); } |
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[819] | 20 | UIFile Cfg ( fname ); |
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[814] | 21 | |
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[819] | 22 | // SYSTEM TO CONTROL |
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| 23 | AimsunDS Ds; //hard-coded so far |
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[814] | 24 | |
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[819] | 25 | // AGENTS |
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| 26 | Array<shared_ptr<Participant> > Ags; |
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| 27 | UI::get ( Ags,Cfg, "agents" ); |
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| 28 | |
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| 29 | // LOGGER |
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| 30 | shared_ptr<logger> L = UI::build <logger>( Cfg, "logger" ); |
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| 31 | if (!L) {L=new stdlog();} // DEFAULT LOGGER <== poor choice, use better ones |
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| 32 | |
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| 33 | Config MsgStore; |
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| 34 | MsgStore.setAutoConvert(true); |
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| 35 | Setting& Queue = MsgStore.getRoot().add("queue", Setting::TypeList); |
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| 36 | |
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| 37 | // REGISTER ACTIVE OBJECTS IN LOGGER |
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| 38 | Ds.log_register ( *L, "DS" ); |
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| 39 | for ( int i=0; i<Ags.length(); i++ ) { |
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| 40 | Ags ( i )->log_register ( *L,Ags(i)->_name() ); // estimate |
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| 41 | Ags ( i )->ds_register(Ds); // allows agents to update their datalinks |
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| 42 | } |
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| 43 | L->init(); |
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| 44 | |
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| 45 | vec glob_dt(Ds._drv()._dsize() ); |
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| 46 | vec glob_ut(Ds._urv()._dsize() ); |
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| 47 | for ( int tK=0;tK<Ds.max_length();tK++ ) { |
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| 48 | Ds.log_write ( ); // write stuff to |
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| 49 | Ds.getdata(glob_dt); |
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| 50 | |
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| 51 | for ( int i=0; i<Ags.length(); i++ ) { |
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| 52 | Ags(i) -> adapt(glob_dt); |
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| 53 | } |
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| 54 | for ( int i=0; i<Ags.length(); i++ ) { |
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| 55 | Ags(i) -> broadcast(Queue); |
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| 56 | } |
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| 57 | // parse message queue |
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| 58 | for ( int m=Queue.getLength()-1; m>=0; m-- ) { // go backwards - last mesages are discarded |
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| 59 | for ( int i=0; i<Ags.length(); i++ ) { |
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| 60 | Setting& msg=Queue[m]; |
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| 61 | string m_to=msg["to"]; |
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| 62 | if (m_to==Ags(i)->_name()) { |
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| 63 | Ags(i)->receive(msg); |
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| 64 | Queue.remove(m); |
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| 65 | break; |
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| 66 | // message delivered; |
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| 67 | } |
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| 68 | } |
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| 69 | } |
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| 70 | if (Queue.getLength()>0){bdm_error("undelivered messages - probably unknown neighbours");} |
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| 71 | |
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| 72 | for ( int i=0; i<Ags.length(); i++ ) { |
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| 73 | Ags(i) -> act(glob_ut); |
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| 74 | } |
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| 75 | |
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| 76 | L->step(); |
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| 77 | Ds.write(glob_ut); |
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| 78 | Ds.step(); // simulator step |
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| 79 | |
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| 80 | for ( int i=0; i<Ags.length(); i++ ) { |
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| 81 | Ags(i) -> step(); |
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| 82 | } |
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| 83 | |
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| 84 | } |
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| 85 | |
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[814] | 86 | L->finalize(); |
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| 87 | |
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| 88 | return 0; |
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| 89 | } |
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