root/applications/doprava/main_loop.cpp @ 932

/*!
\file
\brief Distributed Traffic light Control Scenario 
\author Vasek Smidl 

 */

#include "base/user_info.h"
#include "base/loggers.h"
#ifdef _WIN32
#include "aimsun_bdm/aimsun_ds.h"
#else 
#include "aimsun_bdm/aimsun_fake.h"
#endif
#include "traffic_agent.h"
#include "traffic_agent_offset.h"

using namespace bdm;

int main ( int argc, char* argv[] ) {
        const char *fname;
        int max_cycles=5; //max. number of sending/recieving during negotiation, changed to number from config file, if present (negotiation_cycles)

        if ( argc>1 ) {fname = argv[1]; }
        else { cout << "Missing configuration file.\n Usage: \n $> estimator config_file.cfg"<<endl; abort(); }
        UIFile Cfg ( fname );

        // SYSTEM TO CONTROL
        shared_ptr<AimsunDS> Ds=UI::build<AimsunDS>(Cfg.lookup("system"),UI::compulsory);

        // AGENTS
        Array<shared_ptr<Participant> > Ags;
        UI::get ( Ags,Cfg, "agents" );

        // LOGGER
        shared_ptr<logger> L = UI::build <logger>( Cfg, "logger" );
        if (!L) {L=new stdlog();} // DEFAULT LOGGER <== poor choice, use better ones



        Config MsgStore;
        MsgStore.setAutoConvert(true);
        Setting& Queue = MsgStore.getRoot().add("queue", Setting::TypeList);

        // REGISTER ACTIVE OBJECTS IN LOGGER
        Ds->log_register ( *L, "DS" );
        for ( int i=0; i<Ags.length(); i++ ) {
                Ags ( i )->log_register ( *L,Ags(i)->_name() ); // estimate
                Ags ( i )->ds_register(*Ds);            // allows agents to update their datalinks
        }
        L->init();

        vec glob_dt(Ds->_drv()._dsize() );
        vec glob_ut(Ds->_urv()._dsize() );

        // INITIALISATION OF UT
        glob_ut[ 0] = 80; // cycle time
        glob_ut[ 1] = 40; // offset 495
        glob_ut[ 2] = 30; // ut[2]+ut[3]+ut[4] has to sum up to ut[0]
        glob_ut[ 3] = 30;
        glob_ut[ 4] = 20;
    glob_ut[ 8] = 20; // offset 601
        glob_ut[ 9] = 30; // ut[9]+ut[10]+ut[11] has to sum up to ut[0]
        glob_ut[10] = 30;
        glob_ut[11] = 20;

        //LENGTH OF NEGOTIATION
        UI::get(max_cycles,Cfg,"negotiation_cycles");

        for ( int tK=0; tK < Ds->max_length(); tK++ ) {

                Ds->log_write ( ); // write stuff to 
                Ds->getdata(glob_dt);
                for ( int i=0; i<Ags.length(); i++ ) {
                        Ags(i) -> adapt(glob_dt);
                }

                // NEGOTIATION CYCLE
                // ends when Queue is empty or after defined number of cycles
                int cycle=0;
                do {
                        //DBG
                        MsgStore.writeFile("xxx");
                        // parse message queue
                        for ( int m=Queue.getLength()-1; m>=0; m-- ) { // go backwards - last mesages are discarded
                                for ( int i=0; i<Ags.length(); i++ ) {
                                        Setting& msg=Queue[m];
                                        string m_to=msg["to"];
                                        if (m_to==Ags(i)->_name()) {
                                                Ags(i)->receive(msg);
                                                Queue.remove(m);
                                                break;
                                                // message delivered;
                                        }
                                }
                        }
                        if (Queue.getLength()>0){bdm_error("undelivered messages - probably unknown neighbours");}

                        for ( int i=0; i<Ags.length(); i++ ) {
                                Ags(i) -> broadcast(Queue);
                        }

                        cycle++;
                } 
                while ((Queue.getLength()>0) && (cycle<max_cycles));

                for ( int i=0; i<Ags.length(); i++ ) {
                        Ags(i) -> act(glob_ut);
                }

                L->step();
                Ds->write(glob_ut);
                Ds->step();                                                     // simulator step

                for ( int i=0; i<Ags.length(); i++ ) {
                        Ags(i) -> log_write();
                        Ags(i) -> step();
                }
                
        }

        L->finalize();

        return 0;
}