root/applications/doprava/traffic_agent.h @ 842

/*!
  \file
  \brief Traffic Light Agents 
  \author Vaclav Smidl.
*/

#ifndef TRAGE_H
#define TRAGE_H


#include <base/participants.h>
        
using namespace bdm;

//! detector of traffic variables
class Detector{
        public:
                string name;             //! detector name
                int distance;                //! distance from stop-line

                //! function loading info from Setting
                void from_setting(const Setting &set){
                        UI::get(name,set,"name",UI::compulsory);
                        UI::get(distance,set,"distance",UI::compulsory);
                        
                }
};

//! detector fo incomming flow
class DetectorIn : public Detector{
        public:
        Array<string> to_sg; // to signal plans
        void from_setting(const Setting &set){
                Detector::from_setting(set);
                UI::get(to_sg, set, "to_sg", UI::compulsory);
        }
};

//! structure for output detectors
class RequestOut {
        public:
        string to; // agent
        Array<string> detectors; //detectors
        void from_setting(const Setting &set){
                UI::get(detectors,set,"detectors",UI::compulsory);
                UI::get(to, set, "to", UI::compulsory);
        }
};


//! class with physical information about a signal group
class SignalGroup {
        public:
                string name;                 //! names of the group
                Array<Detector> detectors;   //! (possible) detectors
                
                //! function that loads information from Setting
                void from_setting(const Setting &set);          
};

//! class that operates on a signal group
class SignalGroupHandler {
        protected:
                //! pointer to physical signal group
                SignalGroup *sg;
                
        public:
                //! actual data from the relevant signal group
                vec det_data;
                //! description of det_data
                RV rv_det_data;
                //! link from global measured data 
                datalink ds2data;
        public:
                void connect_sg(SignalGroup &sg0, const string &agent_name){
                        sg=&sg0;
                        for (int i=0;i<sg->detectors.length();i++){
                                rv_det_data.add(RV(agent_name +"_"+ sg->detectors(i).name, 2)); //TODO intensity occupancy
                        }
                        
                }
                
                //! arbitrary function that computes the need of the signal group for green light in common units (number of waiting cars?)
                double expected_load(){
                        if (det_data.length()>0){
                                return det_data(0); // whatever
                        } else {
                                return 1.0; // mean value
                        }
                }
};

class RequestHandler{
        protected:
                RequestOut *rq;
        public:
                RV rv;
        public:
                void connect_request(RequestOut &rq0, const string &agent_name){
                        rq=&rq0;
                        for (int i=0;i<rq->detectors.length();i++){
                                rv.add(RV(rq->detectors(i), 2)); //TODO intensity occupancy
                        }
                }
};

/*!
\brief  Basic Traffic Agent

*/
class BaseTrafficAgent : public Participant {
        protected:
                //! Signal Groups
                Array<SignalGroup> sg;

                Array<SignalGroupHandler> sgh;
                                                                                
                //!data from messages
                vec input_data;
                
                //! decription of msg_data
                RV input_rv;
                
                //! data to broadcast
                vec output_data;
                
                //! description of broadcast dataind
                RV output_rv;
                
                //! datalink from DS to output variables
                datalink ds2output;
                                        
                //! output recepient
                Array<RequestOut> requests;
                Array<RequestHandler> request_handler;
                
                //! action description
                RV action_rv;
                
                datalink_part action2ds;
                
        public:
                void validate(){
                        // write internal checks if all was loaded OK
                        
                        // set action variable == this is a feature of the agent!
                        action_rv = RV(name+"_Tc", 1); // <======= example
                }
                void receive(const Setting &msg){
                        string what;
                        UI::get(what, msg, "what", UI::compulsory);
                        
                        if (what=="data"){ // 
                                // field data 
                                // extract decription of teh received datavector
                                shared_ptr<RV> rv=UI::build<RV>(msg,"rv",UI::compulsory);
                                // find if it is needed
                                ivec ind=rv->dataind(input_rv); // position of rv in in_rv;
                                if (ind.length()>0){ //data are interesting
                                        vec dt;
                                        UI::get(dt, msg, "value",UI::compulsory); // get data
                                        set_subvector(input_data, ind,  dt); //check size?
                                }                               
                        } else {
                                bdm_warning("Unknown message of type "+what);
                        }
                }
                void log_register(logger &L, const string &prefix){
                        root::log_register ( L, prefix );
                        logrec->ids.set_size(sg.length()+2);
                        int i;
                        for (i=0;i <sg.length(); i++) {
                                logrec->ids(i)=logrec->L.add_vector(sgh(i).rv_det_data, "");
                        }
                        logrec->ids(i)=logrec->L.add_vector(input_rv,"in_"); i++;
                        logrec->ids(i)=logrec->L.add_vector(output_rv,"out_");
                }
                void log_write() const {
                        int i;
                        for (i=0;i <sg.length(); i++) {
                                logrec->L.log_vector(logrec->ids(i), sgh(i).det_data);
                        }
                        logrec->L.log_vector(logrec->ids(i),input_data); i++;
                        logrec->L.log_vector(logrec->ids(i),output_data); i++;
                }
                
                void broadcast(Setting& set){
                        // broadcast data to all neighbours
                        for (int i=0; i<request_handler.length(); i++){
                                Setting &msg =set.add(Setting::TypeGroup);
                                RequestHandler &R=request_handler(i);
                                
                                // copy from create message
                                // create msg with fields {to=..., what=data, rv=..., value = ...}
                                UI::save ( requests(i).to, msg, "to");
                                UI::save ( (string)"data", msg, "what");
                                UI::save ( &R.rv, msg, "rv");
                                UI::save(output_data, msg, "value");
                        }
                }
                void adapt(const vec &glob_dt){
                        // copy data from global vector to sSGHandlers
                        for (int i=0; i<sgh.length();i++){
                                sgh(i).ds2data.filldown(glob_dt, sgh(i).det_data);
                        }
                        //copy data fro neighbours
                        ds2output.filldown(glob_dt, output_data);
                        // copy sg_length ... and others...
                }
                void act(vec &glob_ut){
                        vec needs(sgh.length());
                        for (int i=0; i<sgh.length();i++){
                                needs(i) = sgh(i).expected_load();
                        }
                        vec action; // trivial stuff
                        action2ds.filldown(action,glob_ut);
                }
                
                void ds_register(const DS &ds){
                        //register ds2output
                        ds2output.set_connection(output_rv, ds._drv());
                        output_data.set_size(output_rv._dsize());
                        for (int i=0; i<sgh.length(); i++){
                                sgh(i).ds2data.set_connection(sgh(i).rv_det_data, ds._drv());
                        }
                        action2ds.set_connection( ds._urv(), action_rv);
                }
                
                void from_setting(const Setting &set);
};
UIREGISTER(BaseTrafficAgent);

#endif //TRAGE_H