root/applications/doprava/traffic_agent.h @ 931

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

#ifndef TRAGE_H
#define TRAGE_H


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

class BaseTrafficAgent;

//! detector of traffic variables
class Lane{
        public:
                Array<string> inputs;
                Array<string> outputs;
                vec alpha; //size of outputs
                string queue;
                string sg;

                //! function loading info from Setting
                void from_setting(const Setting &set){
                        UI::get(inputs,set,"inputs",UI::compulsory);
                        UI::get(outputs,set,"outputs",UI::compulsory);
                        UI::get(alpha,set,"alpha",UI::compulsory);
                        UI::get(queue,set,"queue",UI::compulsory);
                        UI::get(sg,set,"sg",UI::compulsory);
                        
                }
};

//! class that operates on a signal group
class LaneHandler {
        protected:
                //! pointer to physical lane
                const Lane &lane;
                //! agent pointer
                BaseTrafficAgent *agent;
                
        public:
                //! actual data from the relevant signal group
                vec inputs;
                //!
                double queue;
                //! 
                //! description of det_data
                RV rv_inputs;
                //! description of det_data
                RV rv_outputs;
                //! description of det_data
                RV rv_queue;
                //! link from global measured data 
                datalink agentin2input;
                //!
                datalink output2agentout;
                //!
                int queue_index;
        public:
                LaneHandler(const Lane &lane0): lane(lane0){
                        for (int i=0;i<lane0.inputs.length();i++){
                                rv_inputs.add(RV(lane.inputs(i), 2));
                        }
                        for (int i=0;i<lane0.outputs.length();i++){
                                rv_outputs.add(RV(lane.outputs(i), 2)); 
                        }
                        rv_queue.add(RV(lane.queue, 1)); 
                }
                
                void connect_data(BaseTrafficAgent &agent0);
                
                //! arbitrary function that computes the need of the signal group for green light in common units (number of waiting cars?)
                double expected_output(double green_time);
};

/*!
\brief  Basic Traffic Agent

*/
class BaseTrafficAgent : public Participant {
        LOG_LEVEL(BaseTrafficAgent,logdata);
        public:
                //! Signal Groups
                Array<Lane> lanes;

                Array<LaneHandler*> lanehs;
                                                                                
                //!data from messages
                vec inputs;
                
                //! decription of msg_data
                RV rv_inputs;
                
                //! data to broadcast
                vec outputs;
                
                //! description of broadcast dataind
                RV rv_outputs;
                
                vec queues;
                
                //! description of queues
                RV rv_queues;
                
                //! datalink from DS to output variables
                datalink ds2inputs;

                //! datalink from DS to output variables
                datalink ds2queues;
                
                //! action description
                RV action_rv;
                                
                datalink_part action2ds;
                
                Array<string> neighbours;
                
                Array<RV> rv_neighbours_out;
                
                Array<datalink> output2neighbour;
                
        public:
                void validate(){
                        lanehs.set_length(lanes.length());
                        for (int l=0; l<lanes.length(); l++){
                                lanehs(l) = new LaneHandler(lanes(l));
                                
                                rv_inputs.add(lanehs(l)->rv_inputs);
                                rv_outputs.add(lanehs(l)->rv_outputs);
                                rv_queues.add(lanehs(l)->rv_queue);
                        }
                        inputs.set_size(rv_inputs._dsize());
                        outputs.set_size(rv_outputs._dsize());
                        queues.set_size(rv_queues._dsize());
                        
                        for (int l=0; l<lanes.length(); l++){
                                lanehs(l)->connect_data(*this);
                        }
                        
                        //for -- rv_outputs -- 
                        // TODO vybrat rv pro sousedy 
                        rv_neighbours_out.set_length(neighbours.length());
                        output2neighbour.set_length(neighbours.length());
                        
                        for (int i=0; i<neighbours.length(); i++){
                                for (int r=0; r<rv_outputs.length(); r++){
                                        int str_pos = rv_outputs.name(r).compare(neighbours(i));
                                        if (str_pos>neighbours(i).length()){
                                                rv_neighbours_out(i).add(rv_outputs.subselect(vec_1(r)));
                                        }
                                }
                                // connect datasource
                                output2neighbour(i).set_connection(rv_neighbours_out(i), rv_outputs);
                        }
                        
                        // lanehs knows RVS
                        // write internal checks if all was loaded OK
                        
                }
                void receive(const Setting &msg){
                        string what;
                        UI::get(what, msg, "what", UI::compulsory);
                        
                        if (what=="new_stable_state"){ // 
                                // 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(rv_inputs); // 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(inputs, ind,  dt); //check size?
                                }                               
                        } else {
                                Participant::receive(msg);
                        }
                }
                void log_register(logger &L, const string &prefix){
                        root::log_register ( L, prefix );
                        if ( log_level[logdata]){
                                L.add_vector ( log_level, logdata, RV ( 1 ), prefix );  
                        }
                }
                void log_write() const {
                        if (log_level[logdata]){
                                log_level.store(logdata, inputs);
                        }
                }
                
                void broadcast(Setting& set){
                        // broadcast data to all neighbours
                        for (int i=0; i<neighbours.length(); i++){
                                Setting &msg =set.add(Setting::TypeGroup);
                                
                                // if...
                                // copy from create message
                                // create msg with fields {to=..., what=data, rv=..., value = ...}
                                UI::save ( neighbours(i), msg, "to");
                                UI::save ( (string)"new_stable_state", msg, "what");
                                UI::save ( &(rv_neighbours_out(i)), msg, "rv");
                                UI::save( output2neighbour(i).pushdown(outputs), msg, "value");
                        }
                        
                }
                void adapt(const vec &glob_dt){
                        // copy data from global vector to sSGHandlers
                        ds2inputs.filldown(glob_dt, inputs);
                        //copy data fro neighbours
                        ds2queues.filldown(glob_dt, queues);
                        // copy sg_length ... and others...
                }
                void act(vec &glob_ut){
                        vec action; // trivial stuff
                        action2ds.filldown(action,glob_ut);
                }
                
                void ds_register(const DS &ds){
                        //register ds2output
                        ds2inputs.set_connection(rv_inputs, ds._drv());
                        ds2queues.set_connection(rv_queues, ds._drv());
                        inputs.set_size(rv_inputs._dsize());
                        action2ds.set_connection( ds._urv(), action_rv);
                }
                
                void from_setting(const Setting &set);
};
UIREGISTER(BaseTrafficAgent);

#endif //TRAGE_H