[986] | 1 | #include "traffic_agent.h" |
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| 2 | #include <list> |
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[941] | 3 | |
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[921] | 4 | class GreenWaveTrafficAgent : public BaseTrafficAgent { |
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[927] | 5 | protected: |
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[1026] | 6 | double rating_change; |
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| 7 | int negot_offset; |
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[986] | 8 | |
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[1026] | 9 | RV rv_change_request; |
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| 10 | vec change_request; |
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| 11 | |
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[986] | 12 | RV rv_recieved_exps; |
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| 13 | vec recieved_exps; |
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[1026] | 14 | |
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| 15 | RV rv_recieved_changes; |
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| 16 | vec recieved_changes; |
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| 17 | |
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| 18 | //! name of agent, whose change we have accepted |
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| 19 | string accepted_from; |
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| 20 | |
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[986] | 21 | list<string> seznam; |
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| 22 | |
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| 23 | double car_leaving; //s; how long is 1 car leaving queue |
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[941] | 24 | |
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[1026] | 25 | bool need_exps; |
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| 26 | bool new_stable_state; |
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| 27 | bool send_requests; |
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| 28 | bool final_state; |
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| 29 | //bool reset_negot_offset; |
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| 30 | |
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| 31 | //! counts all expected cars going from each lane, saves to outputs and rv_outputs |
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[986] | 32 | void expected_cars(/*const string dest*/) { |
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| 33 | double start_time; |
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| 34 | |
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[941] | 35 | for (int i=0;i<lanes.length();i++) { |
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| 36 | for (int j=0;j<lanes(i).outputs.length();j++) { |
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[986] | 37 | string group = name+"_"+lanes(i).sg; //e.g. 495_VA |
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| 38 | ivec index=rv_inputs.dataind(RV(group,1)); |
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| 39 | vec green_time=inputs(index); |
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[941] | 40 | |
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[986] | 41 | rv_outputs.add(RV(lanes(i).outputs(j)+"-"+group,3)); |
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| 42 | outputs.set_size(rv_outputs._dsize()); |
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| 43 | |
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[1026] | 44 | ivec ind = rv_outputs.dataind(RV(lanes(i).outputs(j)+"-"+group,3)); |
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[986] | 45 | |
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| 46 | //Number of cars |
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[1026] | 47 | outputs(ind(0))=lanehs(i)->expected_output(green_time(0)); |
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[986] | 48 | |
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| 49 | start_time = green_starts(sg_index(lanes(i).sg)) + lanes(i).output_distances(j)/VP + planned_offset; |
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| 50 | //first car arrive time |
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[1026] | 51 | outputs(ind(1))=start_time; |
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[986] | 52 | //last car arrive time |
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[1026] | 53 | outputs(ind(2))= start_time + green_time(0); |
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[941] | 54 | } |
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| 55 | } |
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[1026] | 56 | }; |
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[941] | 57 | |
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[1026] | 58 | //! counts planned rating using offset and recieved_exps |
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| 59 | double count_rating(const int offset) { |
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[986] | 60 | double virtual_queue; |
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| 61 | double t_emptiyng; |
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| 62 | double t_green_begin; |
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| 63 | double t_green_end; |
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| 64 | double t_cars_begin; |
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| 65 | double t_cars_end; |
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[1026] | 66 | // vec t_cars_begin; |
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| 67 | // vec t_cars_end; |
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[986] | 68 | double t_mixing; |
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| 69 | bool found; |
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[941] | 70 | |
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[1026] | 71 | double rating=0.0; |
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[986] | 72 | |
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[1026] | 73 | for (int i=0;i<lanes.length();i++) { |
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[986] | 74 | |
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| 75 | //Finding, if we have some expectations |
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| 76 | found=false; |
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[1026] | 77 | for (int k=0;k<lanes(i).inputs.length();k++) { |
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| 78 | // t_cars_begin.set_size(lanes(i).inputs.length()); |
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| 79 | // t_cars_end.set_size(lanes(i).inputs.length()); |
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| 80 | |
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| 81 | for (int j=0;j<rv_recieved_exps.length();j++) { |
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[986] | 82 | int result=rv_recieved_exps.name(j).find(lanes(i).inputs(k)+"-"); |
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| 83 | if (result>=0) { |
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[1026] | 84 | ivec ind = rv_recieved_exps.dataind(RV(rv_recieved_exps.name(j),3)); |
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[986] | 85 | |
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[1026] | 86 | t_cars_begin=recieved_exps(ind(1)); //TODO now using only last found exp. |
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| 87 | t_cars_end=recieved_exps(ind(2)); |
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[986] | 88 | found=true; |
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| 89 | } |
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| 90 | } |
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| 91 | } |
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[1026] | 92 | |
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[986] | 93 | if (!found) { |
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| 94 | t_cars_begin=0; |
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[1026] | 95 | t_cars_end=cycle_length; |
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[986] | 96 | } |
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| 97 | //counting rating |
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[1026] | 98 | t_green_begin=green_starts(sg_index(lanes(i).sg)) + offset; |
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| 99 | ivec ind = rv_inputs.dataind(RV(name+"_"+lanes(i).sg,1)); |
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| 100 | t_green_end=t_green_begin+inputs(ind(0)); |
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[986] | 101 | |
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[1026] | 102 | //TODO use real queues lenghts |
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[986] | 103 | if (t_green_begin<t_cars_begin) { |
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[1026] | 104 | //virtual_queue=lanehs(i)->queue-(t_cars_begin-t_green_begin)/car_leaving; |
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| 105 | //virtual_queue=(rand()%8)-(t_cars_begin-t_green_begin)/car_leaving; |
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| 106 | virtual_queue=5-(t_cars_begin-t_green_begin)/car_leaving; |
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[986] | 107 | } |
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| 108 | else if (t_green_begin>t_cars_begin) { |
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[1026] | 109 | //virtual_queue=lanehs(i)->queue+(t_green_begin-t_cars_begin)*lanehs(i)->expected_density(); |
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| 110 | //virtual_queue=(rand()%9)+(t_green_begin-t_cars_begin)*lanehs(i)->expected_density(); |
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| 111 | virtual_queue=4+(t_green_begin-t_cars_begin)*lanehs(i)->expected_density(); |
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[986] | 112 | } |
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| 113 | |
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| 114 | t_emptiyng=virtual_queue/(1/car_leaving - lanehs(i)->expected_density()); |
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| 115 | t_mixing=min(t_green_end,t_cars_end)-max(t_green_begin,t_cars_begin); |
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| 116 | |
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[1026] | 117 | rating+=max((t_mixing-t_emptiyng)*lanehs(i)->expected_density(),0.0); |
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[986] | 118 | } |
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[1026] | 119 | return rating; |
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[986] | 120 | } |
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| 121 | |
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[1026] | 122 | //! finds best offset using recieved_exps. Returns found offset |
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| 123 | int find_best_offset(const int center, int interval) { |
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| 124 | //! rating if offset is rised |
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| 125 | double rating_p; |
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| 126 | //! rating if offset is unchaged (=center) |
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| 127 | double rating_c; |
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| 128 | //! rating if offset is lowered |
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| 129 | double rating_n; |
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[986] | 130 | |
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[1026] | 131 | int new_center; |
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| 132 | |
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| 133 | rating_p=count_rating(center+interval); |
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| 134 | rating_c=count_rating(center); |
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| 135 | rating_n=count_rating(center-interval); |
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| 136 | |
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| 137 | new_center=center; |
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| 138 | int max_index=max_of_three(rating_p,rating_c,rating_n); |
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| 139 | switch (max_index) { |
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| 140 | case 0: |
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| 141 | new_center+=interval; |
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| 142 | break; |
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| 143 | case 1: |
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| 144 | break; |
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| 145 | case 2: |
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| 146 | new_center-=interval; |
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| 147 | break; |
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| 148 | } |
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| 149 | |
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| 150 | if (interval>2) { |
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| 151 | interval/=2; |
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| 152 | new_center=find_best_offset(new_center,interval); |
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| 153 | } |
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| 154 | |
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| 155 | return new_center; |
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| 156 | } |
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| 157 | |
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| 158 | //! finds if changing neighbour's offset could have positive effect, returns found offset change |
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| 159 | int find_best_exps(const int offset_change, const string neighbour, double &rating_change) { |
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| 160 | //! expectations recieved from neighbour |
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| 161 | vec original_exps; |
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| 162 | //! expactations after positve change of neighbour's offset |
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| 163 | vec positive_exps; |
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| 164 | //! expactations after negative change of neighbour's offset |
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| 165 | vec negative_exps; |
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| 166 | //! rating if offset is rised |
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| 167 | double rating_p; |
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| 168 | //! rating if offset is unchaged |
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| 169 | double rating_c; |
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| 170 | //! rating if offset is lowered |
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| 171 | double rating_n; |
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| 172 | original_exps.set_size(recieved_exps.length()); |
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| 173 | |
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| 174 | original_exps=recieved_exps; |
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| 175 | positive_exps=recieved_exps; |
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| 176 | negative_exps=recieved_exps; |
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| 177 | |
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| 178 | for (int j=0;j<rv_recieved_exps.length();j++) { |
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| 179 | int res = rv_recieved_exps.name(j).find("-"+neighbour); |
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| 180 | if (res>0) { |
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| 181 | ivec ind = rv_recieved_exps.dataind(RV(rv_recieved_exps.name(j),3)); |
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| 182 | rating_n=count_rating(planned_offset); |
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| 183 | |
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| 184 | positive_exps(ind(1))+=offset_change; |
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| 185 | positive_exps(ind(2))+=offset_change; |
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| 186 | |
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| 187 | negative_exps(ind(1))-=offset_change; |
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| 188 | negative_exps(ind(2))-=offset_change; |
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| 189 | } |
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| 190 | } |
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| 191 | |
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| 192 | rating_c=count_rating(planned_offset); |
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| 193 | |
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| 194 | recieved_exps=positive_exps; |
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| 195 | rating_p=count_rating(planned_offset); |
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| 196 | |
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| 197 | recieved_exps=negative_exps; |
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| 198 | rating_n=count_rating(planned_offset); |
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| 199 | |
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| 200 | recieved_exps=original_exps; |
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| 201 | |
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| 202 | int max_index=max_of_three(rating_p,rating_c,rating_n); |
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| 203 | switch (max_index) { |
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| 204 | case 0: |
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| 205 | rating_change=rating_p-rating_c; |
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| 206 | return offset_change; |
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| 207 | break; |
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| 208 | case 1: |
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| 209 | rating_change=0; |
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| 210 | return 0; |
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| 211 | break; |
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| 212 | case 2: |
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| 213 | rating_change=rating_n-rating_c; |
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| 214 | return -offset_change; |
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| 215 | break; |
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| 216 | } |
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| 217 | rating_change=NULL; |
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| 218 | return NULL; |
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| 219 | } |
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| 220 | |
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| 221 | //! returns index of signal group sg |
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| 222 | int sg_index(const string sg) { |
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| 223 | for (int i=0;i<sgs.length();i++) { |
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| 224 | if (sgs(i)==sg) { |
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| 225 | return i; |
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| 226 | } |
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| 227 | } |
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| 228 | return -1; |
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| 229 | } |
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| 230 | |
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| 231 | //! returns offset value shifted to fit interval <0;cycle_length> |
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| 232 | int normalize_offset(int offset) { |
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| 233 | while (offset<0 && offset<cycle_length) { |
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| 234 | if (offset<0) { |
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| 235 | offset+=cycle_length; |
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| 236 | } |
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| 237 | else { |
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| 238 | offset-=cycle_length; |
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| 239 | } |
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| 240 | } |
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| 241 | return offset; |
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| 242 | } |
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| 243 | |
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| 244 | |
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| 245 | //! returns index of maximum of entered values |
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| 246 | int max_of_three(const double a, const double b, const double c) { |
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| 247 | int index = a > b ? 0 : 1; |
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| 248 | |
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| 249 | if (index == 0) { |
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| 250 | index = a > c ? 0 : 2; |
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| 251 | } |
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| 252 | else { |
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| 253 | index = b > c ? 1 : 2; |
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| 254 | } |
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| 255 | return index; |
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| 256 | } |
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| 257 | |
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| 258 | public: |
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| 259 | //! offset set in last simulation step |
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| 260 | int last_offset; |
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| 261 | //! actual planned offset to set for next simulation step |
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| 262 | int planned_offset; |
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| 263 | //! rating of actual planned offset |
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| 264 | double planned_rating; |
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| 265 | |
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| 266 | //! array of existing signal groups |
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| 267 | Array<string> sgs; |
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| 268 | //! relative starts of green for signal groups |
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| 269 | ivec green_starts; |
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| 270 | |
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| 271 | //! avarage speed of cars |
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| 272 | int VP; |
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| 273 | |
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| 274 | void validate() { |
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| 275 | rv_action = RV(name+"_offset", 1); // <======= example |
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| 276 | |
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| 277 | for (int i=0; i<sgs.length();i++) { |
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| 278 | rv_inputs.add(RV(name+"_"+sgs(i),1)); |
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| 279 | } |
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| 280 | inputs.set_size(rv_inputs._dsize()); |
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| 281 | |
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| 282 | BaseTrafficAgent::validate(); |
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| 283 | |
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| 284 | for (int i=0;i<lanehs.length();i++) { |
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| 285 | ivec index = rv_queues.dataind(RV(lanes(i).queue,1)); |
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| 286 | lanehs(i)->queue_index=index(0); |
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| 287 | } |
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| 288 | |
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| 289 | |
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| 290 | } |
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| 291 | |
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| 292 | void adapt(const vec &glob_dt) { |
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| 293 | BaseTrafficAgent::adapt(glob_dt); |
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| 294 | |
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| 295 | for (int i=0;i<lanehs.length();i++) { |
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| 296 | lanehs(i)->queue=queues(lanehs(i)->queue_index); |
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| 297 | } |
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| 298 | |
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| 299 | planned_offset=last_offset; |
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| 300 | |
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| 301 | //set state variables to default values |
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| 302 | final_state=false; |
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| 303 | new_stable_state=false; |
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| 304 | send_requests=false; |
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| 305 | need_exps=true; |
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| 306 | negot_offset=8; |
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| 307 | } |
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| 308 | |
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[941] | 309 | void broadcast(Setting& set){ |
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[1026] | 310 | |
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[941] | 311 | //ask neighbours for exptected arrive times |
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[1026] | 312 | if (need_exps) { |
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[941] | 313 | for (int i=0; i<neighbours.length(); i++){ |
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| 314 | Setting &msg =set.add(Setting::TypeGroup); |
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| 315 | |
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| 316 | UI::save ( neighbours(i), msg, "to"); |
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| 317 | UI::save (name,msg,"from"); |
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| 318 | UI::save ( (string)"expected_times_request", msg, "what"); |
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| 319 | } |
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[1026] | 320 | need_exps=false; |
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[941] | 321 | } |
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| 322 | |
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| 323 | // broadcast expected cars |
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[986] | 324 | if (!seznam.empty()) { |
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[1026] | 325 | expected_cars(); |
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[986] | 326 | do { |
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| 327 | Setting &msg =set.add(Setting::TypeGroup); |
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| 328 | UI::save ( seznam.back(), msg, "to"); |
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| 329 | UI::save ( name, msg, "from"); |
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| 330 | UI::save ( (string)"new_expected_cars", msg, "what"); |
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| 331 | UI::save ( &(rv_outputs), msg, "rv"); |
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| 332 | UI::save ( outputs, msg, "value"); |
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| 333 | seznam.pop_back(); |
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[1026] | 334 | } while (!seznam.empty()); |
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| 335 | } |
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[941] | 336 | |
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[1026] | 337 | // broadcast new stable state (new stable expectations) |
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| 338 | if (new_stable_state) { |
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| 339 | expected_cars(); |
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| 340 | for (int i=0;i<neighbours.length();i++) { |
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| 341 | Setting &msg = set.add(Setting::TypeGroup); |
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| 342 | UI::save ( neighbours(i), msg, "to"); |
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| 343 | UI::save ( name, msg, "from"); |
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| 344 | UI::save ( (string)"new_stable_state2", msg, "what"); |
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| 345 | UI::save ( &(rv_outputs), msg, "rv"); |
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| 346 | UI::save ( outputs, msg, "value"); |
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| 347 | } |
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| 348 | new_stable_state=false; |
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| 349 | } |
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| 350 | |
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| 351 | // broadcast requests to change offset(s) |
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| 352 | if (send_requests) { |
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| 353 | for (int i=0;i<neighbours.length();i++) { |
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| 354 | Setting &msg = set.add(Setting::TypeGroup); |
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| 355 | UI::save ( neighbours(i), msg, "to"); |
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| 356 | UI::save ( name, msg, "from"); |
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| 357 | UI::save ( (string)"offset_change_request", msg, "what"); |
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| 358 | UI::save ( &(rv_change_request), msg, "rv"); |
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| 359 | UI::save ( change_request, msg, "value"); |
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| 360 | } |
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| 361 | send_requests=false; |
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| 362 | } |
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| 363 | |
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| 364 | /*if (reset_negot_offset) { |
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| 365 | for (int i=0;i<neighbours.length();i++) { |
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| 366 | Setting &msg = set.add(Setting::TypeGroup); |
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| 367 | UI::save ( neighbours(i), msg, "to"); |
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| 368 | UI::save ( name, msg, "from"); |
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| 369 | UI::save ( (string)"reset_negot_offset", msg, "what"); |
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| 370 | } |
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| 371 | }*/ |
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| 372 | |
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| 373 | |
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| 374 | |
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| 375 | // reached final offset. Log value? |
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| 376 | if (final_state) { |
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[986] | 377 | |
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[1026] | 378 | //cout << "Jmenuji se "<<name<< " a skoncil jsem na offsetu " << planned_offset << " s hodnocenim " << planned_rating <<endl; |
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| 379 | final_state=false; |
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[941] | 380 | } |
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| 381 | } |
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| 382 | |
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| 383 | void receive(const Setting &msg){ |
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| 384 | string what; |
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| 385 | string to; |
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[1026] | 386 | |
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[941] | 387 | string from; |
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[986] | 388 | vec value; |
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| 389 | RV *rv; |
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[941] | 390 | |
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| 391 | UI::get(what, msg, "what", UI::compulsory); |
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| 392 | UI::get(to, msg, "to", UI::compulsory); |
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| 393 | UI::get(from, msg, "from"); |
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[986] | 394 | UI::get(rv, msg, "rv"); |
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[941] | 395 | UI::get(value, msg, "value"); |
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[1026] | 396 | |
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[986] | 397 | if (what=="expected_times_request"){ |
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| 398 | seznam.push_back(from); |
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[941] | 399 | } |
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| 400 | else if (what=="new_expected_cars") { |
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[986] | 401 | rv_recieved_exps=*rv; |
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| 402 | recieved_exps=value; |
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[1026] | 403 | |
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| 404 | last_offset=planned_offset; |
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| 405 | |
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| 406 | planned_offset=find_best_offset(planned_offset,8); |
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| 407 | planned_offset=normalize_offset(planned_offset); |
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| 408 | |
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| 409 | |
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| 410 | /*if (planned_offset!=last_offset) { |
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| 411 | reset_negot_offset=true; |
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| 412 | }*/ |
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| 413 | planned_rating=count_rating(planned_offset); |
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| 414 | // we have new stable state to broadcast |
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| 415 | new_stable_state=true; |
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[941] | 416 | } |
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[1026] | 417 | else if (what=="new_stable_state2") { |
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| 418 | rv_recieved_exps=*rv; |
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| 419 | recieved_exps=value; |
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| 420 | planned_rating=count_rating(planned_offset); |
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| 421 | |
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| 422 | for (int i=0;i<neighbours.length();i++) { |
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| 423 | rv_change_request.add(RV(neighbours(i)+"_change",2)); |
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| 424 | change_request.set_size(rv_change_request._dsize()); |
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| 425 | ivec ind=rv_change_request.dataind(RV(neighbours(i)+"_change",2)); |
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| 426 | // offset change |
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| 427 | change_request(ind(0))=find_best_exps(negot_offset,neighbours(i),rating_change); |
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| 428 | // rating change |
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| 429 | change_request(ind(1))=rating_change; |
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| 430 | } |
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| 431 | |
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| 432 | if (negot_offset>2) { |
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| 433 | negot_offset/=2; |
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| 434 | send_requests=true; |
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| 435 | } |
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| 436 | else { |
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| 437 | final_state=true; |
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| 438 | } |
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| 439 | } |
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| 440 | else if (what=="offset_change_request") { |
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| 441 | double final_rating_diff; |
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| 442 | |
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| 443 | rv_recieved_changes=*rv; |
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| 444 | recieved_changes=value; |
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| 445 | |
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| 446 | for (int i=0;i<rv_recieved_changes.length();i++) { |
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| 447 | |
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| 448 | ivec ind=rv_recieved_changes.dataind(RV(rv_recieved_changes.name(i),2)); |
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| 449 | |
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| 450 | final_rating_diff=-planned_rating+count_rating(planned_offset+(int)recieved_changes(ind(0)))-recieved_changes(ind(0)); |
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| 451 | if (final_rating_diff>0) { |
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| 452 | planned_offset+=(int)recieved_changes(ind(0)); |
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| 453 | planned_rating+=final_rating_diff; |
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| 454 | accepted_from=from; |
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| 455 | } |
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| 456 | } |
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| 457 | //need_exps=true;s |
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| 458 | new_stable_state=true; |
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| 459 | } |
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| 460 | /*else if (what=="reset_negot_offset") { |
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| 461 | negot_offset=8; |
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| 462 | }*/ |
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[941] | 463 | else { |
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| 464 | BaseTrafficAgent::receive(msg); |
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| 465 | } |
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| 466 | } |
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| 467 | |
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| 468 | void ds_register(const DS &ds) { |
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| 469 | BaseTrafficAgent::ds_register(ds); |
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[986] | 470 | action2ds.set_connection( ds._urv(), rv_action); |
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[941] | 471 | } |
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| 472 | |
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| 473 | void from_setting(const Setting &set) { |
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| 474 | BaseTrafficAgent::from_setting(set); |
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| 475 | |
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[1026] | 476 | srand(time(NULL)); |
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| 477 | |
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[986] | 478 | car_leaving=2; |
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| 479 | VP=45; |
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[1026] | 480 | |
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| 481 | negot_offset=8; |
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[986] | 482 | |
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| 483 | // load from file |
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[941] | 484 | UI::get(sgs, set, "sgs", UI::compulsory); |
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[986] | 485 | UI::get(green_starts, set, "green_starts", UI::compulsory); |
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| 486 | UI::get(last_offset, set, "offset", UI::compulsory); |
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[941] | 487 | |
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| 488 | } |
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[986] | 489 | void act(vec &glob_ut){ |
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| 490 | vec action; |
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| 491 | action.set_size(rv_action._dsize()); |
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[1026] | 492 | |
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[986] | 493 | ivec index = rv_action.dataind(RV(name+"_offset",1)); |
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| 494 | action(index(0))=planned_offset; |
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[1026] | 495 | last_offset=planned_offset; |
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[986] | 496 | |
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| 497 | action2ds.filldown(action,glob_ut); |
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| 498 | } |
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| 499 | |
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[921] | 500 | }; |
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| 501 | UIREGISTER(GreenWaveTrafficAgent); |
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