root/applications/doprava/traffic_agent_offset.h @ 1118

#include "traffic_agent.h"
#include <list>
#include <fstream>

class GreenWaveTrafficAgent : public BaseTrafficAgent {
LOG_LEVEL(GreenWaveTrafficAgent,logoffset);
protected:
        double rating_change;
        int negot_offset;
        int negot_limit;

        int actual_time;

        RV rv_outputs;
        vec outputs;

        RV rv_change_request;
        vec change_request;

        RV rv_recieved_exps;
        vec recieved_exps;

        RV rv_next_exps;
        vec next_exps;

        RV rv_recieved_changes;
        vec recieved_changes;

        //! name of agent, whose change we have accepted
        string accepted_from;

        //TODO currently useless list of neighbours asking for expectations
        list<string> seznam;
        
        double car_leaving; //s; how long is 1 car leaving queue

        // some state variables
        bool need_exps;
        bool new_stable_state;
        bool send_requests;
        bool final_state;
        //bool reset_negot_offset;

        int passive;

        //! sum of final planned_offset values since last reach of cycle_count
        int total_offset;
        //! number of finished cycles since last reach of cycle_count
        int negot_cycle;
        //! after cycle_count cycles, we count avarege planned_offseta send it to Aimsun
        int cycle_count;

        //! counts all expected cars going from each lane, saves to outputs and rv_outputs
        void expected_cars() {
                double start_time;
                ivec ind;
                RV rv_exp;
                datalink exp2outputs;
                vec exp;

                for (int i=0;i<lanes.length();i++) {
                        for (int j=0;j<lanes(i).outputs.length();j++) {
                                if (lanes(i).outputs(j)!="DUMMY_DET") {
                                        string group = name+"_"+lanes(i).sg;            //e.g. 495_VA
                                        
                                        int index=group_index(group);
                                        
                                        double green_time=green_times(index)*cycle_length;

                                        //ivec green_index=rv_inputs.dataind(RV(group,1));
                                        //vec green_time=inputs(green_index);

                                        //cout << "Green time "<<green_time<<endl;

                                        rv_exp=RV(lanes(i).outputs(j)+"-"+name+"_"+to_string(i),3);

                                        exp.set_size(rv_exp._dsize());
                                        exp2outputs.set_connection(rv_exp,rv_outputs);

                                        //Number of cars
                                        exp(0)=lanehs(i)->expected_output(green_time)*lanes(i).alpha(j);        

                                        start_time = green_starts(group_index(name+"_"+lanes(i).sg)) + lanes(i).output_distances(j)/VP + planned_offset;
                                        //first car arrive time
                                        exp(1)=start_time;
                                        //last car arrive time
                                        exp(2)=start_time + green_time;
                                        //TODO pushup az na konec
                                        exp2outputs.pushup(outputs,exp);

                                }                       
                        }
                }
        };

        //! counts planned rating using offset and recieved_exps
        double count_rating(const int offset) {
                double virtual_queue;
                double t_green_begin;
                double t_green_end;
                vec cars_count;
                vec t_cars_begin;
                vec t_cars_end;
                bool found;

                double rating=0.0;

                RV rv_vector;
                vec vector;

                for (int i=0;i<lanes.length();i++) {

                        //Finding, if we have some expectations
                        found=false;
                        
                        for (int k=0;k<lanes(i).inputs.length();k++) { 
                                int l=0;                
                                for (int j=0;j<rv_recieved_exps.length();j++) {
                                
                                        int result=rv_recieved_exps.name(j).find(lanes(i).inputs(k)+"-");
                                        if (result>=0) {

                                                t_cars_begin.set_size(l+1,true);
                                                t_cars_end.set_size(l+1,true);
                                                cars_count.set_size(l+1,true);


                                                rv_vector = RV(rv_recieved_exps.name(j),3);
                                                ivec ind = rv_vector.dataind(rv_recieved_exps);

                                                cars_count(l)=recieved_exps(ind(0));
                                                t_cars_begin(l)=recieved_exps(ind(1));
                                                t_cars_end(l)=recieved_exps(ind(2));
                                                l++;

                                                found=true;
                                        }
                                }

                        }
                        if (found) {                    

                                //counting rating
                                string group = name+"_"+lanes(i).sg;            //e.g. 495_VA
                                int index=group_index(group);

                                t_green_begin=green_starts(index) + offset;
                                double green_time=green_times(index)*cycle_length;
                                t_green_end=t_green_begin+green_time;

                                /************** counting with all exps ****************/

                                int k;
                                double t_act=t_green_begin;
                                virtual_queue=lanehs(i)->queue;

                                //cycle goes through all "stopping" points and counts queue lenght at these points
                                do {
                                        k=min_i(t_cars_begin);

                                        if (k!=-1) {                                            
                                                double a=cars_count(k);
                                                double b=t_cars_begin(k);
                                                double c=t_cars_end(k);

                                                //in case there are cars comming before t_green begin
                                                if (t_cars_begin(k)<t_act) {
                                                        if (t_cars_end(k)<=t_act) {
                                                                virtual_queue+=cars_count(k);

                                                                cars_count.del(k);
                                                                t_cars_begin.del(k);
                                                                t_cars_end.del(k);

                                                        }
                                                        else {
                                                                double pomer=(t_cars_begin(k)-t_act)/(t_cars_end(k)-t_cars_begin(k));
                                                                virtual_queue+=cars_count(k)*pomer;
                                                                t_cars_begin(k)=t_act;
                                                        }
                                                }
                                                else if (t_cars_begin(k)==t_act) {
                                                        if (t_cars_end(k)<t_green_end) {
                                                                virtual_queue+=cars_count(k)-(t_cars_end(k)-t_act)/car_leaving;
                                                                t_act=t_cars_end(k);

                                                                cars_count.del(k);
                                                                t_cars_begin.del(k);
                                                                t_cars_end.del(k);
                                                        }
                                                        //if t_cars_end>=t_green_end
                                                        else {
                                                                virtual_queue+=cars_count(k)-(t_green_end-t_act)/car_leaving;
                                                                t_act=t_green_end;

                                                                cars_count.del(k);
                                                                t_cars_begin.del(k);
                                                                t_cars_end.del(k);                                                      
                                                        }
                                                }
                                                //if t_cars_begin(k)>=t_act
                                                else {
                                                        if (t_cars_end(k)<t_green_end) {
                                                                virtual_queue-=(t_cars_end(k)-t_act)/car_leaving;
                                                                t_act=t_cars_end(k);
                                                        }
                                                        else {
                                                                virtual_queue-=(t_green_end-t_act)/car_leaving;
                                                                t_act=t_green_end;
                                                        }
                                                }
                                        }
                                        //if no other expectations found
                                        else {
                                                virtual_queue-=(t_green_end-t_act)/car_leaving;
                                                t_act=t_green_end;
                                        }
                                        if (virtual_queue<0) {
                                                rating-=virtual_queue;
                                                virtual_queue=0;
                                        }

                                } while (t_act<t_green_end);
                        }
                }
                return rating;
        }

        //! finds best offset using recieved_exps. Returns found offset
        int find_best_offset(const int center, int interval) {
                //! rating if offset is rised 
                double rating_p;
                //! rating if offset is unchaged (=center)
                double rating_c;
                //! rating if offset is lowered
                double rating_n;

                int new_center;

                rating_p=count_rating(center+interval);
                rating_c=count_rating(center);
                rating_n=count_rating(center-interval);

                new_center=center;
                int max_index=max_i_of_three(rating_p,rating_c,rating_n);
                switch (max_index) {
                        case 0:
                                new_center+=interval;
                                break;
                        case 1:
                                break;
                        case 2:
                                new_center-=interval;
                                break;
                }

                if (interval>2) {
                        interval/=2;
                        new_center=find_best_offset(new_center,interval);
                }

                return new_center;
        }

        //! finds if changing neighbour's offset could have positive effect, returns found offset change
        int find_best_exps(const int offset_change, const string neighbour, double &rating_change) {
                //! expectations recieved from neighbour
                vec original_exps;
                //! expactations after positve change of neighbour's offset
                vec positive_exps;
                //! expactations after negative change of neighbour's offset
                vec negative_exps;
                //! rating if offset is rised
                double rating_p;
                //! rating if offset is unchaged
                double rating_c;
                //! rating if offset is lowered
                double rating_n;                
                original_exps.set_size(recieved_exps.length());
                
                original_exps=recieved_exps;
                positive_exps=recieved_exps;
                negative_exps=recieved_exps;

                for (int j=0;j<rv_recieved_exps.length();j++) {
                        int res = rv_recieved_exps.name(j).find("-"+neighbour);
                        if (res>0) {
                                ivec ind = RV(rv_recieved_exps.name(j),3).dataind(rv_recieved_exps);

                                rating_n=count_rating(planned_offset);

                                positive_exps(ind(1))+=offset_change;
                                positive_exps(ind(2))+=offset_change;

                                negative_exps(ind(1))-=offset_change;
                                negative_exps(ind(2))-=offset_change;
                        }
                }

                rating_c=count_rating(planned_offset);

                recieved_exps=positive_exps;
                rating_p=count_rating(planned_offset);

                recieved_exps=negative_exps;
                rating_n=count_rating(planned_offset);

                recieved_exps=original_exps;

                int max_index=max_i_of_three(rating_p,rating_c,rating_n);
                switch (max_index) {
                        case 0:
                                rating_change=rating_p-rating_c;
                                return offset_change;
                                break;
                        case 1:
                                rating_change=0;
                                return 0;
                                break;
                        case 2:
                                rating_change=rating_n-rating_c;
                                return -offset_change;
                                break;
                }
                rating_change=NULL;
                return NULL;
        }

        // pravdepodobne s chybou, momentalne se nepouziva
        void split_exps() {
                ivec ind;
                RV rv_exp;
                datalink recieved2next;

                rv_next_exps=RV();
                for (int i=0;i<rv_recieved_exps.length();i++) {
                        if (rv_recieved_exps.size(i)==3) {              
                                rv_exp=RV(rv_recieved_exps.name(i),3);
                                ind = rv_exp.dataind(rv_recieved_exps);
                                //cout << "ind " << ind << endl;

                                int next_cycle_end=2 * cycle_length - (actual_time % cycle_length);
                                if (recieved_exps(ind(1))>next_cycle_end) {
                                        rv_next_exps.add(rv_exp);
                                        next_exps.set_size(rv_next_exps._dsize());
                                        
                                        if (actual_time==630) {
                                                cout << "rv_next_exps " << rv_next_exps.to_string() << endl;
                                                cout << "rv_recived_exps " << rv_recieved_exps.to_string() << endl;
                                        }

                                        recieved2next.set_connection(rv_next_exps,rv_recieved_exps);
                                        recieved2next.filldown(recieved_exps,next_exps);
                                        rv_recieved_exps=rv_recieved_exps.subt(rv_exp);
                                }
                                else if (recieved_exps(ind(2))>next_cycle_end) {
                                        rv_next_exps.add(rv_exp);
                                        next_exps.set_size(rv_next_exps._dsize());

                                        ivec ind2=rv_exp.dataind(rv_next_exps);
                                        next_exps(ind2(0))=recieved_exps(ind(0)); //TODO to neni spravne
                                        next_exps(ind2(1))=next_cycle_end; 
                                        next_exps(ind2(2))=recieved_exps(ind(2));
                                        recieved_exps(ind(2))=next_cycle_end;
                                }
                        }
                }
        }

        //! returns index of signal group group
        int group_index(const string group) {
                for (int i=0;i<green_names.length();i++) {
                        if (green_names(i)==group) {
                                return i;
                        }
                }
                return -1;
        }
        
        /*! 
        returns offset value shifted to fit interval <-cycle_length/2;cycle_length/2> 
        or (when second parameter is false)) <0;cycle_length>
        */
        int normalize_offset(int offset, bool zero=true) {
                if (zero) {
                        while ((offset<(-cycle_length/2)) || (offset>(cycle_length/2))) {
                                if (offset<0) {
                                        offset+=cycle_length;
                                }
                                else {
                                        offset-=cycle_length;
                                }
                        }
                        return offset;
                }
                else {
                        while (offset<0 || offset>cycle_length) {
                                if (offset<0) {
                                        offset+=cycle_length;
                                }
                                else {
                                        offset-=cycle_length;
                                }
                        }
                        return offset;
                }
        }


        
        //! returns value shifted to fit interval <0;cycle_length>
        //currently not in use
        template<class T> T normalize(T time) {
                while (time<0 && time<cycle_length) {
                        if (time<0) {
                                time+=cycle_length;
                        }
                        else {
                                time-=cycle_length;
                        }
                }
                return time;
        }

        //! converts t to string
        template <class T> inline string to_string (const T& t)
        {
                std::stringstream ss;
                ss << t;
                return ss.str();
        }

        //! returns index of maximum of entered values
        int max_i_of_three(const double a, const double b, const double c) {
                int index = a > b ? 0 : 1;

                if (index == 0) {
                        index = a > c ? 0 : 2;
                } 
                else {
                        index = b > c ? 1 : 2;
                }
                return index;
        }

        //! returns index of smallest element in vector
        int min_i(vec vector) {
                if (vector.length()>0) {
                        double min=vector(0);
                        int index=0;
                        for (int i=1;i<vector.length();i++) {
                                if (vector(i)<min) {
                                        min=vector(i);
                                        index=i;
                                }
                        }
                        return index;
                }
                return -1;
        }

public:
        //! offset set in last simulation step
        int last_offset;
        //! actual planned offset to set for next simulation step
        int planned_offset;
        //! planned offset for cycle after next cycle
        int planned_next_offset;
        //! rating of actual planned offset
        double planned_rating;
        //! rating of planned next offset
        double planned_next_rating;     
        //! avarage speed of cars
        int VP;

        void validate() {
                rv_action = RV(name+"_offset", 1); // <======= example

                for (int i=0; i<green_names.length();i++) {
                        rv_inputs.add(RV(green_names(i),1));
                }
                inputs.set_size(rv_inputs._dsize());
                
                BaseTrafficAgent::validate();

                for (int i=0;i<lanehs.length();i++) {
                        ivec index = RV(lanes(i).queue,1).dataind(rv_queues);
                        lanehs(i)->queue_index=index(0);
                }
        }

        void adapt(const vec &glob_dt) {
                BaseTrafficAgent::adapt(glob_dt);
                        
                for (int i=0;i<lanehs.length();i++) {
                        lanehs(i)->queue=queues(lanehs(i)->queue_index);                
                }

                planned_offset=last_offset;
                
                //set state variables to default values
                final_state=false;
                new_stable_state=false;
                send_requests=false;
                need_exps=true;
                negot_offset=4;
        }

        void broadcast(Setting& set){

                //ask neighbours for exptected arrive times
                if (need_exps) {
                        for (int i=0; i<neighbours.length(); i++){
                                Setting &msg =set.add(Setting::TypeGroup);

                                UI::save ( neighbours(i), msg, "to");
                                UI::save (name,msg,"from");
                                UI::save ( (string)"expected_times_request", msg, "what");
                        }
                        need_exps=false;
                }

                // broadcast expected cars
                if (!seznam.empty()) {
                        double a;
                        expected_cars();
                        do {
                                Setting &msg =set.add(Setting::TypeGroup);
                                UI::save ( seznam.back(), msg, "to");
                                UI::save ( name, msg, "from");
                                UI::save ( (string)"new_expected_cars", msg, "what");
                                UI::save ( &(rv_outputs), msg, "rv");
                                UI::save ( outputs, msg, "value");
                                seznam.pop_back();
                                a=outputs (10);
                                
                        } while (!seznam.empty());                      
                }

                // broadcast new stable state (new stable expectations)
                if (new_stable_state) {
                        expected_cars();
                        for (int i=0;i<neighbours.length();i++) {
                                Setting &msg = set.add(Setting::TypeGroup);
                                UI::save ( neighbours(i), msg, "to");
                                UI::save ( name, msg, "from");
                                UI::save ( (string)"new_stable_state2", msg, "what");
                                UI::save ( &(rv_outputs), msg, "rv");
                                UI::save ( outputs, msg, "value");
                        }
                        new_stable_state=false;
                }

                // broadcast requests to change offset(s)
                if (send_requests) {
                        for (int i=0;i<neighbours.length();i++) {
                                Setting &msg = set.add(Setting::TypeGroup);
                                UI::save ( neighbours(i), msg, "to");
                                UI::save ( name, msg, "from");
                                UI::save ( (string)"offset_change_request", msg, "what");
                                UI::save ( &(rv_change_request), msg, "rv");
                                UI::save ( change_request, msg, "value");
                        }
                        send_requests=false;
                }

                /*if (reset_negot_offset) {
                        for (int i=0;i<neighbours.length();i++) {
                                Setting &msg = set.add(Setting::TypeGroup);
                                UI::save ( neighbours(i), msg, "to");
                                UI::save ( name, msg, "from");
                                UI::save ( (string)"reset_negot_offset", msg, "what");
                        }
                }*/


                
                // reached final offset. Log value?
                if (final_state) {
                        cout << "Jmenuji se "<<name<< " a skoncil jsem na offsetu " << planned_offset << " s hodnocenim " << planned_rating <<endl;
                        final_state=false;
                }
        }

        void receive(const Setting &msg){
                string what;
                string to;

                string from;
                vec value;
                RV *rv;
                
                UI::get(what, msg, "what", UI::compulsory);
                UI::get(to, msg, "to", UI::compulsory);
                UI::get(from, msg, "from");
                UI::get(rv, msg, "rv");
                UI::get(value, msg, "value");
                
                if (what=="expected_times_request"){ 
                        seznam.push_back(from);
                } 
                else if (what=="new_expected_cars") {
                        rv_recieved_exps=*rv;
                        recieved_exps=value;
                        //split_exps();
                        
                        
                        if (!passive) {
                                last_offset=planned_offset;
                                planned_offset=find_best_offset(planned_offset,8);
                                planned_offset=normalize_offset(planned_offset);
                        }
                        

                        /*if (planned_offset!=last_offset) {
                                reset_negot_offset=true;
                        }*/

                        planned_rating=count_rating(planned_offset);
                        // we have new stable state to broadcast
                        new_stable_state=true;
                }
                else if (what=="new_stable_state2") {
                        rv_recieved_exps=*rv;
                        recieved_exps=value;
                        //split_exps();
                        planned_rating=count_rating(planned_offset);

                        if (!passive) {

                                for (int i=0;i<neighbours.length();i++) {
                                        rv_change_request.add(RV(neighbours(i)+"_change",2));
                                        change_request.set_size(rv_change_request._dsize()); 
                                        ivec ind=RV(neighbours(i)+"_change",2).dataind(rv_change_request);
                                        // offset change
                                        change_request(ind(0))=find_best_exps(negot_offset,neighbours(i),rating_change);
                                        // rating change
                                        change_request(ind(1))=rating_change;
                                }

                                if (negot_offset>negot_limit) { 
                                        negot_offset/=2;
                                        send_requests=true;
                                }
                                else {
                                        final_state=true;

                                }
                        }
                        else {
                                final_state=true;
                        }
                }
                else if (what=="offset_change_request") {
                        double final_rating_diff;

                        rv_recieved_changes=*rv;
                        recieved_changes=value;

                        for (int i=0;i<rv_recieved_changes.length();i++) {

                                ivec ind=RV(rv_recieved_changes.name(i),2).dataind(rv_recieved_changes);

                                final_rating_diff=-planned_rating+count_rating(planned_offset+(int)recieved_changes(ind(0)))+recieved_changes(ind(1));
                                if (final_rating_diff>=0) {
                                        planned_offset+=(int)recieved_changes(ind(0));
                                        planned_offset=normalize_offset(planned_offset);
                                        planned_rating+=final_rating_diff;
                                        accepted_from=from;
                                }
                        }
                        //need_exps=true;s
                        new_stable_state=true;
                }
                /*else if (what=="reset_negot_offset") {
                        negot_offset=8;
                }*/
                else {
                        BaseTrafficAgent::receive(msg);
                }
        }
        
        void ds_register(const DS &ds) {
                BaseTrafficAgent::ds_register(ds);
                action2ds.set_connection( ds._urv(), rv_action);
        }

        void from_setting(const Setting &set) {
                BaseTrafficAgent::from_setting(set);

                RV rv_exp;

                car_leaving=2;
                VP=45;
                actual_time=0;
                
                negot_cycle=1;
                cycle_count=5;
                total_offset=0;

                negot_offset=4;
                negot_limit=1;

                passive=0;
                
                // load from file
                //UI::get(sgs, set, "sgs", UI::compulsory);     

                //UI::get(green_starts, set, "green_starts", UI::compulsory);
                UI::get(last_offset, set, "offset", UI::compulsory);
                UI::get(passive, set, "passive", UI::optional);

                for (int i=0;i<lanes.length();i++) {
                        for (int j=0;j<lanes(i).outputs.length();j++) {
                                if (lanes(i).outputs(j)!="DUMMY_DET") {
                                        rv_exp=RV(lanes(i).outputs(j)+"-"+name+"_"+to_string(i),3);
                                        rv_outputs.add(rv_exp);
                                }
                        }
                }
                outputs.set_size(rv_outputs._dsize());  

                log_level[logoffset]=true;
        }

        void act(vec &glob_ut){
                if (negot_cycle==cycle_count) {
                
                        vec action;
                        action.set_size(rv_action._dsize());
                
                        ivec index = rv_action.dataind(RV(name+"_offset",1));

                        action(index(0))=normalize_offset(total_offset/cycle_count, false);
                        action2ds.filldown(action,glob_ut);

                        total_offset=0;
                        negot_cycle=1;

                }
                else {
                        total_offset+=planned_offset;

                        negot_cycle++;
                }

                last_offset=planned_offset;
                actual_time+=step_length;
        }

        void log_register(logger &l, const string &prefix){
                if ( log_level[logoffset]){
                        l.add_vector ( log_level, logoffset, RV("mujoffset",1), prefix );       //TODO 
                }
        }
        void log_write() const {
                if (log_level[logoffset]){
                        vec offset_vec(1);
                        offset_vec(0)=(double)planned_offset;
                        log_level.store(logoffset, offset_vec);
                        //log_level.store(logoffset, planned_rating);
                }
        }



};
UIREGISTER(GreenWaveTrafficAgent);