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traffic_agent_offset.h @ 1026

Revision 1026, 13.1 kB (checked in by ondrak, 14 years ago)
zlicin.cfg now compatible with BaseTrafficAgent?. main_loop shows warning, if reaches max number of negotiation cycles step_time and cycle_time renamed to step_length and cycle_length GreenWaveTrafficAgent? works, but queues are not from Aimsun yet.

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

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root/applications/doprava/traffic_agent_offset.h @ 1026

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