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traffic_agent_offset.h @ 1132

Revision 1127, 16.5 kB (checked in by ondrak, 14 years ago)

very small code cleaning

+texty

Line
1	#include "traffic_agent.h"
2	#include <list>
3	#include <fstream>
4
5	class GreenWaveTrafficAgent : public BaseTrafficAgent {
6	LOG_LEVEL(GreenWaveTrafficAgent,logoffset);
7	protected:
8	double rating_change;
9	int negot_offset;
10	int negot_limit;
11
12	int actual_time;
13
14	RV rv_outputs;
15	vec outputs;
16
17	RV rv_change_request;
18	vec change_request;
19
20	RV rv_recieved_exps;
21	vec recieved_exps;
22
23	RV rv_next_exps;
24	vec next_exps;
25
26	//! expectations recieved from neighbours
27	RV rv_recieved_changes;
28	vec recieved_changes;
29
30	//! list of agents, who request expected cars
31	list<string> requesters;
32
33	double car_leaving; //s; how long is 1 car leaving queue
34
35	// some state variables
36	bool need_exps;
37	bool new_stable_state;
38	bool send_requests;
39	bool final_state;
40
41	//! determines wheteher agent actively communicates
42	int passive;
43
44	//! sum of final planned_offset values since last reach of cycle_count
45	int total_offset;
46	//! number of finished cycles since last reach of cycle_count
47	int negot_cycle;
48	//! after cycle_count cycles, we count avarege planned_offseta send it to Aimsun
49	int cycle_count;
50
51	//! counts all expected cars going from each lane, saves to outputs and rv_outputs
52	void expected_cars() {
53	double start_time;
54	ivec ind;
55	RV rv_exp;
56	datalink exp2outputs;
57	vec exp;
58	string group_name;
59	double green_time;
60	int index;
61
62	for (int i=0;i<lanes.length();i++) {
63	for (int j=0;j<lanes(i).outputs.length();j++) {
64	if (lanes(i).outputs(j)!="DUMMY_DET") {
65	group_name = name+"_"+lanes(i).sg; //e.g. 495_VA
66
67	index=group_index(group_name);
68	green_time=green_times(index)*cycle_length;
69
70	rv_exp=RV(lanes(i).outputs(j)+"-"+name+"_"+to_string(i),3);
71	exp.set_size(rv_exp._dsize());
72	exp2outputs.set_connection(rv_exp,rv_outputs);
73
74	//Number of cars
75	exp(0)=lanehs(i)->expected_output(green_time)*lanes(i).alpha(j);
76
77	start_time = green_starts(group_index(name+"_"+lanes(i).sg)) + lanes(i).output_distances(j)/VP + planned_offset;
78	//first car arrive time
79	exp(1)=start_time;
80	//last car arrive time
81	exp(2)=start_time + green_time;
82	//TODO pushup az na konec
83	exp2outputs.pushup(outputs,exp);
84	}
85	}
86	}
87	};
88
89	//! counts planned rating using offset and recieved_exps
90	double count_rating(const int offset, const vec recieved_exps, const RV rv_recieved_exps) {
91	double virtual_queue;
92	double t_green_begin;
93	double t_green_end;
94	vec cars_count;
95	vec t_cars_begin;
96	vec t_cars_end;
97	bool found;
98	ivec ind;
99	string group_name;
100
101	double rating=0.0;
102
103	for (int i=0;i<lanes.length();i++) {
104
105	//Finding, if we have some expectations
106	found=false;
107	for (int k=0;k<lanes(i).inputs.length();k++) {
108	int l=0;
109	for (int j=0;j<rv_recieved_exps.length();j++) {
110
111	int result=rv_recieved_exps.name(j).find(lanes(i).inputs(k)+"-");
112	if (result>=0) {
113
114	t_cars_begin.set_size(l+1,true);
115	t_cars_end.set_size(l+1,true);
116	cars_count.set_size(l+1,true);
117
118	ind = RV(rv_recieved_exps.name(j),3).dataind(rv_recieved_exps);
119
120	cars_count(l)=recieved_exps(ind(0));
121	t_cars_begin(l)=recieved_exps(ind(1));
122	t_cars_end(l)=recieved_exps(ind(2));
123	l++;
124
125	found=true;
126	}
127	}
128	}
129	if (found) {
130
131	//counting rating
132	group_name = name+"_"+lanes(i).sg; //e.g. 495_VA
133	int index=group_index(group_name);
134
135	t_green_begin=green_starts(index) + offset;
136	t_green_end=t_green_begin + green_times(index)*cycle_length;
137
138	/************ counting with all exps **************/
139
140	int k;
141	double t_act=t_green_begin;
142	virtual_queue=lanehs(i)->queue;
143
144	//cycle goes through all "stopping" points and counts queue lenght at these points
145	do {
146	k=min_i(t_cars_begin);
147	if (k!=-1) {
148	//in case there are cars comming before t_green begin
149	if (t_cars_begin(k)<t_act) {
150	if (t_cars_end(k)<=t_act) {
151	virtual_queue+=cars_count(k);
152
153	cars_count.del(k);
154	t_cars_begin.del(k);
155	t_cars_end.del(k);
156
157	}
158	else {
159	double frac=(t_cars_begin(k)-t_act)/(t_cars_end(k)-t_cars_begin(k));
160	virtual_queue+=cars_count(k)*frac;
161	t_cars_begin(k)=t_act;
162	}
163	}
164	else if (t_cars_begin(k)==t_act) {
165	if (t_cars_end(k)<t_green_end) {
166	virtual_queue+=cars_count(k)-(t_cars_end(k)-t_act)/car_leaving;
167	t_act=t_cars_end(k);
168	}
169	//if t_cars_end>=t_green_end
170	else {
171	virtual_queue+=cars_count(k)-(t_green_end-t_act)/car_leaving;
172	t_act=t_green_end;
173	}
174	//more cars than cars_count(k) couldn't pass without stopping
175	if (virtual_queue < -cars_count(k)) {
176	virtual_queue = -cars_count(k);
177	}
178	cars_count.del(k);
179	t_cars_begin.del(k);
180	t_cars_end.del(k);
181	}
182	//if t_cars_begin(k)>=t_act
183	else {
184	if (t_cars_begin(k)<t_green_end) {
185	virtual_queue-=(t_cars_begin(k)-t_act)/car_leaving;
186	t_act=t_cars_begin(k);
187	}
188	else {
189	virtual_queue-=(t_green_end-t_act)/car_leaving;
190	t_act=t_green_end;
191	}
192	// in case we managed to empty whole queue
193	if (virtual_queue<0) {
194	virtual_queue=0;
195	}
196	}
197	}
198	//if no other expectations found
199	else {
200	virtual_queue-=(t_green_end-t_act)/car_leaving;
201	t_act=t_green_end;
202	}
203	if (virtual_queue<0) {
204	rating-=virtual_queue;
205	virtual_queue=0;
206	}
207	} while (t_act<t_green_end);
208	}
209	}
210	return rating;
211	}
212
213	//! finds best offset using recieved_exps. Returns found offset
214	int find_best_offset(const int center, int interval) {
215	//! rating if offset is rised
216	double rating_p;
217	//! rating if offset is unchaged (=center)
218	double rating_c;
219	//! rating if offset is lowered
220	double rating_n;
221
222	int new_center;
223
224	rating_p=count_rating(center+interval, recieved_exps, rv_recieved_exps);
225	rating_c=count_rating(center, recieved_exps, rv_recieved_exps);
226	rating_n=count_rating(center-interval, recieved_exps, rv_recieved_exps);
227
228	new_center=center;
229	int max_index=max_i_of_three(rating_p,rating_c,rating_n);
230	switch (max_index) {
231	case 0:
232	new_center+=interval;
233	break;
234	case 1:
235	break;
236	case 2:
237	new_center-=interval;
238	break;
239	}
240
241	if (interval>2) {
242	interval/=2;
243	new_center=find_best_offset(new_center,interval);
244	}
245
246	return new_center;
247	}
248
249	//! finds if changing neighbour's offset could have positive effect, returns found offset change and stores chage of rating to rating_change
250	int find_best_exps(const int offset_change, const string neighbour, double &rating_change) {
251	//! expectations recieved from neighbour
252	vec original_exps;
253	//! expactations after positve change of neighbour's offset
254	vec positive_exps;
255	//! expactations after negative change of neighbour's offset
256	vec negative_exps;
257	//! rating if offset is raised
258	double rating_p;
259	//! rating if offset is unchaged
260	double rating_c;
261	//! rating if offset is lowered
262	double rating_n;
263	original_exps.set_size(recieved_exps.length());
264
265	original_exps=recieved_exps;
266	positive_exps=recieved_exps;
267	negative_exps=recieved_exps;
268
269	for (int j=0;j<rv_recieved_exps.length();j++) {
270	int res = rv_recieved_exps.name(j).find("-"+neighbour);
271	if (res>0) {
272	ivec ind = RV(rv_recieved_exps.name(j),3).dataind(rv_recieved_exps);
273
274	positive_exps(ind(1))+=offset_change;
275	positive_exps(ind(2))+=offset_change;
276
277	negative_exps(ind(1))-=offset_change;
278	negative_exps(ind(2))-=offset_change;
279	}
280	}
281
282	rating_c=count_rating(planned_offset, recieved_exps, rv_recieved_exps);
283	rating_p=count_rating(planned_offset, positive_exps, rv_recieved_exps);
284	rating_n=count_rating(planned_offset, negative_exps, rv_recieved_exps);
285
286	int max_index=max_i_of_three(rating_p,rating_c,rating_n);
287	switch (max_index) {
288	case 0:
289	rating_change=rating_p-rating_c;
290	return offset_change;
291	break;
292	case 1:
293	rating_change=0;
294	return 0;
295	break;
296	case 2:
297	rating_change=rating_n-rating_c;
298	return -offset_change;
299	break;
300	}
301	rating_change=NULL;
302	return NULL;
303	}
304
305	//! returns index of signal group "group"
306	int group_index(const string group) {
307	for (int i=0;i<green_names.length();i++) {
308	if (green_names(i)==group) {
309	return i;
310	}
311	}
312	return -1;
313	}
314
315	/*!
316	returns offset value shifted to fit interval <-cycle_length/2;cycle_length/2>
317	or (when second parameter is false)) <0;cycle_length>
318	*/
319	int normalize_offset(int offset, bool zero=true) {
320	if (zero) {
321	while ((offset<(-cycle_length/2)) \|\| (offset>(cycle_length/2))) {
322	if (offset<0) {
323	offset+=cycle_length;
324	}
325	else {
326	offset-=cycle_length;
327	}
328	}
329	return offset;
330	}
331	else {
332	while (offset<0 \|\| offset>cycle_length) {
333	if (offset<0) {
334	offset+=cycle_length;
335	}
336	else {
337	offset-=cycle_length;
338	}
339	}
340	return offset;
341	}
342	}
343
344	//! converts t to string
345	template <class T> inline string to_string (const T& t)
346	{
347	std::stringstream ss;
348	ss << t;
349	return ss.str();
350	}
351
352	//! returns index of maximum of entered values
353	int max_i_of_three(const double a, const double b, const double c) {
354	int index = a > b ? 0 : 1;
355
356	if (index == 0) {
357	index = a > c ? 0 : 2;
358	}
359	else {
360	index = b > c ? 1 : 2;
361	}
362	return index;
363	}
364
365	//! returns index of smallest element in vector
366	int min_i(vec vector) {
367	if (vector.length()>0) {
368	double min=vector(0);
369	int index=0;
370	for (int i=1;i<vector.length();i++) {
371	if (vector(i)<min) {
372	min=vector(i);
373	index=i;
374	}
375	}
376	return index;
377	}
378	return -1;
379	}
380
381	public:
382	//! offset set in last simulation step
383	int last_offset;
384	//! actual planned offset to set for next simulation step
385	int planned_offset;
386	//! rating of actual planned offset
387	double planned_rating;
388	//! avarage speed of cars
389	int VP;
390
391	void validate() {
392	rv_action = RV(name+"_offset", 1);
393
394	for (int i=0; i<green_names.length();i++) {
395	rv_inputs.add(RV(green_names(i),1));
396	}
397	inputs.set_size(rv_inputs._dsize());
398
399	BaseTrafficAgent::validate();
400
401	for (int i=0;i<lanehs.length();i++) {
402	ivec index = RV(lanes(i).queue,1).dataind(rv_queues);
403	lanehs(i)->queue_index=index(0);
404	}
405	}
406
407	void adapt(const vec &glob_dt) {
408	BaseTrafficAgent::adapt(glob_dt);
409
410	for (int i=0;i<lanehs.length();i++) {
411	lanehs(i)->queue=queues(lanehs(i)->queue_index);
412	}
413
414	planned_offset=last_offset;
415
416	//set state variables to default values
417	final_state=false;
418	new_stable_state=false;
419	send_requests=false;
420	need_exps=true;
421	negot_offset=4;
422	}
423
424	void broadcast(Setting& set){
425
426	//ask neighbours for exptected arrive times
427	if (need_exps) {
428	for (int i=0; i<neighbours.length(); i++){
429	Setting &msg =set.add(Setting::TypeGroup);
430	UI::save ( neighbours(i), msg, "to");
431	UI::save (name,msg,"from");
432	UI::save ( (string)"expected_times_request", msg, "what");
433	}
434	need_exps=false;
435	}
436
437	// broadcast expected cars
438	if (!requesters.empty()) {
439	double a;
440	expected_cars();
441	do {
442	Setting &msg =set.add(Setting::TypeGroup);
443	UI::save ( requesters.back(), msg, "to");
444	UI::save ( name, msg, "from");
445	UI::save ( (string)"new_expected_cars", msg, "what");
446	UI::save ( &(rv_outputs), msg, "rv");
447	UI::save ( outputs, msg, "value");
448	requesters.pop_back();
449	a=outputs (10);
450	} while (!requesters.empty());
451	}
452
453	// broadcast new stable state (new stable expectations)
454	if (new_stable_state) {
455	expected_cars();
456	for (int i=0;i<neighbours.length();i++) {
457	Setting &msg = set.add(Setting::TypeGroup);
458	UI::save ( neighbours(i), msg, "to");
459	UI::save ( name, msg, "from");
460	UI::save ( (string)"stable_state", msg, "what");
461	UI::save ( &(rv_outputs), msg, "rv");
462	UI::save ( outputs, msg, "value");
463	}
464	new_stable_state=false;
465	}
466
467	// broadcast requests to change offset(s)
468	if (send_requests) {
469	for (int i=0;i<neighbours.length();i++) {
470	Setting &msg = set.add(Setting::TypeGroup);
471	UI::save ( neighbours(i), msg, "to");
472	UI::save ( name, msg, "from");
473	UI::save ( (string)"offset_change_request", msg, "what");
474	UI::save ( &(rv_change_request), msg, "rv");
475	UI::save ( change_request, msg, "value");
476	}
477	send_requests=false;
478	}
479
480	// reached final offset.
481	if (final_state) {
482	final_state=false;
483	}
484	}
485
486	void receive(const Setting &msg){
487	string what;
488	string to;
489	string from;
490	vec value;
491	RV *rv;
492
493	UI::get(what, msg, "what", UI::compulsory);
494	UI::get(to, msg, "to", UI::compulsory);
495	UI::get(from, msg, "from");
496	UI::get(rv, msg, "rv");
497	UI::get(value, msg, "value");
498
499	if (what=="expected_times_request"){
500	requesters.push_back(from);
501	}
502	else if (what=="new_expected_cars") {
503	rv_recieved_exps=*rv;
504	recieved_exps=value;
505
506	if (!passive) {
507	planned_offset=find_best_offset(planned_offset,8);
508	planned_offset=normalize_offset(planned_offset);
509	}
510
511	planned_rating=count_rating(planned_offset, recieved_exps, rv_recieved_exps);
512
513	// we have new stable state to broadcast
514	new_stable_state=true;
515	}
516	else if (what=="stable_state") {
517	rv_recieved_exps=*rv;
518	recieved_exps=value;
519
520	planned_rating=count_rating(planned_offset, recieved_exps, rv_recieved_exps);
521
522	if (!passive) {
523	for (int i=0;i<neighbours.length();i++) {
524	rv_change_request.add(RV(neighbours(i)+"_change",2));
525	change_request.set_size(rv_change_request._dsize());
526	ivec ind=RV(neighbours(i)+"_change",2).dataind(rv_change_request);
527
528	// offset change
529	change_request(ind(0))=find_best_exps(negot_offset,neighbours(i),rating_change);
530	// rating change
531	change_request(ind(1))=rating_change;
532	}
533
534	if (negot_offset>=negot_limit) {
535	negot_offset/=2;
536	send_requests=true;
537	}
538	else {
539	final_state=true;
540	}
541	}
542	else {
543	final_state=true;
544	}
545	}
546	else if (what=="offset_change_request") {
547	double final_rating_diff;
548
549	rv_recieved_changes=*rv;
550	recieved_changes=value;
551
552	for (int i=0;i<rv_recieved_changes.length();i++) {
553
554	ivec ind=RV(rv_recieved_changes.name(i),2).dataind(rv_recieved_changes);
555
556	final_rating_diff=-planned_rating+count_rating(planned_offset+(int)recieved_changes(ind(0)), recieved_exps, rv_recieved_exps)+recieved_changes(ind(1));
557	if (final_rating_diff>=0) {
558	planned_offset+=(int)recieved_changes(ind(0));
559	planned_offset=normalize_offset(planned_offset);
560	planned_rating+=final_rating_diff;
561	}
562	}
563
564	new_stable_state=true;
565	}
566	else {
567	BaseTrafficAgent::receive(msg);
568	}
569	}
570
571	void ds_register(const DS &ds) {
572	BaseTrafficAgent::ds_register(ds);
573	action2ds.set_connection( ds._urv(), rv_action);
574	}
575
576	void from_setting(const Setting &set) {
577	RV rv_exp;
578
579	BaseTrafficAgent::from_setting(set);
580
581	car_leaving=2;
582	VP=45;
583	actual_time=0;
584
585	negot_cycle=1;
586	cycle_count=5;
587	total_offset=0;
588
589	negot_offset=4;
590	negot_limit=1;
591
592	passive=0;
593
594	UI::get(last_offset, set, "offset", UI::compulsory);
595	UI::get(passive, set, "passive", UI::optional);
596
597	for (int i=0;i<lanes.length();i++) {
598	for (int j=0;j<lanes(i).outputs.length();j++) {
599	if (lanes(i).outputs(j)!="DUMMY_DET") {
600	rv_exp=RV(lanes(i).outputs(j)+"-"+name+"_"+to_string(i),3);
601	rv_outputs.add(rv_exp);
602	}
603	}
604	}
605	outputs.set_size(rv_outputs._dsize());
606
607	log_level[logoffset]=true;
608	}
609
610	void act(vec &glob_ut){
611	if (negot_cycle==cycle_count) {
612	vec action;
613	action.set_size(rv_action._dsize());
614
615	ivec index = RV(name+"_offset",1).dataind(rv_action);
616
617	action(index(0))=normalize_offset(total_offset/cycle_count, false);
618	action2ds.filldown(action,glob_ut);
619
620	total_offset=0;
621	negot_cycle=1;
622	}
623	else {
624	total_offset+=planned_offset;
625	negot_cycle++;
626	}
627	last_offset=planned_offset;
628	}
629
630	void step() {
631	actual_time+=step_length;
632	}
633
634	void log_register(logger &l, const string &prefix){
635	if ( log_level[logoffset]){
636	l.add_vector ( log_level, logoffset, RV("1",2), "x"+prefix ); //TODO
637	}
638	}
639	void log_write() const {
640	if (log_level[logoffset]){
641	vec offset_vec(2);
642	offset_vec(0)=planned_offset;
643	offset_vec(1)=planned_rating;
644	log_level.store(logoffset, offset_vec);
645	}
646	}
647	};
648	UIREGISTER(GreenWaveTrafficAgent);

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root/applications/doprava/traffic_agent_offset.h @ 1132

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