Changeset 819 for applications/doprava/main_loop.cpp

Timestamp:

02/23/10 01:17:00 (16 years ago)

Author:

smidl

Message:

agents for doprava

Files:

• applications/doprava/main_loop.cpp (modified) (2 diffs)

applications/doprava/main_loop.cpp

@@ -2 +2 @@
 /*!
 \file
-\brief Multi-Estimator (developped for PMSM)
-
+\brief Distributed Traffic light Control Scenario 
+\author Vasek Smidl 
 
  */
@@ -9 +9 @@
 #include "base/user_info.h"
 #include "base/loggers.h"
-#include "estim/kalman.h"
-#include "pmsmDS.h"
-#include "filters.h"
 #include "aimsun_bdm/aimsun_ds.h"
-
+#include "traffic_agent.h"
 
 using namespace bdm;
+
 int main ( int argc, char* argv[] ) {
         const char *fname;
         if ( argc>1 ) {fname = argv[1]; }
         else { cout << "Missing configuration file.\n Usage: \n $> estimator config_file.cfg"<<endl; abort(); }
-        UIFile F ( fname );
+        UIFile Cfg ( fname );
 
-        AimsunDS DS;
-        shared_ptr<logger> L = UI::build <logger>( F, "logger" );
+        // SYSTEM TO CONTROL
+        AimsunDS Ds; //hard-coded so far
+
+        // AGENTS
+        Array<shared_ptr<Participant> > Ags;
+        UI::get ( Ags,Cfg, "agents" );
+
+        // LOGGER
+        shared_ptr<logger> L = UI::build <logger>( Cfg, "logger" );
+        if (!L) {L=new stdlog();} // DEFAULT LOGGER <== poor choice, use better ones
+
+        Config MsgStore;
+        MsgStore.setAutoConvert(true);
+        Setting& Queue = MsgStore.getRoot().add("queue", Setting::TypeList);
+
+        // REGISTER ACTIVE OBJECTS IN LOGGER
+        Ds.log_register ( *L, "DS" );
+        for ( int i=0; i<Ags.length(); i++ ) {
+                Ags ( i )->log_register ( *L,Ags(i)->_name() ); // estimate
+                Ags ( i )->ds_register(Ds);            // allows agents to update their datalinks
+        }
+        L->init();
+
+        vec glob_dt(Ds._drv()._dsize() );
+        vec glob_ut(Ds._urv()._dsize() );
+        for ( int tK=0;tK<Ds.max_length();tK++ ) {
+                Ds.log_write ( ); // write stuff to 
+                Ds.getdata(glob_dt);
+                
+                for ( int i=0; i<Ags.length(); i++ ) {
+                        Ags(i) -> adapt(glob_dt);
+                }
+                for ( int i=0; i<Ags.length(); i++ ) {
+                        Ags(i) -> broadcast(Queue);
+                }
+                // parse message queue
+                for ( int m=Queue.getLength()-1; m>=0; m-- ) { // go backwards - last mesages are discarded
+                        for ( int i=0; i<Ags.length(); i++ ) {
+                                Setting& msg=Queue[m];
+                                string m_to=msg["to"];
+                                if (m_to==Ags(i)->_name()) {
+                                        Ags(i)->receive(msg);
+                                        Queue.remove(m);
+                                        break;
+                                        // message delivered;
+                                }
+                        }
+                }
+                if (Queue.getLength()>0){bdm_error("undelivered messages - probably unknown neighbours");}
+                
+                for ( int i=0; i<Ags.length(); i++ ) {
+                        Ags(i) -> act(glob_ut);
+                }
+                
+                L->step();
+                Ds.write(glob_ut);
+                Ds.step();                                                      // simulator step
+                
+                for ( int i=0; i<Ags.length(); i++ ) {
+                        Ags(i) -> step();
+                }
+                
+        }
 
         L->finalize();
 
-        for (int i=0; i<nE; i++){
-                delete Dls(i);
-                delete Dlsc(i);
-        }
         return 0;
 }