From f52e27c688b00fd2b44887f0694717cd8449d31d Mon Sep 17 00:00:00 2001 From: rubidium Date: Tue, 1 Dec 2009 22:45:39 +0000 Subject: (svn r18364) -Codechange: move the pathfinders and their related files into a separate directory --- src/pathfinder/yapf/follow_track.hpp | 451 +++++++++++++++++++++++ src/pathfinder/yapf/nodelist.hpp | 164 +++++++++ src/pathfinder/yapf/yapf.h | 119 ++++++ src/pathfinder/yapf/yapf.hpp | 129 +++++++ src/pathfinder/yapf/yapf_base.hpp | 361 ++++++++++++++++++ src/pathfinder/yapf/yapf_common.hpp | 194 ++++++++++ src/pathfinder/yapf/yapf_costbase.hpp | 42 +++ src/pathfinder/yapf/yapf_costcache.hpp | 216 +++++++++++ src/pathfinder/yapf/yapf_costrail.hpp | 591 ++++++++++++++++++++++++++++++ src/pathfinder/yapf/yapf_destrail.hpp | 203 +++++++++++ src/pathfinder/yapf/yapf_node.hpp | 101 ++++++ src/pathfinder/yapf/yapf_node_rail.hpp | 284 +++++++++++++++ src/pathfinder/yapf/yapf_node_road.hpp | 41 +++ src/pathfinder/yapf/yapf_rail.cpp | 645 +++++++++++++++++++++++++++++++++ src/pathfinder/yapf/yapf_road.cpp | 631 ++++++++++++++++++++++++++++++++ src/pathfinder/yapf/yapf_ship.cpp | 203 +++++++++++ 16 files changed, 4375 insertions(+) create mode 100644 src/pathfinder/yapf/follow_track.hpp create mode 100644 src/pathfinder/yapf/nodelist.hpp create mode 100644 src/pathfinder/yapf/yapf.h create mode 100644 src/pathfinder/yapf/yapf.hpp create mode 100644 src/pathfinder/yapf/yapf_base.hpp create mode 100644 src/pathfinder/yapf/yapf_common.hpp create mode 100644 src/pathfinder/yapf/yapf_costbase.hpp create mode 100644 src/pathfinder/yapf/yapf_costcache.hpp create mode 100644 src/pathfinder/yapf/yapf_costrail.hpp create mode 100644 src/pathfinder/yapf/yapf_destrail.hpp create mode 100644 src/pathfinder/yapf/yapf_node.hpp create mode 100644 src/pathfinder/yapf/yapf_node_rail.hpp create mode 100644 src/pathfinder/yapf/yapf_node_road.hpp create mode 100644 src/pathfinder/yapf/yapf_rail.cpp create mode 100644 src/pathfinder/yapf/yapf_road.cpp create mode 100644 src/pathfinder/yapf/yapf_ship.cpp (limited to 'src/pathfinder/yapf') diff --git a/src/pathfinder/yapf/follow_track.hpp b/src/pathfinder/yapf/follow_track.hpp new file mode 100644 index 000000000..a1f769de9 --- /dev/null +++ b/src/pathfinder/yapf/follow_track.hpp @@ -0,0 +1,451 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file follow_track.hpp Template function for track followers */ + +#ifndef FOLLOW_TRACK_HPP +#define FOLLOW_TRACK_HPP + +#include "yapf.hpp" +#include "../../depot_map.h" +#include "../../roadveh.h" +#include "../../train.h" + +/** Track follower helper template class (can serve pathfinders and vehicle + * controllers). See 6 different typedefs below for 3 different transport + * types w/ or w/o 90-deg turns allowed */ +template +struct CFollowTrackT +{ + enum ErrorCode { + EC_NONE, + EC_OWNER, + EC_RAIL_TYPE, + EC_90DEG, + EC_NO_WAY, + EC_RESERVED, + }; + + const Vehicle *m_veh; ///< moving vehicle + Owner m_veh_owner; ///< owner of the vehicle + TileIndex m_old_tile; ///< the origin (vehicle moved from) before move + Trackdir m_old_td; ///< the trackdir (the vehicle was on) before move + TileIndex m_new_tile; ///< the new tile (the vehicle has entered) + TrackdirBits m_new_td_bits; ///< the new set of available trackdirs + DiagDirection m_exitdir; ///< exit direction (leaving the old tile) + bool m_is_tunnel; ///< last turn passed tunnel + bool m_is_bridge; ///< last turn passed bridge ramp + bool m_is_station; ///< last turn passed station + int m_tiles_skipped; ///< number of skipped tunnel or station tiles + ErrorCode m_err; + CPerformanceTimer *m_pPerf; + RailTypes m_railtypes; + + FORCEINLINE CFollowTrackT(const Vehicle *v = NULL, RailTypes railtype_override = INVALID_RAILTYPES, CPerformanceTimer *pPerf = NULL) + { + Init(v, railtype_override, pPerf); + } + + FORCEINLINE CFollowTrackT(Owner o, RailTypes railtype_override = INVALID_RAILTYPES, CPerformanceTimer *pPerf = NULL) + { + m_veh = NULL; + Init(o, railtype_override, pPerf); + } + + FORCEINLINE void Init(const Vehicle *v, RailTypes railtype_override, CPerformanceTimer *pPerf) + { + assert(!IsRailTT() || (v != NULL && v->type == VEH_TRAIN)); + m_veh = v; + Init(v != NULL ? v->owner : INVALID_OWNER, IsRailTT() && railtype_override == INVALID_RAILTYPES ? Train::From(v)->compatible_railtypes : railtype_override, pPerf); + } + + FORCEINLINE void Init(Owner o, RailTypes railtype_override, CPerformanceTimer *pPerf) + { + assert((!IsRoadTT() || m_veh != NULL) && (!IsRailTT() || railtype_override != INVALID_RAILTYPES)); + m_veh_owner = o; + m_pPerf = pPerf; + /* don't worry, all is inlined so compiler should remove unnecessary initializations */ + m_new_tile = INVALID_TILE; + m_new_td_bits = TRACKDIR_BIT_NONE; + m_exitdir = INVALID_DIAGDIR; + m_is_station = m_is_bridge = m_is_tunnel = false; + m_tiles_skipped = 0; + m_err = EC_NONE; + m_railtypes = railtype_override; + } + + FORCEINLINE static TransportType TT() {return Ttr_type_;} + FORCEINLINE static bool IsWaterTT() {return TT() == TRANSPORT_WATER;} + FORCEINLINE static bool IsRailTT() {return TT() == TRANSPORT_RAIL;} + FORCEINLINE bool IsTram() {return IsRoadTT() && HasBit(RoadVehicle::From(m_veh)->compatible_roadtypes, ROADTYPE_TRAM);} + FORCEINLINE static bool IsRoadTT() {return TT() == TRANSPORT_ROAD;} + FORCEINLINE static bool Allow90degTurns() {return T90deg_turns_allowed_;} + FORCEINLINE static bool DoTrackMasking() {return IsRailTT() && Tmask_reserved_tracks;} + + /** Tests if a tile is a road tile with a single tramtrack (tram can reverse) */ + FORCEINLINE DiagDirection GetSingleTramBit(TileIndex tile) + { + assert(IsTram()); // this function shouldn't be called in other cases + + if (IsNormalRoadTile(tile)) { + RoadBits rb = GetRoadBits(tile, ROADTYPE_TRAM); + switch (rb) { + case ROAD_NW: return DIAGDIR_NW; + case ROAD_SW: return DIAGDIR_SW; + case ROAD_SE: return DIAGDIR_SE; + case ROAD_NE: return DIAGDIR_NE; + default: break; + } + } + return INVALID_DIAGDIR; + } + + /** main follower routine. Fills all members and return true on success. + * Otherwise returns false if track can't be followed. */ + inline bool Follow(TileIndex old_tile, Trackdir old_td) + { + m_old_tile = old_tile; + m_old_td = old_td; + m_err = EC_NONE; + assert(((TrackStatusToTrackdirBits(GetTileTrackStatus(m_old_tile, TT(), IsRoadTT() && m_veh != NULL ? RoadVehicle::From(m_veh)->compatible_roadtypes : 0)) & TrackdirToTrackdirBits(m_old_td)) != 0) || + (IsTram() && GetSingleTramBit(m_old_tile) != INVALID_DIAGDIR)); // Disable the assertion for single tram bits + m_exitdir = TrackdirToExitdir(m_old_td); + if (ForcedReverse()) return true; + if (!CanExitOldTile()) return false; + FollowTileExit(); + if (!QueryNewTileTrackStatus()) return TryReverse(); + if (!CanEnterNewTile()) return false; + m_new_td_bits &= DiagdirReachesTrackdirs(m_exitdir); + if (m_new_td_bits == TRACKDIR_BIT_NONE) { + m_err = EC_NO_WAY; + return false; + } + if (!Allow90degTurns()) { + m_new_td_bits &= (TrackdirBits)~(int)TrackdirCrossesTrackdirs(m_old_td); + if (m_new_td_bits == TRACKDIR_BIT_NONE) { + m_err = EC_90DEG; + return false; + } + } + return true; + } + + inline bool MaskReservedTracks() + { + if (!DoTrackMasking()) return true; + + if (m_is_station) { + /* Check skipped station tiles as well. */ + TileIndexDiff diff = TileOffsByDiagDir(m_exitdir); + for (TileIndex tile = m_new_tile - diff * m_tiles_skipped; tile != m_new_tile; tile += diff) { + if (HasStationReservation(tile)) { + m_new_td_bits = TRACKDIR_BIT_NONE; + m_err = EC_RESERVED; + return false; + } + } + } + + TrackBits reserved = GetReservedTrackbits(m_new_tile); + /* Mask already reserved trackdirs. */ + m_new_td_bits &= ~TrackBitsToTrackdirBits(reserved); + /* Mask out all trackdirs that conflict with the reservation. */ + uint bits = (uint)TrackdirBitsToTrackBits(m_new_td_bits); + int i; + FOR_EACH_SET_BIT(i, bits) { + if (TracksOverlap(reserved | TrackToTrackBits((Track)i))) m_new_td_bits &= ~TrackToTrackdirBits((Track)i); + } + if (m_new_td_bits == TRACKDIR_BIT_NONE) { + m_err = EC_RESERVED; + return false; + } + return true; + } + +protected: + /** Follow the m_exitdir from m_old_tile and fill m_new_tile and m_tiles_skipped */ + FORCEINLINE void FollowTileExit() + { + m_is_station = m_is_bridge = m_is_tunnel = false; + m_tiles_skipped = 0; + + /* extra handling for tunnels and bridges in our direction */ + if (IsTileType(m_old_tile, MP_TUNNELBRIDGE)) { + DiagDirection enterdir = GetTunnelBridgeDirection(m_old_tile); + if (enterdir == m_exitdir) { + /* we are entering the tunnel / bridge */ + if (IsTunnel(m_old_tile)) { + m_is_tunnel = true; + m_new_tile = GetOtherTunnelEnd(m_old_tile); + } else { // IsBridge(m_old_tile) + m_is_bridge = true; + m_new_tile = GetOtherBridgeEnd(m_old_tile); + } + m_tiles_skipped = GetTunnelBridgeLength(m_new_tile, m_old_tile); + return; + } + assert(ReverseDiagDir(enterdir) == m_exitdir); + } + + /* normal or station tile, do one step */ + TileIndexDiff diff = TileOffsByDiagDir(m_exitdir); + m_new_tile = TILE_ADD(m_old_tile, diff); + + /* special handling for stations */ + if (IsRailTT() && HasStationTileRail(m_new_tile)) { + m_is_station = true; + } else if (IsRoadTT() && IsRoadStopTile(m_new_tile)) { + m_is_station = true; + } else { + m_is_station = false; + } + } + + /** stores track status (available trackdirs) for the new tile into m_new_td_bits */ + FORCEINLINE bool QueryNewTileTrackStatus() + { + CPerfStart perf(*m_pPerf); + if (IsRailTT() && IsPlainRailTile(m_new_tile)) { + m_new_td_bits = (TrackdirBits)(GetTrackBits(m_new_tile) * 0x101); + } else { + m_new_td_bits = TrackStatusToTrackdirBits(GetTileTrackStatus(m_new_tile, TT(), IsRoadTT() && m_veh != NULL ? RoadVehicle::From(m_veh)->compatible_roadtypes : 0)); + + if (IsTram() && m_new_td_bits == 0) { + /* GetTileTrackStatus() returns 0 for single tram bits. + * As we cannot change it there (easily) without breaking something, change it here */ + switch (GetSingleTramBit(m_new_tile)) { + case DIAGDIR_NE: + case DIAGDIR_SW: + m_new_td_bits = TRACKDIR_BIT_X_NE | TRACKDIR_BIT_X_SW; + break; + + case DIAGDIR_NW: + case DIAGDIR_SE: + m_new_td_bits = TRACKDIR_BIT_Y_NW | TRACKDIR_BIT_Y_SE; + break; + + default: break; + } + } + } + return (m_new_td_bits != TRACKDIR_BIT_NONE); + } + + /** return true if we can leave m_old_tile in m_exitdir */ + FORCEINLINE bool CanExitOldTile() + { + /* road stop can be left at one direction only unless it's a drive-through stop */ + if (IsRoadTT() && IsStandardRoadStopTile(m_old_tile)) { + DiagDirection exitdir = GetRoadStopDir(m_old_tile); + if (exitdir != m_exitdir) { + m_err = EC_NO_WAY; + return false; + } + } + + /* single tram bits can only be left in one direction */ + if (IsTram()) { + DiagDirection single_tram = GetSingleTramBit(m_old_tile); + if (single_tram != INVALID_DIAGDIR && single_tram != m_exitdir) { + m_err = EC_NO_WAY; + return false; + } + } + + /* road depots can be also left in one direction only */ + if (IsRoadTT() && IsDepotTypeTile(m_old_tile, TT())) { + DiagDirection exitdir = GetRoadDepotDirection(m_old_tile); + if (exitdir != m_exitdir) { + m_err = EC_NO_WAY; + return false; + } + } + return true; + } + + /** return true if we can enter m_new_tile from m_exitdir */ + FORCEINLINE bool CanEnterNewTile() + { + if (IsRoadTT() && IsStandardRoadStopTile(m_new_tile)) { + /* road stop can be entered from one direction only unless it's a drive-through stop */ + DiagDirection exitdir = GetRoadStopDir(m_new_tile); + if (ReverseDiagDir(exitdir) != m_exitdir) { + m_err = EC_NO_WAY; + return false; + } + } + + /* single tram bits can only be entered from one direction */ + if (IsTram()) { + DiagDirection single_tram = GetSingleTramBit(m_new_tile); + if (single_tram != INVALID_DIAGDIR && single_tram != ReverseDiagDir(m_exitdir)) { + m_err = EC_NO_WAY; + return false; + } + } + + /* road and rail depots can also be entered from one direction only */ + if (IsRoadTT() && IsDepotTypeTile(m_new_tile, TT())) { + DiagDirection exitdir = GetRoadDepotDirection(m_new_tile); + if (ReverseDiagDir(exitdir) != m_exitdir) { + m_err = EC_NO_WAY; + return false; + } + /* don't try to enter other company's depots */ + if (GetTileOwner(m_new_tile) != m_veh_owner) { + m_err = EC_OWNER; + return false; + } + } + if (IsRailTT() && IsDepotTypeTile(m_new_tile, TT())) { + DiagDirection exitdir = GetRailDepotDirection(m_new_tile); + if (ReverseDiagDir(exitdir) != m_exitdir) { + m_err = EC_NO_WAY; + return false; + } + } + + /* rail transport is possible only on tiles with the same owner as vehicle */ + if (IsRailTT() && GetTileOwner(m_new_tile) != m_veh_owner) { + /* different owner */ + m_err = EC_NO_WAY; + return false; + } + + /* rail transport is possible only on compatible rail types */ + if (IsRailTT()) { + RailType rail_type = GetTileRailType(m_new_tile); + if (!HasBit(m_railtypes, rail_type)) { + /* incompatible rail type */ + m_err = EC_RAIL_TYPE; + return false; + } + } + + /* tunnel holes and bridge ramps can be entered only from proper direction */ + if (IsTileType(m_new_tile, MP_TUNNELBRIDGE)) { + if (IsTunnel(m_new_tile)) { + if (!m_is_tunnel) { + DiagDirection tunnel_enterdir = GetTunnelBridgeDirection(m_new_tile); + if (tunnel_enterdir != m_exitdir) { + m_err = EC_NO_WAY; + return false; + } + } + } else { // IsBridge(m_new_tile) + if (!m_is_bridge) { + DiagDirection ramp_enderdir = GetTunnelBridgeDirection(m_new_tile); + if (ramp_enderdir != m_exitdir) { + m_err = EC_NO_WAY; + return false; + } + } + } + } + + /* special handling for rail stations - get to the end of platform */ + if (IsRailTT() && m_is_station) { + /* entered railway station + * get platform length */ + uint length = BaseStation::GetByTile(m_new_tile)->GetPlatformLength(m_new_tile, TrackdirToExitdir(m_old_td)); + /* how big step we must do to get to the last platform tile; */ + m_tiles_skipped = length - 1; + /* move to the platform end */ + TileIndexDiff diff = TileOffsByDiagDir(m_exitdir); + diff *= m_tiles_skipped; + m_new_tile = TILE_ADD(m_new_tile, diff); + return true; + } + + return true; + } + + /** return true if we must reverse (in depots and single tram bits) */ + FORCEINLINE bool ForcedReverse() + { + /* rail and road depots cause reversing */ + if (!IsWaterTT() && IsDepotTypeTile(m_old_tile, TT())) { + DiagDirection exitdir = IsRailTT() ? GetRailDepotDirection(m_old_tile) : GetRoadDepotDirection(m_old_tile); + if (exitdir != m_exitdir) { + /* reverse */ + m_new_tile = m_old_tile; + m_new_td_bits = TrackdirToTrackdirBits(ReverseTrackdir(m_old_td)); + m_exitdir = exitdir; + m_tiles_skipped = 0; + m_is_tunnel = m_is_bridge = m_is_station = false; + return true; + } + } + + /* single tram bits cause reversing */ + if (IsTram() && GetSingleTramBit(m_old_tile) == ReverseDiagDir(m_exitdir)) { + /* reverse */ + m_new_tile = m_old_tile; + m_new_td_bits = TrackdirToTrackdirBits(ReverseTrackdir(m_old_td)); + m_exitdir = ReverseDiagDir(m_exitdir); + m_tiles_skipped = 0; + m_is_tunnel = m_is_bridge = m_is_station = false; + return true; + } + + return false; + } + + /** return true if we successfully reversed at end of road/track */ + FORCEINLINE bool TryReverse() + { + if (IsRoadTT() && !IsTram()) { + /* if we reached the end of road, we can reverse the RV and continue moving */ + m_exitdir = ReverseDiagDir(m_exitdir); + /* new tile will be the same as old one */ + m_new_tile = m_old_tile; + /* set new trackdir bits to all reachable trackdirs */ + QueryNewTileTrackStatus(); + m_new_td_bits &= DiagdirReachesTrackdirs(m_exitdir); + if (m_new_td_bits != TRACKDIR_BIT_NONE) { + /* we have some trackdirs reachable after reversal */ + return true; + } + } + m_err = EC_NO_WAY; + return false; + } + +public: + /** Helper for pathfinders - get min/max speed on the m_old_tile/m_old_td */ + int GetSpeedLimit(int *pmin_speed = NULL) const + { + int min_speed = 0; + int max_speed = INT_MAX; // no limit + + /* for now we handle only on-bridge speed limit */ + if (!IsWaterTT() && IsBridgeTile(m_old_tile)) { + int spd = GetBridgeSpec(GetBridgeType(m_old_tile))->speed; + if (IsRoadTT()) spd *= 2; + if (max_speed > spd) max_speed = spd; + } + + /* if min speed was requested, return it */ + if (pmin_speed) *pmin_speed = min_speed; + return max_speed; + } +}; + +typedef CFollowTrackT CFollowTrackWater; +typedef CFollowTrackT CFollowTrackRoad; +typedef CFollowTrackT CFollowTrackRail; + +typedef CFollowTrackT CFollowTrackWaterNo90; +typedef CFollowTrackT CFollowTrackRoadNo90; +typedef CFollowTrackT CFollowTrackRailNo90; + +typedef CFollowTrackT CFollowTrackFreeRail; +typedef CFollowTrackT CFollowTrackFreeRailNo90; + +#endif /* FOLLOW_TRACK_HPP */ diff --git a/src/pathfinder/yapf/nodelist.hpp b/src/pathfinder/yapf/nodelist.hpp new file mode 100644 index 000000000..915342e1d --- /dev/null +++ b/src/pathfinder/yapf/nodelist.hpp @@ -0,0 +1,164 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file nodelist.hpp List of nodes used for the A-star pathfinder. */ + +#ifndef NODELIST_HPP +#define NODELIST_HPP + +#include "../../misc/array.hpp" +#include "../../misc/hashtable.hpp" +#include "../../misc/binaryheap.hpp" + +/** Hash table based node list multi-container class. + * Implements open list, closed list and priority queue for A-star + * path finder. */ +template +class CNodeList_HashTableT { +public: + /** make Titem_ visible from outside of class */ + typedef Titem_ Titem; + /** make Titem_::Key a property of HashTable */ + typedef typename Titem_::Key Key; + /** type that we will use as item container */ + typedef CArrayT CItemArray; + /** how pointers to open nodes will be stored */ + typedef CHashTableT COpenList; + /** how pointers to closed nodes will be stored */ + typedef CHashTableT CClosedList; + /** how the priority queue will be managed */ + typedef CBinaryHeapT CPriorityQueue; + +protected: + /** here we store full item data (Titem_) */ + CItemArray m_arr; + /** hash table of pointers to open item data */ + COpenList m_open; + /** hash table of pointers to closed item data */ + CClosedList m_closed; + /** priority queue of pointers to open item data */ + CPriorityQueue m_open_queue; + /** new open node under construction */ + Titem *m_new_node; +public: + /** default constructor */ + CNodeList_HashTableT() + : m_open_queue(204800) + { + m_new_node = NULL; + } + + /** destructor */ + ~CNodeList_HashTableT() + { + } + + /** return number of open nodes */ + FORCEINLINE int OpenCount() + { + return m_open.Count(); + } + + /** return number of closed nodes */ + FORCEINLINE int ClosedCount() + { + return m_closed.Count(); + } + + /** allocate new data item from m_arr */ + FORCEINLINE Titem_ *CreateNewNode() + { + if (m_new_node == NULL) m_new_node = &m_arr.Add(); + return m_new_node; + } + + /** notify the nodelist, that we don't want to discard the given node */ + FORCEINLINE void FoundBestNode(Titem_& item) + { + /* for now it is enough to invalidate m_new_node if it is our given node */ + if (&item == m_new_node) { + m_new_node = NULL; + } + /* TODO: do we need to store best nodes found in some extra list/array? Probably not now. */ + } + + /** insert given item as open node (into m_open and m_open_queue) */ + FORCEINLINE void InsertOpenNode(Titem_& item) + { + assert(m_closed.Find(item.GetKey()) == NULL); + m_open.Push(item); + /* TODO: check if m_open_queue is not full */ + assert(!m_open_queue.IsFull()); + m_open_queue.Push(item); + if (&item == m_new_node) { + m_new_node = NULL; + } + } + + /** return the best open node */ + FORCEINLINE Titem_ *GetBestOpenNode() + { + if (!m_open_queue.IsEmpty()) { + Titem_& item = m_open_queue.GetHead(); + return &item; + } + return NULL; + } + + /** remove and return the best open node */ + FORCEINLINE Titem_ *PopBestOpenNode() + { + if (!m_open_queue.IsEmpty()) { + Titem_& item = m_open_queue.PopHead(); + m_open.Pop(item); + return &item; + } + return NULL; + } + + /** return the open node specified by a key or NULL if not found */ + FORCEINLINE Titem_ *FindOpenNode(const Key& key) + { + Titem_ *item = m_open.Find(key); + return item; + } + + /** remove and return the open node specified by a key */ + FORCEINLINE Titem_& PopOpenNode(const Key& key) + { + Titem_& item = m_open.Pop(key); + int idxPop = m_open_queue.FindLinear(item); + m_open_queue.RemoveByIdx(idxPop); + return item; + } + + /** close node */ + FORCEINLINE void InsertClosedNode(Titem_& item) + { + assert(m_open.Find(item.GetKey()) == NULL); + m_closed.Push(item); + } + + /** return the closed node specified by a key or NULL if not found */ + FORCEINLINE Titem_ *FindClosedNode(const Key& key) + { + Titem_ *item = m_closed.Find(key); + return item; + } + + FORCEINLINE int TotalCount() {return m_arr.Size();} + FORCEINLINE Titem_& ItemAt(int idx) {return m_arr[idx];} + + template void Dump(D &dmp) const + { + dmp.WriteStructT("m_arr", &m_arr); + } +}; + +#endif /* NODELIST_HPP */ diff --git a/src/pathfinder/yapf/yapf.h b/src/pathfinder/yapf/yapf.h new file mode 100644 index 000000000..d55a4f372 --- /dev/null +++ b/src/pathfinder/yapf/yapf.h @@ -0,0 +1,119 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf.h Entry point for OpenTTD to YAPF. */ + +#ifndef YAPF_H +#define YAPF_H + +#include "../../debug.h" +#include "../../depot_type.h" +#include "../../direction_type.h" +#include "../../station_type.h" +#include "../../pbs.h" + +/** Finds the best path for given ship. + * @param v the ship that needs to find a path + * @param tile the tile to find the path from (should be next tile the ship is about to enter) + * @param enterdir diagonal direction which the ship will enter this new tile from + * @param tracks available tracks on the new tile (to choose from) + * @return the best trackdir for next turn or INVALID_TRACKDIR if the path could not be found + */ +Trackdir YapfChooseShipTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir, TrackBits tracks); + +/** Finds the best path for given road vehicle. + * @param v the RV that needs to find a path + * @param tile the tile to find the path from (should be next tile the RV is about to enter) + * @param enterdir diagonal direction which the RV will enter this new tile from + * @return the best trackdir for next turn or INVALID_TRACKDIR if the path could not be found + */ +Trackdir YapfChooseRoadTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir); + +/** Finds the best path for given train. + * @param v the train that needs to find a path + * @param tile the tile to find the path from (should be next tile the train is about to enter) + * @param enterdir diagonal direction which the RV will enter this new tile from + * @param tracks available trackdirs on the new tile (to choose from) + * @param path_not_found [out] true is returned if no path can be found (returned Trackdir is only a 'guess') + * @param reserve_track indicates whether YAPF should try to reserve the found path + * @param target [out] the target tile of the reservation, free is set to true if path was reserved + * @return the best trackdir for next turn or INVALID_TRACKDIR if the path could not be found + */ +Trackdir YapfChooseRailTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir, TrackBits tracks, bool *path_not_found, bool reserve_track, PBSTileInfo *target); + +/** Used by RV multistop feature to find the nearest road stop that has a free slot. + * @param v RV (its current tile will be the origin) + * @param tile destination tile + * @return distance from origin tile to the destination (number of road tiles) or UINT_MAX if path not found + */ +uint YapfRoadVehDistanceToTile(const Vehicle *v, TileIndex tile); + +/** Used to determinine the closest reachable compatible road stop for a given vehicle. + * @param v vehicle that needs to go to the road stop + * @param station the station the road stop must belong to + * @param stop_tile receives the stop tile if a stop was found + * @return true if stop was found. + */ +bool YapfFindNearestRoadVehicleCompatibleStop(const RoadVehicle *v, StationID station, TileIndex *stop_tile); + +/** Used when user sends road vehicle to the nearest depot or if road vehicle needs servicing. + * @param v vehicle that needs to go to some depot + * @param max_distance max distance (number of track tiles) from the current vehicle position + * (used also as optimization - the pathfinder can stop path finding if max_distance + * was reached and no depot was seen) + * @param depot_tile receives the depot tile if depot was found + * @return true if depot was found. + */ +bool YapfFindNearestRoadDepot(const Vehicle *v, int max_distance, TileIndex *depot_tile); + +/** Used when user sends train to the nearest depot or if train needs servicing. + * @param v train that needs to go to some depot + * @param max_distance max distance (number of track tiles) from the current train position + * (used also as optimization - the pathfinder can stop path finding if max_distance + * was reached and no depot was seen) + * @param reverse_penalty penalty that should be added for the path that requires reversing the train first + * @param depot_tile receives the depot tile if depot was found + * @param reversed receives true if train needs to reversed first + * @return true if depot was found. + */ +bool YapfFindNearestRailDepotTwoWay(const Vehicle *v, int max_distance, int reverse_penalty, TileIndex *depot_tile, bool *reversed); + +/** Returns true if it is better to reverse the train before leaving station */ +bool YapfCheckReverseTrain(const Vehicle *v); + +/** + * Try to extend the reserved path of a train to the nearest safe tile. + * + * @param v The train that needs to find a safe tile. + * @param tile Last tile of the current reserved path. + * @param td Last trackdir of the current reserved path. + * @param override_railtype Should all physically compabtible railtypes be searched, even if the vehicle can't on them on it own? + * @return True if the path could be extended to a safe tile. + */ +bool YapfRailFindNearestSafeTile(const Vehicle *v, TileIndex tile, Trackdir td, bool override_railtype); + +/** Use this function to notify YAPF that track layout (or signal configuration) has change */ +void YapfNotifyTrackLayoutChange(TileIndex tile, Track track); + +/** performance measurement helpers */ +void *NpfBeginInterval(); +int NpfEndInterval(void *perf); + + +extern int _aystar_stats_open_size; +extern int _aystar_stats_closed_size; + + +/** Base tile length units */ +enum { + YAPF_TILE_LENGTH = 100, + YAPF_TILE_CORNER_LENGTH = 71 +}; + +#endif /* YAPF_H */ diff --git a/src/pathfinder/yapf/yapf.hpp b/src/pathfinder/yapf/yapf.hpp new file mode 100644 index 000000000..a353902c5 --- /dev/null +++ b/src/pathfinder/yapf/yapf.hpp @@ -0,0 +1,129 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf.hpp Base includes/functions for YAPF. */ + +#ifndef YAPF_HPP +#define YAPF_HPP + +#include "../../openttd.h" +#include "../../vehicle_base.h" +#include "../../road_map.h" +#include "../../tunnel_map.h" +#include "../../bridge_map.h" +#include "../../tunnelbridge_map.h" +#include "../../bridge.h" +#include "../../station_map.h" +#include "../../tile_cmd.h" +#include "../../landscape.h" +#include "yapf.h" +#include "../pathfinder_func.h" +#include "../../waypoint_base.h" +#include "../../debug.h" +#include "../../settings_type.h" +#include "../../tunnelbridge.h" + +extern uint64 ottd_rdtsc(); + +#include +#include + +#if defined(_WIN32) || defined(_WIN64) +# include +#else +# include +#endif + +struct CPerformanceTimer +{ + int64 m_start; + int64 m_acc; + + CPerformanceTimer() : m_start(0), m_acc(0) {} + + FORCEINLINE void Start() + { + m_start = QueryTime(); + } + + FORCEINLINE void Stop() + { + m_acc += QueryTime() - m_start; + } + + FORCEINLINE int Get(int64 coef) + { + return (int)(m_acc * coef / QueryFrequency()); + } + + FORCEINLINE int64 QueryTime() + { + return ottd_rdtsc(); + } + + FORCEINLINE int64 QueryFrequency() + { + return ((int64)2200 * 1000000); + } +}; + +struct CPerfStartReal +{ + CPerformanceTimer *m_pperf; + + FORCEINLINE CPerfStartReal(CPerformanceTimer& perf) : m_pperf(&perf) + { + if (m_pperf != NULL) m_pperf->Start(); + } + + FORCEINLINE ~CPerfStartReal() + { + Stop(); + } + + FORCEINLINE void Stop() + { + if (m_pperf != NULL) { + m_pperf->Stop(); + m_pperf = NULL; + } + } +}; + +struct CPerfStartFake +{ + FORCEINLINE CPerfStartFake(CPerformanceTimer& perf) {} + FORCEINLINE ~CPerfStartFake() {} + FORCEINLINE void Stop() {} +}; + +typedef CPerfStartFake CPerfStart; + + +//#undef FORCEINLINE +//#define FORCEINLINE inline + +#include "../../misc/crc32.hpp" +#include "../../misc/blob.hpp" +#include "../../misc/str.hpp" +#include "../../misc/fixedsizearray.hpp" +#include "../../misc/array.hpp" +#include "../../misc/hashtable.hpp" +#include "../../misc/binaryheap.hpp" +#include "../../misc/dbg_helpers.h" +#include "nodelist.hpp" +#include "follow_track.hpp" +#include "yapf_base.hpp" +#include "yapf_node.hpp" +#include "yapf_common.hpp" +#include "yapf_costbase.hpp" +#include "yapf_costcache.hpp" + + +#endif /* YAPF_HPP */ diff --git a/src/pathfinder/yapf/yapf_base.hpp b/src/pathfinder/yapf/yapf_base.hpp new file mode 100644 index 000000000..0011e0802 --- /dev/null +++ b/src/pathfinder/yapf/yapf_base.hpp @@ -0,0 +1,361 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf_base.hpp Base classes for YAPF. */ + +#ifndef YAPF_BASE_HPP +#define YAPF_BASE_HPP + +#include "../../debug.h" +#include "../../settings_type.h" + +extern int _total_pf_time_us; + +/** CYapfBaseT - A-star type path finder base class. + * Derive your own pathfinder from it. You must provide the following template argument: + * Types - used as collection of local types used in pathfinder + * + * Requirements for the Types struct: + * ---------------------------------- + * The following types must be defined in the 'Types' argument: + * - Types::Tpf - your pathfinder derived from CYapfBaseT + * - Types::NodeList - open/closed node list (look at CNodeList_HashTableT) + * NodeList needs to have defined local type Titem - defines the pathfinder node type. + * Node needs to define local type Key - the node key in the collection () + * + * For node list you can use template class CNodeList_HashTableT, for which + * you need to declare only your node type. Look at test_yapf.h for an example. + * + * + * Requrements to your pathfinder class derived from CYapfBaseT: + * ------------------------------------------------------------- + * Your pathfinder derived class needs to implement following methods: + * FORCEINLINE void PfSetStartupNodes() + * FORCEINLINE void PfFollowNode(Node& org) + * FORCEINLINE bool PfCalcCost(Node& n) + * FORCEINLINE bool PfCalcEstimate(Node& n) + * FORCEINLINE bool PfDetectDestination(Node& n) + * + * For more details about those methods, look at the end of CYapfBaseT + * declaration. There are some examples. For another example look at + * test_yapf.h (part or unittest project). + */ +template +class CYapfBaseT { +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::TrackFollower TrackFollower; + typedef typename Types::NodeList NodeList; ///< our node list + typedef typename NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + + + NodeList m_nodes; ///< node list multi-container +protected: + Node *m_pBestDestNode; ///< pointer to the destination node found at last round + Node *m_pBestIntermediateNode; ///< here should be node closest to the destination if path not found + const YAPFSettings *m_settings; ///< current settings (_settings_game.yapf) + int m_max_search_nodes; ///< maximum number of nodes we are allowed to visit before we give up + const Vehicle *m_veh; ///< vehicle that we are trying to drive + + int m_stats_cost_calcs; ///< stats - how many node's costs were calculated + int m_stats_cache_hits; ///< stats - how many node's costs were reused from cache + +public: + CPerformanceTimer m_perf_cost; ///< stats - total CPU time of this run + CPerformanceTimer m_perf_slope_cost; ///< stats - slope calculation CPU time + CPerformanceTimer m_perf_ts_cost; ///< stats - GetTrackStatus() CPU time + CPerformanceTimer m_perf_other_cost; ///< stats - other CPU time + +public: + int m_num_steps; ///< this is there for debugging purposes (hope it doesn't hurt) + +public: + /** default constructor */ + FORCEINLINE CYapfBaseT() + : m_pBestDestNode(NULL) + , m_pBestIntermediateNode(NULL) + , m_settings(&_settings_game.pf.yapf) + , m_max_search_nodes(PfGetSettings().max_search_nodes) + , m_veh(NULL) + , m_stats_cost_calcs(0) + , m_stats_cache_hits(0) + , m_num_steps(0) + { + } + + /** default destructor */ + ~CYapfBaseT() {} + +protected: + /** to access inherited path finder */ + FORCEINLINE Tpf& Yapf() + { + return *static_cast(this); + } + +public: + /** return current settings (can be custom - company based - but later) */ + FORCEINLINE const YAPFSettings& PfGetSettings() const + { + return *m_settings; + } + + /** Main pathfinder routine: + * - set startup node(s) + * - main loop that stops if: + * - the destination was found + * - or the open list is empty (no route to destination). + * - or the maximum amount of loops reached - m_max_search_nodes (default = 10000) + * @return true if the path was found */ + inline bool FindPath(const Vehicle *v) + { + m_veh = v; + +#ifndef NO_DEBUG_MESSAGES + CPerformanceTimer perf; + perf.Start(); +#endif /* !NO_DEBUG_MESSAGES */ + + Yapf().PfSetStartupNodes(); + + while (true) { + m_num_steps++; + Node *n = m_nodes.GetBestOpenNode(); + if (n == NULL) { + break; + } + + /* if the best open node was worse than the best path found, we can finish */ + if (m_pBestDestNode != NULL && m_pBestDestNode->GetCost() < n->GetCostEstimate()) { + break; + } + + Yapf().PfFollowNode(*n); + if (m_max_search_nodes == 0 || m_nodes.ClosedCount() < m_max_search_nodes) { + m_nodes.PopOpenNode(n->GetKey()); + m_nodes.InsertClosedNode(*n); + } else { + m_pBestDestNode = m_pBestIntermediateNode; + break; + } + } + + bool bDestFound = (m_pBestDestNode != NULL) && (m_pBestDestNode != m_pBestIntermediateNode); + +#ifndef NO_DEBUG_MESSAGES + perf.Stop(); + if (_debug_yapf_level >= 2) { + int t = perf.Get(1000000); + _total_pf_time_us += t; + + if (_debug_yapf_level >= 3) { + UnitID veh_idx = (m_veh != NULL) ? m_veh->unitnumber : 0; + char ttc = Yapf().TransportTypeChar(); + float cache_hit_ratio = (m_stats_cache_hits == 0) ? 0.0f : ((float)m_stats_cache_hits / (float)(m_stats_cache_hits + m_stats_cost_calcs) * 100.0f); + int cost = bDestFound ? m_pBestDestNode->m_cost : -1; + int dist = bDestFound ? m_pBestDestNode->m_estimate - m_pBestDestNode->m_cost : -1; + + DEBUG(yapf, 3, "[YAPF%c]%c%4d- %d us - %d rounds - %d open - %d closed - CHR %4.1f%% - C %d D %d - c%d(sc%d, ts%d, o%d) -- ", + ttc, bDestFound ? '-' : '!', veh_idx, t, m_num_steps, m_nodes.OpenCount(), m_nodes.ClosedCount(), + cache_hit_ratio, cost, dist, m_perf_cost.Get(1000000), m_perf_slope_cost.Get(1000000), + m_perf_ts_cost.Get(1000000), m_perf_other_cost.Get(1000000) + ); + } + } +#endif /* !NO_DEBUG_MESSAGES */ + return bDestFound; + } + + /** If path was found return the best node that has reached the destination. Otherwise + * return the best visited node (which was nearest to the destination). + */ + FORCEINLINE Node *GetBestNode() + { + return (m_pBestDestNode != NULL) ? m_pBestDestNode : m_pBestIntermediateNode; + } + + /** Calls NodeList::CreateNewNode() - allocates new node that can be filled and used + * as argument for AddStartupNode() or AddNewNode() + */ + FORCEINLINE Node& CreateNewNode() + { + Node& node = *m_nodes.CreateNewNode(); + return node; + } + + /** Add new node (created by CreateNewNode and filled with data) into open list */ + FORCEINLINE void AddStartupNode(Node& n) + { + Yapf().PfNodeCacheFetch(n); + /* insert the new node only if it is not there */ + if (m_nodes.FindOpenNode(n.m_key) == NULL) { + m_nodes.InsertOpenNode(n); + } else { + /* if we are here, it means that node is already there - how it is possible? + * probably the train is in the position that both its ends point to the same tile/exit-dir + * very unlikely, but it happened */ + } + } + + /** add multiple nodes - direct children of the given node */ + FORCEINLINE void AddMultipleNodes(Node *parent, const TrackFollower &tf) + { + bool is_choice = (KillFirstBit(tf.m_new_td_bits) != TRACKDIR_BIT_NONE); + for (TrackdirBits rtds = tf.m_new_td_bits; rtds != TRACKDIR_BIT_NONE; rtds = KillFirstBit(rtds)) { + Trackdir td = (Trackdir)FindFirstBit2x64(rtds); + Node& n = Yapf().CreateNewNode(); + n.Set(parent, tf.m_new_tile, td, is_choice); + Yapf().AddNewNode(n, tf); + } + } + + /** AddNewNode() - called by Tderived::PfFollowNode() for each child node. + * Nodes are evaluated here and added into open list */ + void AddNewNode(Node &n, const TrackFollower &tf) + { + /* evaluate the node */ + bool bCached = Yapf().PfNodeCacheFetch(n); + if (!bCached) { + m_stats_cost_calcs++; + } else { + m_stats_cache_hits++; + } + + bool bValid = Yapf().PfCalcCost(n, &tf); + + if (bCached) { + Yapf().PfNodeCacheFlush(n); + } + + if (bValid) bValid = Yapf().PfCalcEstimate(n); + + /* have the cost or estimate callbacks marked this node as invalid? */ + if (!bValid) return; + + /* detect the destination */ + bool bDestination = Yapf().PfDetectDestination(n); + if (bDestination) { + if (m_pBestDestNode == NULL || n < *m_pBestDestNode) { + m_pBestDestNode = &n; + } + m_nodes.FoundBestNode(n); + return; + } + + if (m_max_search_nodes > 0 && (m_pBestIntermediateNode == NULL || (m_pBestIntermediateNode->GetCostEstimate() - m_pBestIntermediateNode->GetCost()) > (n.GetCostEstimate() - n.GetCost()))) { + m_pBestIntermediateNode = &n; + } + + /* check new node against open list */ + Node *openNode = m_nodes.FindOpenNode(n.GetKey()); + if (openNode != NULL) { + /* another node exists with the same key in the open list + * is it better than new one? */ + if (n.GetCostEstimate() < openNode->GetCostEstimate()) { + /* update the old node by value from new one */ + m_nodes.PopOpenNode(n.GetKey()); + *openNode = n; + /* add the updated old node back to open list */ + m_nodes.InsertOpenNode(*openNode); + } + return; + } + + /* check new node against closed list */ + Node *closedNode = m_nodes.FindClosedNode(n.GetKey()); + if (closedNode != NULL) { + /* another node exists with the same key in the closed list + * is it better than new one? */ + int node_est = n.GetCostEstimate(); + int closed_est = closedNode->GetCostEstimate(); + if (node_est < closed_est) { + /* If this assert occurs, you have probably problem in + * your Tderived::PfCalcCost() or Tderived::PfCalcEstimate(). + * The problem could be: + * - PfCalcEstimate() gives too large numbers + * - PfCalcCost() gives too small numbers + * - You have used negative cost penalty in some cases (cost bonus) */ + NOT_REACHED(); + } + return; + } + /* the new node is really new + * add it to the open list */ + m_nodes.InsertOpenNode(n); + } + + const Vehicle * GetVehicle() const + { + return m_veh; + } + + void DumpBase(DumpTarget &dmp) const + { + dmp.WriteStructT("m_nodes", &m_nodes); + dmp.WriteLine("m_num_steps = %d", m_num_steps); + } + + /* methods that should be implemented at derived class Types::Tpf (derived from CYapfBaseT) */ + +#if 0 + /** Example: PfSetStartupNodes() - set source (origin) nodes */ + FORCEINLINE void PfSetStartupNodes() + { + /* example: */ + Node& n1 = *base::m_nodes.CreateNewNode(); + . + . // setup node members here + . + base::m_nodes.InsertOpenNode(n1); + } + + /** Example: PfFollowNode() - set following (child) nodes of the given node */ + FORCEINLINE void PfFollowNode(Node& org) + { + for (each follower of node org) { + Node& n = *base::m_nodes.CreateNewNode(); + . + . // setup node members here + . + n.m_parent = &org; // set node's parent to allow back tracking + AddNewNode(n); + } + } + + /** Example: PfCalcCost() - set path cost from origin to the given node */ + FORCEINLINE bool PfCalcCost(Node& n) + { + /* evaluate last step cost */ + int cost = ...; + /* set the node cost as sum of parent's cost and last step cost */ + n.m_cost = n.m_parent->m_cost + cost; + return true; // true if node is valid follower (i.e. no obstacle was found) + } + + /** Example: PfCalcEstimate() - set path cost estimate from origin to the target through given node */ + FORCEINLINE bool PfCalcEstimate(Node& n) + { + /* evaluate the distance to our destination */ + int distance = ...; + /* set estimate as sum of cost from origin + distance to the target */ + n.m_estimate = n.m_cost + distance; + return true; // true if node is valid (i.e. not too far away :) + } + + /** Example: PfDetectDestination() - return true if the given node is our destination */ + FORCEINLINE bool PfDetectDestination(Node& n) + { + bool bDest = (n.m_key.m_x == m_x2) && (n.m_key.m_y == m_y2); + return bDest; + } +#endif +}; + +#endif /* YAPF_BASE_HPP */ diff --git a/src/pathfinder/yapf/yapf_common.hpp b/src/pathfinder/yapf/yapf_common.hpp new file mode 100644 index 000000000..51c2fc12a --- /dev/null +++ b/src/pathfinder/yapf/yapf_common.hpp @@ -0,0 +1,194 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf_common.hpp Commonly used classes for YAPF. */ + +#ifndef YAPF_COMMON_HPP +#define YAPF_COMMON_HPP + +/** YAPF origin provider base class - used when origin is one tile / multiple trackdirs */ +template +class CYapfOriginTileT +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + +protected: + TileIndex m_orgTile; ///< origin tile + TrackdirBits m_orgTrackdirs; ///< origin trackdir mask + + /** to access inherited path finder */ + FORCEINLINE Tpf& Yapf() + { + return *static_cast(this); + } + +public: + /** Set origin tile / trackdir mask */ + void SetOrigin(TileIndex tile, TrackdirBits trackdirs) + { + m_orgTile = tile; + m_orgTrackdirs = trackdirs; + } + + /** Called when YAPF needs to place origin nodes into open list */ + void PfSetStartupNodes() + { + bool is_choice = (KillFirstBit(m_orgTrackdirs) != TRACKDIR_BIT_NONE); + for (TrackdirBits tdb = m_orgTrackdirs; tdb != TRACKDIR_BIT_NONE; tdb = KillFirstBit(tdb)) { + Trackdir td = (Trackdir)FindFirstBit2x64(tdb); + Node& n1 = Yapf().CreateNewNode(); + n1.Set(NULL, m_orgTile, td, is_choice); + Yapf().AddStartupNode(n1); + } + } +}; + +/** YAPF origin provider base class - used when there are two tile/trackdir origins */ +template +class CYapfOriginTileTwoWayT +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + +protected: + TileIndex m_orgTile; ///< first origin tile + Trackdir m_orgTd; ///< first origin trackdir + TileIndex m_revTile; ///< second (reversed) origin tile + Trackdir m_revTd; ///< second (reversed) origin trackdir + int m_reverse_penalty; ///< penalty to be added for using the reversed origin + bool m_treat_first_red_two_way_signal_as_eol; ///< in some cases (leaving station) we need to handle first two-way signal differently + + /** to access inherited path finder */ + FORCEINLINE Tpf& Yapf() + { + return *static_cast(this); + } + +public: + /** set origin (tiles, trackdirs, etc.) */ + void SetOrigin(TileIndex tile, Trackdir td, TileIndex tiler = INVALID_TILE, Trackdir tdr = INVALID_TRACKDIR, int reverse_penalty = 0, bool treat_first_red_two_way_signal_as_eol = true) + { + m_orgTile = tile; + m_orgTd = td; + m_revTile = tiler; + m_revTd = tdr; + m_reverse_penalty = reverse_penalty; + m_treat_first_red_two_way_signal_as_eol = treat_first_red_two_way_signal_as_eol; + } + + /** Called when YAPF needs to place origin nodes into open list */ + void PfSetStartupNodes() + { + if (m_orgTile != INVALID_TILE && m_orgTd != INVALID_TRACKDIR) { + Node& n1 = Yapf().CreateNewNode(); + n1.Set(NULL, m_orgTile, m_orgTd, false); + Yapf().AddStartupNode(n1); + } + if (m_revTile != INVALID_TILE && m_revTd != INVALID_TRACKDIR) { + Node& n2 = Yapf().CreateNewNode(); + n2.Set(NULL, m_revTile, m_revTd, false); + n2.m_cost = m_reverse_penalty; + Yapf().AddStartupNode(n2); + } + } + + /** return true if first two-way signal should be treated as dead end */ + FORCEINLINE bool TreatFirstRedTwoWaySignalAsEOL() + { + return Yapf().PfGetSettings().rail_firstred_twoway_eol && m_treat_first_red_two_way_signal_as_eol; + } +}; + +/** YAPF destination provider base class - used when destination is single tile / multiple trackdirs */ +template +class CYapfDestinationTileT +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + +protected: + TileIndex m_destTile; ///< destination tile + TrackdirBits m_destTrackdirs; ///< destination trackdir mask + +public: + /** set the destination tile / more trackdirs */ + void SetDestination(TileIndex tile, TrackdirBits trackdirs) + { + m_destTile = tile; + m_destTrackdirs = trackdirs; + } + +protected: + /** to access inherited path finder */ + Tpf& Yapf() + { + return *static_cast(this); + } + +public: + /** Called by YAPF to detect if node ends in the desired destination */ + FORCEINLINE bool PfDetectDestination(Node& n) + { + bool bDest = (n.m_key.m_tile == m_destTile) && ((m_destTrackdirs & TrackdirToTrackdirBits(n.GetTrackdir())) != TRACKDIR_BIT_NONE); + return bDest; + } + + /** Called by YAPF to calculate cost estimate. Calculates distance to the destination + * adds it to the actual cost from origin and stores the sum to the Node::m_estimate */ + inline bool PfCalcEstimate(Node& n) + { + static const int dg_dir_to_x_offs[] = {-1, 0, 1, 0}; + static const int dg_dir_to_y_offs[] = {0, 1, 0, -1}; + if (PfDetectDestination(n)) { + n.m_estimate = n.m_cost; + return true; + } + + TileIndex tile = n.GetTile(); + DiagDirection exitdir = TrackdirToExitdir(n.GetTrackdir()); + int x1 = 2 * TileX(tile) + dg_dir_to_x_offs[(int)exitdir]; + int y1 = 2 * TileY(tile) + dg_dir_to_y_offs[(int)exitdir]; + int x2 = 2 * TileX(m_destTile); + int y2 = 2 * TileY(m_destTile); + int dx = abs(x1 - x2); + int dy = abs(y1 - y2); + int dmin = min(dx, dy); + int dxy = abs(dx - dy); + int d = dmin * YAPF_TILE_CORNER_LENGTH + (dxy - 1) * (YAPF_TILE_LENGTH / 2); + n.m_estimate = n.m_cost + d; + assert(n.m_estimate >= n.m_parent->m_estimate); + return true; + } +}; + +/** YAPF template that uses Ttypes template argument to determine all YAPF + * components (base classes) from which the actual YAPF is composed. + * For example classes consult: CYapfRail_TypesT template and its instantiations: + * CYapfRail1, CYapfRail2, CYapfRail3, CYapfAnyDepotRail1, CYapfAnyDepotRail2, CYapfAnyDepotRail3 */ +template +class CYapfT + : public Ttypes::PfBase ///< Instance of CYapfBaseT - main YAPF loop and support base class + , public Ttypes::PfCost ///< Cost calculation provider base class + , public Ttypes::PfCache ///< Segment cost cache provider + , public Ttypes::PfOrigin ///< Origin (tile or two-tile origin) + , public Ttypes::PfDestination ///< Destination detector and distance (estimate) calculation provider + , public Ttypes::PfFollow ///< Node follower (stepping provider) +{ +}; + + + +#endif /* YAPF_COMMON_HPP */ diff --git a/src/pathfinder/yapf/yapf_costbase.hpp b/src/pathfinder/yapf/yapf_costbase.hpp new file mode 100644 index 000000000..39424dc10 --- /dev/null +++ b/src/pathfinder/yapf/yapf_costbase.hpp @@ -0,0 +1,42 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf_costbase.hpp Handling of cost determination. */ + +#ifndef YAPF_COSTBASE_HPP +#define YAPF_COSTBASE_HPP + +struct CYapfCostBase { + FORCEINLINE static bool stSlopeCost(TileIndex tile, Trackdir td) + { + if (IsDiagonalTrackdir(td)) { + if (IsBridgeTile(tile)) { + /* it is bridge ramp, check if we are entering the bridge */ + if (GetTunnelBridgeDirection(tile) != TrackdirToExitdir(td)) return false; // no, we are leaving it, no penalty + /* we are entering the bridge */ + Slope tile_slope = GetTileSlope(tile, NULL); + Axis axis = DiagDirToAxis(GetTunnelBridgeDirection(tile)); + return !HasBridgeFlatRamp(tile_slope, axis); + } else { + /* not bridge ramp */ + if (IsTunnelTile(tile)) return false; // tunnel entry/exit doesn't slope + Slope tile_slope = GetTileSlope(tile, NULL); + return IsUphillTrackdir(tile_slope, td); // slopes uphill => apply penalty + } + } + return false; + } +}; + +struct CostRailSettings { + /* look-ahead signal penalty */ +}; + + +#endif /* YAPF_COSTBASE_HPP */ diff --git a/src/pathfinder/yapf/yapf_costcache.hpp b/src/pathfinder/yapf/yapf_costcache.hpp new file mode 100644 index 000000000..810579120 --- /dev/null +++ b/src/pathfinder/yapf/yapf_costcache.hpp @@ -0,0 +1,216 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf_costcache.hpp Caching of segment costs. */ + +#ifndef YAPF_COSTCACHE_HPP +#define YAPF_COSTCACHE_HPP + +#include "../../date_func.h" + +/** CYapfSegmentCostCacheNoneT - the formal only yapf cost cache provider that implements + * PfNodeCacheFetch() and PfNodeCacheFlush() callbacks. Used when nodes don't have CachedData + * defined (they don't count with any segment cost caching). + */ +template +class CYapfSegmentCostCacheNoneT +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + + /** Called by YAPF to attach cached or local segment cost data to the given node. + * @return true if globally cached data were used or false if local data was used */ + FORCEINLINE bool PfNodeCacheFetch(Node& n) + { + return false; + } + + /** Called by YAPF to flush the cached segment cost data back into cache storage. + * Current cache implementation doesn't use that. */ + FORCEINLINE void PfNodeCacheFlush(Node& n) + { + } +}; + + +/** CYapfSegmentCostCacheLocalT - the yapf cost cache provider that implements fake segment + * cost caching functionality for yapf. Used when node needs caching, but you don't want to + * cache the segment costs. + */ +template +class CYapfSegmentCostCacheLocalT +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + typedef typename Node::CachedData CachedData; + typedef typename CachedData::Key CacheKey; + typedef CArrayT LocalCache; + +protected: + LocalCache m_local_cache; + + /** to access inherited path finder */ + FORCEINLINE Tpf& Yapf() + { + return *static_cast(this); + } + +public: + /** Called by YAPF to attach cached or local segment cost data to the given node. + * @return true if globally cached data were used or false if local data was used */ + FORCEINLINE bool PfNodeCacheFetch(Node& n) + { + CacheKey key(n.GetKey()); + Yapf().ConnectNodeToCachedData(n, *new (&m_local_cache.AddNC()) CachedData(key)); + return false; + } + + /** Called by YAPF to flush the cached segment cost data back into cache storage. + * Current cache implementation doesn't use that. */ + FORCEINLINE void PfNodeCacheFlush(Node& n) + { + } +}; + + +/** Base class for segment cost cache providers. Contains global counter + * of track layout changes and static notification function called whenever + * the track layout changes. It is implemented as base class because it needs + * to be shared between all rail YAPF types (one shared counter, one notification + * function. */ +struct CSegmentCostCacheBase +{ + static int s_rail_change_counter; + + static void NotifyTrackLayoutChange(TileIndex tile, Track track) + { + s_rail_change_counter++; + } +}; + + +/** CSegmentCostCacheT - template class providing hash-map and storage (heap) + * of Tsegment structures. Each rail node contains pointer to the segment + * that contains cached (or non-cached) segment cost information. Nodes can + * differ by key type, but they use the same segment type. Segment key should + * be always the same (TileIndex + DiagDirection) that represent the beginning + * of the segment (origin tile and exit-dir from this tile). + * Different CYapfCachedCostT types can share the same type of CSegmentCostCacheT. + * Look at CYapfRailSegment (yapf_node_rail.hpp) for the segment example */ +template +struct CSegmentCostCacheT + : public CSegmentCostCacheBase +{ + enum {c_hash_bits = 14}; + + typedef CHashTableT HashTable; + typedef CArrayT Heap; + typedef typename Tsegment::Key Key; ///< key to hash table + + HashTable m_map; + Heap m_heap; + + FORCEINLINE CSegmentCostCacheT() {} + + /** flush (clear) the cache */ + FORCEINLINE void Flush() + { + m_map.Clear(); + m_heap.Clear(); + } + + FORCEINLINE Tsegment& Get(Key& key, bool *found) + { + Tsegment *item = m_map.Find(key); + if (item == NULL) { + *found = false; + item = new (&m_heap.AddNC()) Tsegment(key); + m_map.Push(*item); + } else { + *found = true; + } + return *item; + } +}; + +/** CYapfSegmentCostCacheGlobalT - the yapf cost cache provider that adds the segment cost + * caching functionality to yapf. Using this class as base of your will provide the global + * segment cost caching services for your Nodes. + */ +template +class CYapfSegmentCostCacheGlobalT + : public CYapfSegmentCostCacheLocalT +{ +public: + typedef CYapfSegmentCostCacheLocalT Tlocal; + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + typedef typename Node::CachedData CachedData; + typedef typename CachedData::Key CacheKey; + typedef CSegmentCostCacheT Cache; + +protected: + Cache& m_global_cache; + + FORCEINLINE CYapfSegmentCostCacheGlobalT() : m_global_cache(stGetGlobalCache()) {}; + + /** to access inherited path finder */ + FORCEINLINE Tpf& Yapf() + { + return *static_cast(this); + } + + FORCEINLINE static Cache& stGetGlobalCache() + { + static int last_rail_change_counter = 0; + static Date last_date = 0; + static Cache C; + + /* some statistics */ + if (last_date != _date) { + last_date = _date; + DEBUG(yapf, 2, "Pf time today: %5d ms", _total_pf_time_us / 1000); + _total_pf_time_us = 0; + } + + /* delete the cache sometimes... */ + if (last_rail_change_counter != Cache::s_rail_change_counter) { + last_rail_change_counter = Cache::s_rail_change_counter; + C.Flush(); + } + return C; + } + +public: + /** Called by YAPF to attach cached or local segment cost data to the given node. + * @return true if globally cached data were used or false if local data was used */ + FORCEINLINE bool PfNodeCacheFetch(Node& n) + { + if (!Yapf().CanUseGlobalCache(n)) { + return Tlocal::PfNodeCacheFetch(n); + } + CacheKey key(n.GetKey()); + bool found; + CachedData& item = m_global_cache.Get(key, &found); + Yapf().ConnectNodeToCachedData(n, item); + return found; + } + + /** Called by YAPF to flush the cached segment cost data back into cache storage. + * Current cache implementation doesn't use that. */ + FORCEINLINE void PfNodeCacheFlush(Node& n) + { + } +}; + +#endif /* YAPF_COSTCACHE_HPP */ diff --git a/src/pathfinder/yapf/yapf_costrail.hpp b/src/pathfinder/yapf/yapf_costrail.hpp new file mode 100644 index 000000000..51c8e3920 --- /dev/null +++ b/src/pathfinder/yapf/yapf_costrail.hpp @@ -0,0 +1,591 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf_costrail.hpp Cost determination for rails. */ + +#ifndef YAPF_COSTRAIL_HPP +#define YAPF_COSTRAIL_HPP + +#include "../../pbs.h" + +template +class CYapfCostRailT + : public CYapfCostBase + , public CostRailSettings +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::TrackFollower TrackFollower; + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + typedef typename Node::CachedData CachedData; + +protected: + + /* Structure used inside PfCalcCost() to keep basic tile information. */ + struct TILE { + TileIndex tile; + Trackdir td; + TileType tile_type; + RailType rail_type; + + TILE() + { + tile = INVALID_TILE; + td = INVALID_TRACKDIR; + tile_type = MP_VOID; + rail_type = INVALID_RAILTYPE; + } + + TILE(TileIndex tile, Trackdir td) + { + this->tile = tile; + this->td = td; + this->tile_type = GetTileType(tile); + this->rail_type = GetTileRailType(tile); + } + + TILE(const TILE &src) + { + tile = src.tile; + td = src.td; + tile_type = src.tile_type; + rail_type = src.rail_type; + } + }; + +protected: + /** + * @note maximum cost doesn't work with caching enabled + * @todo fix maximum cost failing with caching (e.g. FS#2900) + */ + int m_max_cost; + CBlobT m_sig_look_ahead_costs; + bool m_disable_cache; + +public: + bool m_stopped_on_first_two_way_signal; +protected: + + static const int s_max_segment_cost = 10000; + + CYapfCostRailT() + : m_max_cost(0) + , m_disable_cache(false) + , m_stopped_on_first_two_way_signal(false) + { + /* pre-compute look-ahead penalties into array */ + int p0 = Yapf().PfGetSettings().rail_look_ahead_signal_p0; + int p1 = Yapf().PfGetSettings().rail_look_ahead_signal_p1; + int p2 = Yapf().PfGetSettings().rail_look_ahead_signal_p2; + int *pen = m_sig_look_ahead_costs.GrowSizeNC(Yapf().PfGetSettings().rail_look_ahead_max_signals); + for (uint i = 0; i < Yapf().PfGetSettings().rail_look_ahead_max_signals; i++) { + pen[i] = p0 + i * (p1 + i * p2); + } + } + + /** to access inherited path finder */ + Tpf& Yapf() + { + return *static_cast(this); + } + +public: + FORCEINLINE int SlopeCost(TileIndex tile, Trackdir td) + { + CPerfStart perf_cost(Yapf().m_perf_slope_cost); + if (!stSlopeCost(tile, td)) return 0; + return Yapf().PfGetSettings().rail_slope_penalty; + } + + FORCEINLINE int CurveCost(Trackdir td1, Trackdir td2) + { + assert(IsValidTrackdir(td1)); + assert(IsValidTrackdir(td2)); + int cost = 0; + if (TrackFollower::Allow90degTurns() + && ((TrackdirToTrackdirBits(td2) & (TrackdirBits)TrackdirCrossesTrackdirs(td1)) != 0)) { + /* 90-deg curve penalty */ + cost += Yapf().PfGetSettings().rail_curve90_penalty; + } else if (td2 != NextTrackdir(td1)) { + /* 45-deg curve penalty */ + cost += Yapf().PfGetSettings().rail_curve45_penalty; + } + return cost; + } + + FORCEINLINE int SwitchCost(TileIndex tile1, TileIndex tile2, DiagDirection exitdir) + { + if (IsPlainRailTile(tile1) && IsPlainRailTile(tile2)) { + bool t1 = KillFirstBit(GetTrackBits(tile1) & DiagdirReachesTracks(ReverseDiagDir(exitdir))) != TRACK_BIT_NONE; + bool t2 = KillFirstBit(GetTrackBits(tile2) & DiagdirReachesTracks(exitdir)) != TRACK_BIT_NONE; + if (t1 && t2) return Yapf().PfGetSettings().rail_doubleslip_penalty; + } + return 0; + } + + /** Return one tile cost (base cost + level crossing penalty). */ + FORCEINLINE int OneTileCost(TileIndex& tile, Trackdir trackdir) + { + int cost = 0; + /* set base cost */ + if (IsDiagonalTrackdir(trackdir)) { + cost += YAPF_TILE_LENGTH; + switch (GetTileType(tile)) { + case MP_ROAD: + /* Increase the cost for level crossings */ + if (IsLevelCrossing(tile)) { + cost += Yapf().PfGetSettings().rail_crossing_penalty; + } + break; + + default: + break; + } + } else { + /* non-diagonal trackdir */ + cost = YAPF_TILE_CORNER_LENGTH; + } + return cost; + } + + /** Check for a reserved station platform. */ + FORCEINLINE bool IsAnyStationTileReserved(TileIndex tile, Trackdir trackdir, int skipped) + { + TileIndexDiff diff = TileOffsByDiagDir(TrackdirToExitdir(ReverseTrackdir(trackdir))); + for (; skipped >= 0; skipped--, tile += diff) { + if (HasStationReservation(tile)) return true; + } + return false; + } + + /** The cost for reserved tiles, including skipped ones. */ + FORCEINLINE int ReservationCost(Node& n, TileIndex tile, Trackdir trackdir, int skipped) + { + if (n.m_num_signals_passed >= m_sig_look_ahead_costs.Size() / 2) return 0; + + if (IsRailStationTile(tile) && IsAnyStationTileReserved(tile, trackdir, skipped)) { + return Yapf().PfGetSettings().rail_pbs_station_penalty * (skipped + 1); + } else if (TrackOverlapsTracks(GetReservedTrackbits(tile), TrackdirToTrack(trackdir))) { + int cost = Yapf().PfGetSettings().rail_pbs_cross_penalty; + if (!IsDiagonalTrackdir(trackdir)) cost = (cost * YAPF_TILE_CORNER_LENGTH) / YAPF_TILE_LENGTH; + return cost * (skipped + 1); + } + return 0; + } + + int SignalCost(Node& n, TileIndex tile, Trackdir trackdir) + { + int cost = 0; + /* if there is one-way signal in the opposite direction, then it is not our way */ + CPerfStart perf_cost(Yapf().m_perf_other_cost); + if (IsTileType(tile, MP_RAILWAY)) { + bool has_signal_against = HasSignalOnTrackdir(tile, ReverseTrackdir(trackdir)); + bool has_signal_along = HasSignalOnTrackdir(tile, trackdir); + if (has_signal_against && !has_signal_along && IsOnewaySignal(tile, TrackdirToTrack(trackdir))) { + /* one-way signal in opposite direction */ + n.m_segment->m_end_segment_reason |= ESRB_DEAD_END; + } else { + if (has_signal_along) { + SignalState sig_state = GetSignalStateByTrackdir(tile, trackdir); + /* cache the look-ahead polynomial constant only if we didn't pass more signals than the look-ahead limit is */ + int look_ahead_cost = (n.m_num_signals_passed < m_sig_look_ahead_costs.Size()) ? m_sig_look_ahead_costs.Data()[n.m_num_signals_passed] : 0; + if (sig_state != SIGNAL_STATE_RED) { + /* green signal */ + n.flags_u.flags_s.m_last_signal_was_red = false; + /* negative look-ahead red-signal penalties would cause problems later, so use them as positive penalties for green signal */ + if (look_ahead_cost < 0) { + /* add its negation to the cost */ + cost -= look_ahead_cost; + } + } else { + SignalType sig_type = GetSignalType(tile, TrackdirToTrack(trackdir)); + /* we have a red signal in our direction + * was it first signal which is two-way? */ + if (!IsPbsSignal(sig_type) && Yapf().TreatFirstRedTwoWaySignalAsEOL() && n.flags_u.flags_s.m_choice_seen && has_signal_against && n.m_num_signals_passed == 0) { + /* yes, the first signal is two-way red signal => DEAD END */ + n.m_segment->m_end_segment_reason |= ESRB_DEAD_END; + Yapf().m_stopped_on_first_two_way_signal = true; + return -1; + } + n.m_last_red_signal_type = sig_type; + n.flags_u.flags_s.m_last_signal_was_red = true; + + /* look-ahead signal penalty */ + if (!IsPbsSignal(sig_type) && look_ahead_cost > 0) { + /* add the look ahead penalty only if it is positive */ + cost += look_ahead_cost; + } + + /* special signal penalties */ + if (n.m_num_signals_passed == 0) { + switch (sig_type) { + case SIGTYPE_COMBO: + case SIGTYPE_EXIT: cost += Yapf().PfGetSettings().rail_firstred_exit_penalty; break; // first signal is red pre-signal-exit + case SIGTYPE_NORMAL: + case SIGTYPE_ENTRY: cost += Yapf().PfGetSettings().rail_firstred_penalty; break; + default: break; + } + } + } + + n.m_num_signals_passed++; + n.m_segment->m_last_signal_tile = tile; + n.m_segment->m_last_signal_td = trackdir; + } + + if (has_signal_against && IsPbsSignal(GetSignalType(tile, TrackdirToTrack(trackdir)))) { + cost += n.m_num_signals_passed < Yapf().PfGetSettings().rail_look_ahead_max_signals ? Yapf().PfGetSettings().rail_pbs_signal_back_penalty : 0; + } + } + } + return cost; + } + + FORCEINLINE int PlatformLengthPenalty(int platform_length) + { + int cost = 0; + const Vehicle *v = Yapf().GetVehicle(); + assert(v != NULL); + assert(v->type == VEH_TRAIN); + assert(Train::From(v)->tcache.cached_total_length != 0); + int missing_platform_length = (Train::From(v)->tcache.cached_total_length + TILE_SIZE - 1) / TILE_SIZE - platform_length; + if (missing_platform_length < 0) { + /* apply penalty for longer platform than needed */ + cost += Yapf().PfGetSettings().rail_longer_platform_penalty + Yapf().PfGetSettings().rail_longer_platform_per_tile_penalty * -missing_platform_length; + } else if (missing_platform_length > 0) { + /* apply penalty for shorter platform than needed */ + cost += Yapf().PfGetSettings().rail_shorter_platform_penalty + Yapf().PfGetSettings().rail_shorter_platform_per_tile_penalty * missing_platform_length; + } + return cost; + } + +public: + FORCEINLINE void SetMaxCost(int max_cost) + { + m_max_cost = max_cost; + } + + /** Called by YAPF to calculate the cost from the origin to the given node. + * Calculates only the cost of given node, adds it to the parent node cost + * and stores the result into Node::m_cost member */ + FORCEINLINE bool PfCalcCost(Node &n, const TrackFollower *tf) + { + assert(!n.flags_u.flags_s.m_targed_seen); + assert(tf->m_new_tile == n.m_key.m_tile); + assert((TrackdirToTrackdirBits(n.m_key.m_td) & tf->m_new_td_bits) != TRACKDIR_BIT_NONE); + + CPerfStart perf_cost(Yapf().m_perf_cost); + + /* Does the node have some parent node? */ + bool has_parent = (n.m_parent != NULL); + + /* Do we already have a cached segment? */ + CachedData &segment = *n.m_segment; + bool is_cached_segment = (segment.m_cost >= 0); + + int parent_cost = has_parent ? n.m_parent->m_cost : 0; + + /* Each node cost contains 2 or 3 main components: + * 1. Transition cost - cost of the move from previous node (tile): + * - curve cost (or zero for straight move) + * 2. Tile cost: + * - base tile cost + * - YAPF_TILE_LENGTH for diagonal tiles + * - YAPF_TILE_CORNER_LENGTH for non-diagonal tiles + * - tile penalties + * - tile slope penalty (upward slopes) + * - red signal penalty + * - level crossing penalty + * - speed-limit penalty (bridges) + * - station platform penalty + * - penalty for reversing in the depot + * - etc. + * 3. Extra cost (applies to the last node only) + * - last red signal penalty + * - penalty for too long or too short platform on the destination station + */ + int transition_cost = 0; + int extra_cost = 0; + + /* Segment: one or more tiles connected by contiguous tracks of the same type. + * Each segment cost includes 'Tile cost' for all its tiles (including the first + * and last), and the 'Transition cost' between its tiles. The first transition + * cost of segment entry (move from the 'parent' node) is not included! + */ + int segment_entry_cost = 0; + int segment_cost = 0; + + const Vehicle *v = Yapf().GetVehicle(); + + /* start at n.m_key.m_tile / n.m_key.m_td and walk to the end of segment */ + TILE cur(n.m_key.m_tile, n.m_key.m_td); + + /* the previous tile will be needed for transition cost calculations */ + TILE prev = !has_parent ? TILE() : TILE(n.m_parent->GetLastTile(), n.m_parent->GetLastTrackdir()); + + EndSegmentReasonBits end_segment_reason = ESRB_NONE; + + TrackFollower tf_local(v, Yapf().GetCompatibleRailTypes(), &Yapf().m_perf_ts_cost); + + if (!has_parent) { + /* We will jump to the middle of the cost calculator assuming that segment cache is not used. */ + assert(!is_cached_segment); + /* Skip the first transition cost calculation. */ + goto no_entry_cost; + } + + for (;;) { + /* Transition cost (cost of the move from previous tile) */ + transition_cost = Yapf().CurveCost(prev.td, cur.td); + transition_cost += Yapf().SwitchCost(prev.tile, cur.tile, TrackdirToExitdir(prev.td)); + + /* First transition cost counts against segment entry cost, other transitions + * inside segment will come to segment cost (and will be cached) */ + if (segment_cost == 0) { + /* We just entered the loop. First transition cost goes to segment entry cost)*/ + segment_entry_cost = transition_cost; + transition_cost = 0; + + /* It is the right time now to look if we can reuse the cached segment cost. */ + if (is_cached_segment) { + /* Yes, we already know the segment cost. */ + segment_cost = segment.m_cost; + /* We know also the reason why the segment ends. */ + end_segment_reason = segment.m_end_segment_reason; + /* We will need also some information about the last signal (if it was red). */ + if (segment.m_last_signal_tile != INVALID_TILE) { + assert(HasSignalOnTrackdir(segment.m_last_signal_tile, segment.m_last_signal_td)); + SignalState sig_state = GetSignalStateByTrackdir(segment.m_last_signal_tile, segment.m_last_signal_td); + bool is_red = (sig_state == SIGNAL_STATE_RED); + n.flags_u.flags_s.m_last_signal_was_red = is_red; + if (is_red) { + n.m_last_red_signal_type = GetSignalType(segment.m_last_signal_tile, TrackdirToTrack(segment.m_last_signal_td)); + } + } + /* No further calculation needed. */ + cur = TILE(n.GetLastTile(), n.GetLastTrackdir()); + break; + } + } else { + /* Other than first transition cost count as the regular segment cost. */ + segment_cost += transition_cost; + } + +no_entry_cost: // jump here at the beginning if the node has no parent (it is the first node) + + /* All other tile costs will be calculated here. */ + segment_cost += Yapf().OneTileCost(cur.tile, cur.td); + + /* If we skipped some tunnel/bridge/station tiles, add their base cost */ + segment_cost += YAPF_TILE_LENGTH * tf->m_tiles_skipped; + + /* Slope cost. */ + segment_cost += Yapf().SlopeCost(cur.tile, cur.td); + + /* Reserved tiles. */ + segment_cost += Yapf().ReservationCost(n, cur.tile, cur.td, tf->m_tiles_skipped); + + /* Signal cost (routine can modify segment data). */ + segment_cost += Yapf().SignalCost(n, cur.tile, cur.td); + end_segment_reason = segment.m_end_segment_reason; + + /* Tests for 'potential target' reasons to close the segment. */ + if (cur.tile == prev.tile) { + /* Penalty for reversing in a depot. */ + assert(IsRailDepot(cur.tile)); + segment_cost += Yapf().PfGetSettings().rail_depot_reverse_penalty; + /* We will end in this pass (depot is possible target) */ + end_segment_reason |= ESRB_DEPOT; + + } else if (tf->m_is_station) { + /* Station penalties. */ + uint platform_length = tf->m_tiles_skipped + 1; + /* We don't know yet if the station is our target or not. Act like + * if it is pass-through station (not our destination). */ + segment_cost += Yapf().PfGetSettings().rail_station_penalty * platform_length; + /* We will end in this pass (station is possible target) */ + end_segment_reason |= ESRB_STATION; + + } else if (cur.tile_type == MP_STATION && IsRailWaypoint(cur.tile)) { + /* Waypoint is also a good reason to finish. */ + end_segment_reason |= ESRB_WAYPOINT; + } else if (TrackFollower::DoTrackMasking() && cur.tile_type == MP_RAILWAY) { + /* Searching for a safe tile? */ + if (HasSignalOnTrackdir(cur.tile, cur.td) && !IsPbsSignal(GetSignalType(cur.tile, TrackdirToTrack(cur.td)))) { + end_segment_reason |= ESRB_SAFE_TILE; + } + } + + /* Apply min/max speed penalties only when inside the look-ahead radius. Otherwise + * it would cause desync in MP. */ + if (n.m_num_signals_passed < m_sig_look_ahead_costs.Size()) + { + int min_speed = 0; + int max_speed = tf->GetSpeedLimit(&min_speed); + if (max_speed < v->max_speed) { + extra_cost += YAPF_TILE_LENGTH * (v->max_speed - max_speed) * (4 + tf->m_tiles_skipped) / v->max_speed; + } + if (min_speed > v->max_speed) { + extra_cost += YAPF_TILE_LENGTH * (min_speed - v->max_speed); + } + } + + /* Finish if we already exceeded the maximum path cost (i.e. when + * searching for the nearest depot). */ + if (m_max_cost > 0 && (parent_cost + segment_entry_cost + segment_cost) > m_max_cost) { + end_segment_reason |= ESRB_PATH_TOO_LONG; + } + + /* Move to the next tile/trackdir. */ + tf = &tf_local; + tf_local.Init(v, Yapf().GetCompatibleRailTypes(), &Yapf().m_perf_ts_cost); + + if (!tf_local.Follow(cur.tile, cur.td)) { + assert(tf_local.m_err != TrackFollower::EC_NONE); + /* Can't move to the next tile (EOL?). */ + if (tf_local.m_err == TrackFollower::EC_RAIL_TYPE) { + end_segment_reason |= ESRB_RAIL_TYPE; + } else { + end_segment_reason |= ESRB_DEAD_END; + } + + if (TrackFollower::DoTrackMasking() && !HasOnewaySignalBlockingTrackdir(cur.tile, cur.td)) { + end_segment_reason |= ESRB_SAFE_TILE; + } + break; + } + + /* Check if the next tile is not a choice. */ + if (KillFirstBit(tf_local.m_new_td_bits) != TRACKDIR_BIT_NONE) { + /* More than one segment will follow. Close this one. */ + end_segment_reason |= ESRB_CHOICE_FOLLOWS; + break; + } + + /* Gather the next tile/trackdir/tile_type/rail_type. */ + TILE next(tf_local.m_new_tile, (Trackdir)FindFirstBit2x64(tf_local.m_new_td_bits)); + + if (TrackFollower::DoTrackMasking() && HasPbsSignalOnTrackdir(next.tile, next.td)) { + /* Possible safe tile. */ + end_segment_reason |= ESRB_SAFE_TILE; + } + + /* Check the next tile for the rail type. */ + if (next.rail_type != cur.rail_type) { + /* Segment must consist from the same rail_type tiles. */ + end_segment_reason |= ESRB_RAIL_TYPE; + break; + } + + /* Avoid infinite looping. */ + if (next.tile == n.m_key.m_tile && next.td == n.m_key.m_td) { + end_segment_reason |= ESRB_INFINITE_LOOP; + break; + } + + if (segment_cost > s_max_segment_cost) { + /* Potentially in the infinite loop (or only very long segment?). We should + * not force it to finish prematurely unless we are on a regular tile. */ + if (IsTileType(tf->m_new_tile, MP_RAILWAY)) { + end_segment_reason |= ESRB_SEGMENT_TOO_LONG; + break; + } + } + + /* Any other reason bit set? */ + if (end_segment_reason != ESRB_NONE) { + break; + } + + /* For the next loop set new prev and cur tile info. */ + prev = cur; + cur = next; + + } // for (;;) + + bool target_seen = false; + if ((end_segment_reason & ESRB_POSSIBLE_TARGET) != ESRB_NONE) { + /* Depot, station or waypoint. */ + if (Yapf().PfDetectDestination(cur.tile, cur.td)) { + /* Destination found. */ + target_seen = true; + } + } + + /* Update the segment if needed. */ + if (!is_cached_segment) { + /* Write back the segment information so it can be reused the next time. */ + segment.m_cost = segment_cost; + segment.m_end_segment_reason = end_segment_reason & ESRB_CACHED_MASK; + /* Save end of segment back to the node. */ + n.SetLastTileTrackdir(cur.tile, cur.td); + } + + /* Do we have an excuse why not to continue pathfinding in this direction? */ + if (!target_seen && (end_segment_reason & ESRB_ABORT_PF_MASK) != ESRB_NONE) { + /* Reason to not continue. Stop this PF branch. */ + return false; + } + + /* Special costs for the case we have reached our target. */ + if (target_seen) { + n.flags_u.flags_s.m_targed_seen = true; + /* Last-red and last-red-exit penalties. */ + if (n.flags_u.flags_s.m_last_signal_was_red) { + if (n.m_last_red_signal_type == SIGTYPE_EXIT) { + /* last signal was red pre-signal-exit */ + extra_cost += Yapf().PfGetSettings().rail_lastred_exit_penalty; + } else { + /* last signal was red, but not exit */ + extra_cost += Yapf().PfGetSettings().rail_lastred_penalty; + } + } + + /* Station platform-length penalty. */ + if ((end_segment_reason & ESRB_STATION) != ESRB_NONE) { + const BaseStation *st = BaseStation::GetByTile(n.GetLastTile()); + assert(st != NULL); + uint platform_length = st->GetPlatformLength(n.GetLastTile(), ReverseDiagDir(TrackdirToExitdir(n.GetLastTrackdir()))); + /* Reduce the extra cost caused by passing-station penalty (each station receives it in the segment cost). */ + extra_cost -= Yapf().PfGetSettings().rail_station_penalty * platform_length; + /* Add penalty for the inappropriate platform length. */ + extra_cost += PlatformLengthPenalty(platform_length); + } + } + + /* total node cost */ + n.m_cost = parent_cost + segment_entry_cost + segment_cost + extra_cost; + + return true; + } + + FORCEINLINE bool CanUseGlobalCache(Node& n) const + { + return !m_disable_cache + && (n.m_parent != NULL) + && (n.m_parent->m_num_signals_passed >= m_sig_look_ahead_costs.Size()); + } + + FORCEINLINE void ConnectNodeToCachedData(Node& n, CachedData& ci) + { + n.m_segment = &ci; + if (n.m_segment->m_cost < 0) { + n.m_segment->m_last_tile = n.m_key.m_tile; + n.m_segment->m_last_td = n.m_key.m_td; + } + } + + void DisableCache(bool disable) + { + m_disable_cache = disable; + } +}; + +#endif /* YAPF_COSTRAIL_HPP */ diff --git a/src/pathfinder/yapf/yapf_destrail.hpp b/src/pathfinder/yapf/yapf_destrail.hpp new file mode 100644 index 000000000..acdc68244 --- /dev/null +++ b/src/pathfinder/yapf/yapf_destrail.hpp @@ -0,0 +1,203 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf_destrail.hpp Determining the destination for rail vehicles. */ + +#ifndef YAPF_DESTRAIL_HPP +#define YAPF_DESTRAIL_HPP + +class CYapfDestinationRailBase +{ +protected: + RailTypes m_compatible_railtypes; + +public: + void SetDestination(const Vehicle *v, bool override_rail_type = false) + { + m_compatible_railtypes = Train::From(v)->compatible_railtypes; + if (override_rail_type) m_compatible_railtypes |= GetRailTypeInfo(Train::From(v)->railtype)->compatible_railtypes; + } + + bool IsCompatibleRailType(RailType rt) + { + return HasBit(m_compatible_railtypes, rt); + } + + RailTypes GetCompatibleRailTypes() const + { + return m_compatible_railtypes; + } +}; + +template +class CYapfDestinationAnyDepotRailT + : public CYapfDestinationRailBase +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + + /** to access inherited path finder */ + Tpf& Yapf() + { + return *static_cast(this); + } + + /** Called by YAPF to detect if node ends in the desired destination */ + FORCEINLINE bool PfDetectDestination(Node& n) + { + return PfDetectDestination(n.GetLastTile(), n.GetLastTrackdir()); + } + + /** Called by YAPF to detect if node ends in the desired destination */ + FORCEINLINE bool PfDetectDestination(TileIndex tile, Trackdir td) + { + bool bDest = IsRailDepotTile(tile); + return bDest; + } + + /** Called by YAPF to calculate cost estimate. Calculates distance to the destination + * adds it to the actual cost from origin and stores the sum to the Node::m_estimate */ + FORCEINLINE bool PfCalcEstimate(Node& n) + { + n.m_estimate = n.m_cost; + return true; + } +}; + +template +class CYapfDestinationAnySafeTileRailT + : public CYapfDestinationRailBase +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + typedef typename Types::TrackFollower TrackFollower; ///< TrackFollower. Need to typedef for gcc 2.95 + + /** to access inherited path finder */ + Tpf& Yapf() + { + return *static_cast(this); + } + + /** Called by YAPF to detect if node ends in the desired destination */ + FORCEINLINE bool PfDetectDestination(Node& n) + { + return PfDetectDestination(n.GetLastTile(), n.GetLastTrackdir()); + } + + /** Called by YAPF to detect if node ends in the desired destination */ + FORCEINLINE bool PfDetectDestination(TileIndex tile, Trackdir td) + { + return + IsSafeWaitingPosition(Train::From(Yapf().GetVehicle()), tile, td, true, !TrackFollower::Allow90degTurns()) && + IsWaitingPositionFree(Train::From(Yapf().GetVehicle()), tile, td, !TrackFollower::Allow90degTurns()); + } + + /** Called by YAPF to calculate cost estimate. Calculates distance to the destination + * adds it to the actual cost from origin and stores the sum to the Node::m_estimate. */ + FORCEINLINE bool PfCalcEstimate(Node& n) + { + n.m_estimate = n.m_cost; + return true; + } +}; + +template +class CYapfDestinationTileOrStationRailT + : public CYapfDestinationRailBase +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + +protected: + TileIndex m_destTile; + TrackdirBits m_destTrackdirs; + StationID m_dest_station_id; + + /** to access inherited path finder */ + Tpf& Yapf() + { + return *static_cast(this); + } + +public: + void SetDestination(const Vehicle *v) + { + switch (v->current_order.GetType()) { + case OT_GOTO_STATION: + case OT_GOTO_WAYPOINT: + m_destTile = CalcClosestStationTile(v->current_order.GetDestination(), v->tile); + m_dest_station_id = v->current_order.GetDestination(); + m_destTrackdirs = INVALID_TRACKDIR_BIT; + break; + + default: + m_destTile = v->dest_tile; + m_dest_station_id = INVALID_STATION; + m_destTrackdirs = TrackStatusToTrackdirBits(GetTileTrackStatus(v->dest_tile, TRANSPORT_RAIL, 0)); + break; + } + CYapfDestinationRailBase::SetDestination(v); + } + + /** Called by YAPF to detect if node ends in the desired destination */ + FORCEINLINE bool PfDetectDestination(Node& n) + { + return PfDetectDestination(n.GetLastTile(), n.GetLastTrackdir()); + } + + /** Called by YAPF to detect if node ends in the desired destination */ + FORCEINLINE bool PfDetectDestination(TileIndex tile, Trackdir td) + { + bool bDest; + if (m_dest_station_id != INVALID_STATION) { + bDest = HasStationTileRail(tile) + && (GetStationIndex(tile) == m_dest_station_id) + && (GetRailStationTrack(tile) == TrackdirToTrack(td)); + } else { + bDest = (tile == m_destTile) + && ((m_destTrackdirs & TrackdirToTrackdirBits(td)) != TRACKDIR_BIT_NONE); + } + return bDest; + } + + /** Called by YAPF to calculate cost estimate. Calculates distance to the destination + * adds it to the actual cost from origin and stores the sum to the Node::m_estimate */ + FORCEINLINE bool PfCalcEstimate(Node& n) + { + static const int dg_dir_to_x_offs[] = {-1, 0, 1, 0}; + static const int dg_dir_to_y_offs[] = {0, 1, 0, -1}; + if (PfDetectDestination(n)) { + n.m_estimate = n.m_cost; + return true; + } + + TileIndex tile = n.GetLastTile(); + DiagDirection exitdir = TrackdirToExitdir(n.GetLastTrackdir()); + int x1 = 2 * TileX(tile) + dg_dir_to_x_offs[(int)exitdir]; + int y1 = 2 * TileY(tile) + dg_dir_to_y_offs[(int)exitdir]; + int x2 = 2 * TileX(m_destTile); + int y2 = 2 * TileY(m_destTile); + int dx = abs(x1 - x2); + int dy = abs(y1 - y2); + int dmin = min(dx, dy); + int dxy = abs(dx - dy); + int d = dmin * YAPF_TILE_CORNER_LENGTH + (dxy - 1) * (YAPF_TILE_LENGTH / 2); + n.m_estimate = n.m_cost + d; + assert(n.m_estimate >= n.m_parent->m_estimate); + return true; + } +}; + +#endif /* YAPF_DESTRAIL_HPP */ diff --git a/src/pathfinder/yapf/yapf_node.hpp b/src/pathfinder/yapf/yapf_node.hpp new file mode 100644 index 000000000..47312e27f --- /dev/null +++ b/src/pathfinder/yapf/yapf_node.hpp @@ -0,0 +1,101 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf_node.hpp Node in the pathfinder's graph. */ + +#ifndef YAPF_NODE_HPP +#define YAPF_NODE_HPP + +/** Yapf Node Key that evaluates hash from (and compares) tile & exit dir. */ +struct CYapfNodeKeyExitDir { + TileIndex m_tile; + Trackdir m_td; + DiagDirection m_exitdir; + + FORCEINLINE void Set(TileIndex tile, Trackdir td) + { + m_tile = tile; + m_td = td; + m_exitdir = (m_td == INVALID_TRACKDIR) ? INVALID_DIAGDIR : TrackdirToExitdir(m_td); + } + + FORCEINLINE int CalcHash() const {return m_exitdir | (m_tile << 2);} + FORCEINLINE bool operator == (const CYapfNodeKeyExitDir& other) const {return (m_tile == other.m_tile) && (m_exitdir == other.m_exitdir);} + + void Dump(DumpTarget &dmp) const + { + dmp.WriteTile("m_tile", m_tile); + dmp.WriteEnumT("m_td", m_td); + dmp.WriteEnumT("m_exitdir", m_exitdir); + } +}; + +struct CYapfNodeKeyTrackDir : public CYapfNodeKeyExitDir +{ + FORCEINLINE int CalcHash() const {return m_td | (m_tile << 4);} + FORCEINLINE bool operator == (const CYapfNodeKeyTrackDir& other) const {return (m_tile == other.m_tile) && (m_td == other.m_td);} +}; + +/** Yapf Node base */ +template +struct CYapfNodeT { + typedef Tkey_ Key; + typedef Tnode Node; + + Tkey_ m_key; + Node *m_hash_next; + Node *m_parent; + int m_cost; + int m_estimate; + + FORCEINLINE void Set(Node *parent, TileIndex tile, Trackdir td, bool is_choice) + { + m_key.Set(tile, td); + m_hash_next = NULL; + m_parent = parent; + m_cost = 0; + m_estimate = 0; + } + + FORCEINLINE Node *GetHashNext() {return m_hash_next;} + FORCEINLINE void SetHashNext(Node *pNext) {m_hash_next = pNext;} + FORCEINLINE TileIndex GetTile() const {return m_key.m_tile;} + FORCEINLINE Trackdir GetTrackdir() const {return m_key.m_td;} + FORCEINLINE const Tkey_& GetKey() const {return m_key;} + FORCEINLINE int GetCost() const {return m_cost;} + FORCEINLINE int GetCostEstimate() const {return m_estimate;} + FORCEINLINE bool operator < (const Node& other) const {return m_estimate < other.m_estimate;} + + void Dump(DumpTarget &dmp) const + { + dmp.WriteStructT("m_key", &m_key); + dmp.WriteStructT("m_parent", m_parent); + dmp.WriteLine("m_cost = %d", m_cost); + dmp.WriteLine("m_estimate = %d", m_estimate); + } +}; + +/** Yapf Node for ships */ +template +struct CYapfShipNodeT + : CYapfNodeT > +{ + +}; + +/* now define two major node types (that differ by key type) */ +typedef CYapfShipNodeT CYapfShipNodeExitDir; +typedef CYapfShipNodeT CYapfShipNodeTrackDir; + +/* Default NodeList types */ +typedef CNodeList_HashTableT CShipNodeListExitDir; +typedef CNodeList_HashTableT CShipNodeListTrackDir; + + +#endif /* YAPF_NODE_HPP */ diff --git a/src/pathfinder/yapf/yapf_node_rail.hpp b/src/pathfinder/yapf/yapf_node_rail.hpp new file mode 100644 index 000000000..597424e0a --- /dev/null +++ b/src/pathfinder/yapf/yapf_node_rail.hpp @@ -0,0 +1,284 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf_node_rail.hpp Node tailored for rail pathfinding. */ + +#ifndef YAPF_NODE_RAIL_HPP +#define YAPF_NODE_RAIL_HPP + +/** key for cached segment cost for rail YAPF */ +struct CYapfRailSegmentKey +{ + uint32 m_value; + + FORCEINLINE CYapfRailSegmentKey(const CYapfRailSegmentKey& src) : m_value(src.m_value) {} + + FORCEINLINE CYapfRailSegmentKey(const CYapfNodeKeyTrackDir& node_key) + { + Set(node_key); + } + + FORCEINLINE void Set(const CYapfRailSegmentKey& src) + { + m_value = src.m_value; + } + + FORCEINLINE void Set(const CYapfNodeKeyTrackDir& node_key) + { + m_value = (((int)node_key.m_tile) << 4) | node_key.m_td; + } + + FORCEINLINE int32 CalcHash() const + { + return m_value; + } + + FORCEINLINE TileIndex GetTile() const + { + return (TileIndex)(m_value >> 4); + } + + FORCEINLINE Trackdir GetTrackdir() const + { + return (Trackdir)(m_value & 0x0F); + } + + FORCEINLINE bool operator == (const CYapfRailSegmentKey& other) const + { + return m_value == other.m_value; + } + + void Dump(DumpTarget &dmp) const + { + dmp.WriteTile("tile", GetTile()); + dmp.WriteEnumT("td", GetTrackdir()); + } +}; + +/* Enum used in PfCalcCost() to see why was the segment closed. */ +enum EndSegmentReason { + /* The following reasons can be saved into cached segment */ + ESR_DEAD_END = 0, ///< track ends here + ESR_RAIL_TYPE, ///< the next tile has a different rail type than our tiles + ESR_INFINITE_LOOP, ///< infinite loop detected + ESR_SEGMENT_TOO_LONG, ///< the segment is too long (possible infinite loop) + ESR_CHOICE_FOLLOWS, ///< the next tile contains a choice (the track splits to more than one segments) + ESR_DEPOT, ///< stop in the depot (could be a target next time) + ESR_WAYPOINT, ///< waypoint encountered (could be a target next time) + ESR_STATION, ///< station encountered (could be a target next time) + ESR_SAFE_TILE, ///< safe waiting position found (could be a target) + + /* The following reasons are used only internally by PfCalcCost(). + * They should not be found in the cached segment. */ + ESR_PATH_TOO_LONG, ///< the path is too long (searching for the nearest depot in the given radius) + ESR_FIRST_TWO_WAY_RED, ///< first signal was 2-way and it was red + ESR_LOOK_AHEAD_END, ///< we have just passed the last look-ahead signal + ESR_TARGET_REACHED, ///< we have just reached the destination + + /* Special values */ + ESR_NONE = 0xFF, ///< no reason to end the segment here +}; + +enum EndSegmentReasonBits { + ESRB_NONE = 0, + + ESRB_DEAD_END = 1 << ESR_DEAD_END, + ESRB_RAIL_TYPE = 1 << ESR_RAIL_TYPE, + ESRB_INFINITE_LOOP = 1 << ESR_INFINITE_LOOP, + ESRB_SEGMENT_TOO_LONG = 1 << ESR_SEGMENT_TOO_LONG, + ESRB_CHOICE_FOLLOWS = 1 << ESR_CHOICE_FOLLOWS, + ESRB_DEPOT = 1 << ESR_DEPOT, + ESRB_WAYPOINT = 1 << ESR_WAYPOINT, + ESRB_STATION = 1 << ESR_STATION, + ESRB_SAFE_TILE = 1 << ESR_SAFE_TILE, + + ESRB_PATH_TOO_LONG = 1 << ESR_PATH_TOO_LONG, + ESRB_FIRST_TWO_WAY_RED = 1 << ESR_FIRST_TWO_WAY_RED, + ESRB_LOOK_AHEAD_END = 1 << ESR_LOOK_AHEAD_END, + ESRB_TARGET_REACHED = 1 << ESR_TARGET_REACHED, + + /* Additional (composite) values. */ + + /* What reasons mean that the target can be found and needs to be detected. */ + ESRB_POSSIBLE_TARGET = ESRB_DEPOT | ESRB_WAYPOINT | ESRB_STATION | ESRB_SAFE_TILE, + + /* What reasons can be stored back into cached segment. */ + ESRB_CACHED_MASK = ESRB_DEAD_END | ESRB_RAIL_TYPE | ESRB_INFINITE_LOOP | ESRB_SEGMENT_TOO_LONG | ESRB_CHOICE_FOLLOWS | ESRB_DEPOT | ESRB_WAYPOINT | ESRB_STATION | ESRB_SAFE_TILE, + + /* Reasons to abort pathfinding in this direction. */ + ESRB_ABORT_PF_MASK = ESRB_DEAD_END | ESRB_PATH_TOO_LONG | ESRB_INFINITE_LOOP | ESRB_FIRST_TWO_WAY_RED, +}; + +DECLARE_ENUM_AS_BIT_SET(EndSegmentReasonBits); + +inline CStrA ValueStr(EndSegmentReasonBits bits) +{ + static const char * const end_segment_reason_names[] = { + "DEAD_END", "RAIL_TYPE", "INFINITE_LOOP", "SEGMENT_TOO_LONG", "CHOICE_FOLLOWS", + "DEPOT", "WAYPOINT", "STATION", "SAFE_TILE", + "PATH_TOO_LONG", "FIRST_TWO_WAY_RED", "LOOK_AHEAD_END", "TARGET_REACHED" + }; + + CStrA out; + out.Format("0x%04X (%s)", bits, ComposeNameT(bits, end_segment_reason_names, "UNK", ESRB_NONE, "NONE").Data()); + return out.Transfer(); +} + +/** cached segment cost for rail YAPF */ +struct CYapfRailSegment +{ + typedef CYapfRailSegmentKey Key; + + CYapfRailSegmentKey m_key; + TileIndex m_last_tile; + Trackdir m_last_td; + int m_cost; + TileIndex m_last_signal_tile; + Trackdir m_last_signal_td; + EndSegmentReasonBits m_end_segment_reason; + CYapfRailSegment *m_hash_next; + + FORCEINLINE CYapfRailSegment(const CYapfRailSegmentKey& key) + : m_key(key) + , m_last_tile(INVALID_TILE) + , m_last_td(INVALID_TRACKDIR) + , m_cost(-1) + , m_last_signal_tile(INVALID_TILE) + , m_last_signal_td(INVALID_TRACKDIR) + , m_end_segment_reason(ESRB_NONE) + , m_hash_next(NULL) + {} + + FORCEINLINE const Key& GetKey() const + { + return m_key; + } + + FORCEINLINE TileIndex GetTile() const + { + return m_key.GetTile(); + } + + FORCEINLINE CYapfRailSegment *GetHashNext() + { + return m_hash_next; + } + + FORCEINLINE void SetHashNext(CYapfRailSegment *next) + { + m_hash_next = next; + } + + void Dump(DumpTarget &dmp) const + { + dmp.WriteStructT("m_key", &m_key); + dmp.WriteTile("m_last_tile", m_last_tile); + dmp.WriteEnumT("m_last_td", m_last_td); + dmp.WriteLine("m_cost = %d", m_cost); + dmp.WriteTile("m_last_signal_tile", m_last_signal_tile); + dmp.WriteEnumT("m_last_signal_td", m_last_signal_td); + dmp.WriteEnumT("m_end_segment_reason", m_end_segment_reason); + } +}; + +/** Yapf Node for rail YAPF */ +template +struct CYapfRailNodeT + : CYapfNodeT > +{ + typedef CYapfNodeT > base; + typedef CYapfRailSegment CachedData; + + CYapfRailSegment *m_segment; + uint16 m_num_signals_passed; + union { + uint32 m_inherited_flags; + struct { + bool m_targed_seen : 1; + bool m_choice_seen : 1; + bool m_last_signal_was_red : 1; + } flags_s; + } flags_u; + SignalType m_last_red_signal_type; + + FORCEINLINE void Set(CYapfRailNodeT *parent, TileIndex tile, Trackdir td, bool is_choice) + { + base::Set(parent, tile, td, is_choice); + m_segment = NULL; + if (parent == NULL) { + m_num_signals_passed = 0; + flags_u.m_inherited_flags = 0; + m_last_red_signal_type = SIGTYPE_NORMAL; + } else { + m_num_signals_passed = parent->m_num_signals_passed; + flags_u.m_inherited_flags = parent->flags_u.m_inherited_flags; + m_last_red_signal_type = parent->m_last_red_signal_type; + } + flags_u.flags_s.m_choice_seen |= is_choice; + } + + FORCEINLINE TileIndex GetLastTile() const + { + assert(m_segment != NULL); + return m_segment->m_last_tile; + } + + FORCEINLINE Trackdir GetLastTrackdir() const + { + assert(m_segment != NULL); + return m_segment->m_last_td; + } + + FORCEINLINE void SetLastTileTrackdir(TileIndex tile, Trackdir td) + { + assert(m_segment != NULL); + m_segment->m_last_tile = tile; + m_segment->m_last_td = td; + } + + template + bool IterateTiles(const Vehicle *v, Tpf &yapf, Tbase &obj, bool (Tfunc::*func)(TileIndex, Trackdir)) const + { + typename Tbase::TrackFollower ft(v, yapf.GetCompatibleRailTypes()); + TileIndex cur = base::GetTile(); + Trackdir cur_td = base::GetTrackdir(); + + while (cur != GetLastTile() || cur_td != GetLastTrackdir()) { + if (!((obj.*func)(cur, cur_td))) return false; + + ft.Follow(cur, cur_td); + cur = ft.m_new_tile; + assert(KillFirstBit(ft.m_new_td_bits) == TRACKDIR_BIT_NONE); + cur_td = FindFirstTrackdir(ft.m_new_td_bits); + } + + return (obj.*func)(cur, cur_td); + } + + void Dump(DumpTarget &dmp) const + { + base::Dump(dmp); + dmp.WriteStructT("m_segment", m_segment); + dmp.WriteLine("m_num_signals_passed = %d", m_num_signals_passed); + dmp.WriteLine("m_targed_seen = %s", flags_u.flags_s.m_targed_seen ? "Yes" : "No"); + dmp.WriteLine("m_choice_seen = %s", flags_u.flags_s.m_choice_seen ? "Yes" : "No"); + dmp.WriteLine("m_last_signal_was_red = %s", flags_u.flags_s.m_last_signal_was_red ? "Yes" : "No"); + dmp.WriteEnumT("m_last_red_signal_type", m_last_red_signal_type); + } +}; + +/* now define two major node types (that differ by key type) */ +typedef CYapfRailNodeT CYapfRailNodeExitDir; +typedef CYapfRailNodeT CYapfRailNodeTrackDir; + +/* Default NodeList types */ +typedef CNodeList_HashTableT CRailNodeListExitDir; +typedef CNodeList_HashTableT CRailNodeListTrackDir; + +#endif /* YAPF_NODE_RAIL_HPP */ diff --git a/src/pathfinder/yapf/yapf_node_road.hpp b/src/pathfinder/yapf/yapf_node_road.hpp new file mode 100644 index 000000000..c84755b5f --- /dev/null +++ b/src/pathfinder/yapf/yapf_node_road.hpp @@ -0,0 +1,41 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf_node_road.hpp Node tailored for road pathfinding. */ + +#ifndef YAPF_NODE_ROAD_HPP +#define YAPF_NODE_ROAD_HPP + +/** Yapf Node for road YAPF */ +template +struct CYapfRoadNodeT + : CYapfNodeT > +{ + typedef CYapfNodeT > base; + + TileIndex m_segment_last_tile; + Trackdir m_segment_last_td; + + void Set(CYapfRoadNodeT *parent, TileIndex tile, Trackdir td, bool is_choice) + { + base::Set(parent, tile, td, is_choice); + m_segment_last_tile = tile; + m_segment_last_td = td; + } +}; + +/* now define two major node types (that differ by key type) */ +typedef CYapfRoadNodeT CYapfRoadNodeExitDir; +typedef CYapfRoadNodeT CYapfRoadNodeTrackDir; + +/* Default NodeList types */ +typedef CNodeList_HashTableT CRoadNodeListExitDir; +typedef CNodeList_HashTableT CRoadNodeListTrackDir; + +#endif /* YAPF_NODE_ROAD_HPP */ diff --git a/src/pathfinder/yapf/yapf_rail.cpp b/src/pathfinder/yapf/yapf_rail.cpp new file mode 100644 index 000000000..f17b90262 --- /dev/null +++ b/src/pathfinder/yapf/yapf_rail.cpp @@ -0,0 +1,645 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf_rail.cpp The rail pathfinding. */ + +#include "../../stdafx.h" + +#include "yapf.hpp" +#include "yapf_node_rail.hpp" +#include "yapf_costrail.hpp" +#include "yapf_destrail.hpp" +#include "../../functions.h" + +#define DEBUG_YAPF_CACHE 0 + +#if DEBUG_YAPF_CACHE +template void DumpState(Tpf &pf1, Tpf &pf2) +{ + DumpTarget dmp1, dmp2; + pf1.DumpBase(dmp1); + pf2.DumpBase(dmp2); + FILE *f1 = fopen("yapf1.txt", "wt"); + FILE *f2 = fopen("yapf2.txt", "wt"); + fwrite(dmp1.m_out.Data(), 1, dmp1.m_out.Size(), f1); + fwrite(dmp2.m_out.Data(), 1, dmp2.m_out.Size(), f2); + fclose(f1); + fclose(f2); +} +#endif + +int _total_pf_time_us = 0; + +template +class CYapfReserveTrack +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::TrackFollower TrackFollower; + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + +protected: + /** to access inherited pathfinder */ + FORCEINLINE Tpf& Yapf() + { + return *static_cast(this); + } + +private: + TileIndex m_res_dest; ///< The reservation target tile + Trackdir m_res_dest_td; ///< The reservation target trackdir + Node *m_res_node; ///< The reservation target node + TileIndex m_res_fail_tile; ///< The tile where the reservation failed + Trackdir m_res_fail_td; ///< The trackdir where the reservation failed + + bool FindSafePositionProc(TileIndex tile, Trackdir td) + { + if (IsSafeWaitingPosition(Train::From(Yapf().GetVehicle()), tile, td, true, !TrackFollower::Allow90degTurns())) { + m_res_dest = tile; + m_res_dest_td = td; + return false; // Stop iterating segment + } + return true; + } + + /** Reserve a railway platform. Tile contains the failed tile on abort. */ + bool ReserveRailStationPlatform(TileIndex &tile, DiagDirection dir) + { + TileIndex start = tile; + TileIndexDiff diff = TileOffsByDiagDir(dir); + + do { + if (HasStationReservation(tile)) return false; + SetRailStationReservation(tile, true); + MarkTileDirtyByTile(tile); + tile = TILE_ADD(tile, diff); + } while (IsCompatibleTrainStationTile(tile, start)); + + return true; + } + + /** Try to reserve a single track/platform. */ + bool ReserveSingleTrack(TileIndex tile, Trackdir td) + { + if (IsRailStationTile(tile)) { + if (!ReserveRailStationPlatform(tile, TrackdirToExitdir(ReverseTrackdir(td)))) { + /* Platform could not be reserved, undo. */ + m_res_fail_tile = tile; + m_res_fail_td = td; + } + } else { + if (!TryReserveRailTrack(tile, TrackdirToTrack(td))) { + /* Tile couldn't be reserved, undo. */ + m_res_fail_tile = tile; + m_res_fail_td = td; + return false; + } + } + + return tile != m_res_dest || td != m_res_dest_td; + } + + /** Unreserve a single track/platform. Stops when the previous failer is reached. */ + bool UnreserveSingleTrack(TileIndex tile, Trackdir td) + { + if (IsRailStationTile(tile)) { + TileIndex start = tile; + TileIndexDiff diff = TileOffsByDiagDir(TrackdirToExitdir(ReverseTrackdir(td))); + while ((tile != m_res_fail_tile || td != m_res_fail_td) && IsCompatibleTrainStationTile(tile, start)) { + SetRailStationReservation(tile, false); + tile = TILE_ADD(tile, diff); + } + } else if (tile != m_res_fail_tile || td != m_res_fail_td) { + UnreserveRailTrack(tile, TrackdirToTrack(td)); + } + return (tile != m_res_dest || td != m_res_dest_td) && (tile != m_res_fail_tile || td != m_res_fail_td); + } + +public: + /** Set the target to where the reservation should be extended. */ + inline void SetReservationTarget(Node *node, TileIndex tile, Trackdir td) + { + m_res_node = node; + m_res_dest = tile; + m_res_dest_td = td; + } + + /** Check the node for a possible reservation target. */ + inline void FindSafePositionOnNode(Node *node) + { + assert(node->m_parent != NULL); + + /* We will never pass more than two signals, no need to check for a safe tile. */ + if (node->m_parent->m_num_signals_passed >= 2) return; + + if (!node->IterateTiles(Yapf().GetVehicle(), Yapf(), *this, &CYapfReserveTrack::FindSafePositionProc)) { + m_res_node = node; + } + } + + /** Try to reserve the path till the reservation target. */ + bool TryReservePath(PBSTileInfo *target) + { + m_res_fail_tile = INVALID_TILE; + + if (target != NULL) { + target->tile = m_res_dest; + target->trackdir = m_res_dest_td; + target->okay = false; + } + + /* Don't bother if the target is reserved. */ + if (!IsWaitingPositionFree(Train::From(Yapf().GetVehicle()), m_res_dest, m_res_dest_td)) return false; + + for (Node *node = m_res_node; node->m_parent != NULL; node = node->m_parent) { + node->IterateTiles(Yapf().GetVehicle(), Yapf(), *this, &CYapfReserveTrack::ReserveSingleTrack); + if (m_res_fail_tile != INVALID_TILE) { + /* Reservation failed, undo. */ + Node *fail_node = m_res_node; + TileIndex stop_tile = m_res_fail_tile; + do { + /* If this is the node that failed, stop at the failed tile. */ + m_res_fail_tile = fail_node == node ? stop_tile : INVALID_TILE; + fail_node->IterateTiles(Yapf().GetVehicle(), Yapf(), *this, &CYapfReserveTrack::UnreserveSingleTrack); + } while (fail_node != node && (fail_node = fail_node->m_parent) != NULL); + + return false; + } + } + + if (target != NULL) target->okay = true; + + if (Yapf().CanUseGlobalCache(*m_res_node)) + YapfNotifyTrackLayoutChange(INVALID_TILE, INVALID_TRACK); + + return true; + } +}; + +template +class CYapfFollowAnyDepotRailT +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::TrackFollower TrackFollower; + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + +protected: + /** to access inherited path finder */ + FORCEINLINE Tpf& Yapf() + { + return *static_cast(this); + } + +public: + /** Called by YAPF to move from the given node to the next tile. For each + * reachable trackdir on the new tile creates new node, initializes it + * and adds it to the open list by calling Yapf().AddNewNode(n) */ + inline void PfFollowNode(Node& old_node) + { + TrackFollower F(Yapf().GetVehicle()); + if (F.Follow(old_node.GetLastTile(), old_node.GetLastTrackdir())) { + Yapf().AddMultipleNodes(&old_node, F); + } + } + + /** return debug report character to identify the transportation type */ + FORCEINLINE char TransportTypeChar() const + { + return 't'; + } + + static bool stFindNearestDepotTwoWay(const Vehicle *v, TileIndex t1, Trackdir td1, TileIndex t2, Trackdir td2, int max_distance, int reverse_penalty, TileIndex *depot_tile, bool *reversed) + { + Tpf pf1; + /* + * With caching enabled it simply cannot get a reliable result when you + * have limited the distance a train may travel. This means that the + * cached result does not match uncached result in all cases and that + * causes desyncs. So disable caching when finding for a depot that is + * nearby. This only happens with automatic servicing of vehicles, + * so it will only impact performance when you do not manually set + * depot orders and you do not disable automatic servicing. + */ + if (max_distance != 0) pf1.DisableCache(true); + bool result1 = pf1.FindNearestDepotTwoWay(v, t1, td1, t2, td2, max_distance, reverse_penalty, depot_tile, reversed); + +#if DEBUG_YAPF_CACHE + Tpf pf2; + TileIndex depot_tile2 = INVALID_TILE; + bool reversed2 = false; + pf2.DisableCache(true); + bool result2 = pf2.FindNearestDepotTwoWay(v, t1, td1, t2, td2, max_distance, reverse_penalty, &depot_tile2, &reversed2); + if (result1 != result2 || (result1 && (*depot_tile != depot_tile2 || *reversed != reversed2))) { + DEBUG(yapf, 0, "CACHE ERROR: FindNearestDepotTwoWay() = [%s, %s]", result1 ? "T" : "F", result2 ? "T" : "F"); + DumpState(pf1, pf2); + } +#endif + + return result1; + } + + FORCEINLINE bool FindNearestDepotTwoWay(const Vehicle *v, TileIndex t1, Trackdir td1, TileIndex t2, Trackdir td2, int max_distance, int reverse_penalty, TileIndex *depot_tile, bool *reversed) + { + /* set origin and destination nodes */ + Yapf().SetOrigin(t1, td1, t2, td2, reverse_penalty, true); + Yapf().SetDestination(v); + Yapf().SetMaxCost(YAPF_TILE_LENGTH * max_distance); + + /* find the best path */ + bool bFound = Yapf().FindPath(v); + if (!bFound) return false; + + /* some path found + * get found depot tile */ + Node *n = Yapf().GetBestNode(); + *depot_tile = n->GetLastTile(); + + /* walk through the path back to the origin */ + Node *pNode = n; + while (pNode->m_parent != NULL) { + pNode = pNode->m_parent; + } + + /* if the origin node is our front vehicle tile/Trackdir then we didn't reverse + * but we can also look at the cost (== 0 -> not reversed, == reverse_penalty -> reversed) */ + *reversed = (pNode->m_cost != 0); + + return true; + } +}; + +template +class CYapfFollowAnySafeTileRailT : public CYapfReserveTrack +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::TrackFollower TrackFollower; + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + +protected: + /** to access inherited path finder */ + FORCEINLINE Tpf& Yapf() + { + return *static_cast(this); + } + +public: + /** Called by YAPF to move from the given node to the next tile. For each + * reachable trackdir on the new tile creates new node, initializes it + * and adds it to the open list by calling Yapf().AddNewNode(n) */ + inline void PfFollowNode(Node& old_node) + { + TrackFollower F(Yapf().GetVehicle(), Yapf().GetCompatibleRailTypes()); + if (F.Follow(old_node.GetLastTile(), old_node.GetLastTrackdir()) && F.MaskReservedTracks()) { + Yapf().AddMultipleNodes(&old_node, F); + } + } + + /** Return debug report character to identify the transportation type */ + FORCEINLINE char TransportTypeChar() const + { + return 't'; + } + + static bool stFindNearestSafeTile(const Vehicle *v, TileIndex t1, Trackdir td, bool override_railtype) + { + /* Create pathfinder instance */ + Tpf pf1; +#if !DEBUG_YAPF_CACHE + bool result1 = pf1.FindNearestSafeTile(v, t1, td, override_railtype, false); + +#else + bool result2 = pf1.FindNearestSafeTile(v, t1, td, override_railtype, true); + Tpf pf2; + pf2.DisableCache(true); + bool result1 = pf2.FindNearestSafeTile(v, t1, td, override_railtype, false); + if (result1 != result2) { + DEBUG(yapf, 0, "CACHE ERROR: FindSafeTile() = [%s, %s]", result2 ? "T" : "F", result1 ? "T" : "F"); + DumpState(pf1, pf2); + } +#endif + + return result1; + } + + bool FindNearestSafeTile(const Vehicle *v, TileIndex t1, Trackdir td, bool override_railtype, bool dont_reserve) + { + /* Set origin and destination. */ + Yapf().SetOrigin(t1, td); + Yapf().SetDestination(v, override_railtype); + + bool bFound = Yapf().FindPath(v); + if (!bFound) return false; + + /* Found a destination, set as reservation target. */ + Node *pNode = Yapf().GetBestNode(); + this->SetReservationTarget(pNode, pNode->GetLastTile(), pNode->GetLastTrackdir()); + + /* Walk through the path back to the origin. */ + Node *pPrev = NULL; + while (pNode->m_parent != NULL) { + pPrev = pNode; + pNode = pNode->m_parent; + + this->FindSafePositionOnNode(pPrev); + } + + return dont_reserve || this->TryReservePath(NULL); + } +}; + +template +class CYapfFollowRailT : public CYapfReserveTrack +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::TrackFollower TrackFollower; + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + +protected: + /** to access inherited path finder */ + FORCEINLINE Tpf& Yapf() + { + return *static_cast(this); + } + +public: + /** Called by YAPF to move from the given node to the next tile. For each + * reachable trackdir on the new tile creates new node, initializes it + * and adds it to the open list by calling Yapf().AddNewNode(n) */ + inline void PfFollowNode(Node& old_node) + { + TrackFollower F(Yapf().GetVehicle()); + if (F.Follow(old_node.GetLastTile(), old_node.GetLastTrackdir())) { + Yapf().AddMultipleNodes(&old_node, F); + } + } + + /** return debug report character to identify the transportation type */ + FORCEINLINE char TransportTypeChar() const + { + return 't'; + } + + static Trackdir stChooseRailTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir, TrackBits tracks, bool *path_not_found, bool reserve_track, PBSTileInfo *target) + { + /* create pathfinder instance */ + Tpf pf1; +#if !DEBUG_YAPF_CACHE + Trackdir result1 = pf1.ChooseRailTrack(v, tile, enterdir, tracks, path_not_found, reserve_track, target); + +#else + Trackdir result1 = pf1.ChooseRailTrack(v, tile, enterdir, tracks, path_not_found, false, NULL); + Tpf pf2; + pf2.DisableCache(true); + Trackdir result2 = pf2.ChooseRailTrack(v, tile, enterdir, tracks, path_not_found, reserve_track, target); + if (result1 != result2) { + DEBUG(yapf, 0, "CACHE ERROR: ChooseRailTrack() = [%d, %d]", result1, result2); + DumpState(pf1, pf2); + } +#endif + + return result1; + } + + FORCEINLINE Trackdir ChooseRailTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir, TrackBits tracks, bool *path_not_found, bool reserve_track, PBSTileInfo *target) + { + if (target != NULL) target->tile = INVALID_TILE; + + /* set origin and destination nodes */ + PBSTileInfo origin = FollowTrainReservation(Train::From(v)); + Yapf().SetOrigin(origin.tile, origin.trackdir, INVALID_TILE, INVALID_TRACKDIR, 1, true); + Yapf().SetDestination(v); + + /* find the best path */ + bool path_found = Yapf().FindPath(v); + if (path_not_found != NULL) { + /* tell controller that the path was only 'guessed' + * treat the path as found if stopped on the first two way signal(s) */ + *path_not_found = !(path_found || Yapf().m_stopped_on_first_two_way_signal); + } + + /* if path not found - return INVALID_TRACKDIR */ + Trackdir next_trackdir = INVALID_TRACKDIR; + Node *pNode = Yapf().GetBestNode(); + if (pNode != NULL) { + /* reserve till end of path */ + this->SetReservationTarget(pNode, pNode->GetLastTile(), pNode->GetLastTrackdir()); + + /* path was found or at least suggested + * walk through the path back to the origin */ + Node *pPrev = NULL; + while (pNode->m_parent != NULL) { + pPrev = pNode; + pNode = pNode->m_parent; + + this->FindSafePositionOnNode(pPrev); + } + /* return trackdir from the best origin node (one of start nodes) */ + Node& best_next_node = *pPrev; + next_trackdir = best_next_node.GetTrackdir(); + + if (reserve_track && path_found) this->TryReservePath(target); + } + return next_trackdir; + } + + static bool stCheckReverseTrain(const Vehicle *v, TileIndex t1, Trackdir td1, TileIndex t2, Trackdir td2, int reverse_penalty) + { + Tpf pf1; + bool result1 = pf1.CheckReverseTrain(v, t1, td1, t2, td2, reverse_penalty); + +#if DEBUG_YAPF_CACHE + Tpf pf2; + pf2.DisableCache(true); + bool result2 = pf2.CheckReverseTrain(v, t1, td1, t2, td2, reverse_penalty); + if (result1 != result2) { + DEBUG(yapf, 0, "CACHE ERROR: CheckReverseTrain() = [%s, %s]", result1 ? "T" : "F", result2 ? "T" : "F"); + DumpState(pf1, pf2); + } +#endif + + return result1; + } + + FORCEINLINE bool CheckReverseTrain(const Vehicle *v, TileIndex t1, Trackdir td1, TileIndex t2, Trackdir td2, int reverse_penalty) + { + /* create pathfinder instance + * set origin and destination nodes */ + Yapf().SetOrigin(t1, td1, t2, td2, reverse_penalty, false); + Yapf().SetDestination(v); + + /* find the best path */ + bool bFound = Yapf().FindPath(v); + + if (!bFound) return false; + + /* path was found + * walk through the path back to the origin */ + Node *pNode = Yapf().GetBestNode(); + while (pNode->m_parent != NULL) { + pNode = pNode->m_parent; + } + + /* check if it was reversed origin */ + Node& best_org_node = *pNode; + bool reversed = (best_org_node.m_cost != 0); + return reversed; + } +}; + +template class TdestinationT, template class TfollowT> +struct CYapfRail_TypesT +{ + typedef CYapfRail_TypesT Types; + + typedef Tpf_ Tpf; + typedef Ttrack_follower TrackFollower; + typedef Tnode_list NodeList; + typedef CYapfBaseT PfBase; + typedef TfollowT PfFollow; + typedef CYapfOriginTileTwoWayT PfOrigin; + typedef TdestinationT PfDestination; + typedef CYapfSegmentCostCacheGlobalT PfCache; + typedef CYapfCostRailT PfCost; +}; + +struct CYapfRail1 : CYapfT > {}; +struct CYapfRail2 : CYapfT > {}; + +struct CYapfAnyDepotRail1 : CYapfT > {}; +struct CYapfAnyDepotRail2 : CYapfT > {}; + +struct CYapfAnySafeTileRail1 : CYapfT > {}; +struct CYapfAnySafeTileRail2 : CYapfT > {}; + + +Trackdir YapfChooseRailTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir, TrackBits tracks, bool *path_not_found, bool reserve_track, PBSTileInfo *target) +{ + /* default is YAPF type 2 */ + typedef Trackdir (*PfnChooseRailTrack)(const Vehicle*, TileIndex, DiagDirection, TrackBits, bool*, bool, PBSTileInfo*); + PfnChooseRailTrack pfnChooseRailTrack = &CYapfRail1::stChooseRailTrack; + + /* check if non-default YAPF type needed */ + if (_settings_game.pf.forbid_90_deg) { + pfnChooseRailTrack = &CYapfRail2::stChooseRailTrack; // Trackdir, forbid 90-deg + } + + Trackdir td_ret = pfnChooseRailTrack(v, tile, enterdir, tracks, path_not_found, reserve_track, target); + + return td_ret; +} + +bool YapfCheckReverseTrain(const Vehicle *vt) +{ + const Train *v = Train::From(vt); + const Train *last_veh = v->Last(); + + /* get trackdirs of both ends */ + Trackdir td = v->GetVehicleTrackdir(); + Trackdir td_rev = ReverseTrackdir(last_veh->GetVehicleTrackdir()); + + /* tiles where front and back are */ + TileIndex tile = v->tile; + TileIndex tile_rev = last_veh->tile; + + int reverse_penalty = 0; + + if (v->track == TRACK_BIT_WORMHOLE) { + /* front in tunnel / on bridge */ + DiagDirection dir_into_wormhole = GetTunnelBridgeDirection(tile); + + if (TrackdirToExitdir(td) == dir_into_wormhole) tile = GetOtherTunnelBridgeEnd(tile); + /* Now 'tile' is the tunnel entry/bridge ramp the train will reach when driving forward */ + + /* Current position of the train in the wormhole */ + TileIndex cur_tile = TileVirtXY(v->x_pos, v->y_pos); + + /* Add distance to drive in the wormhole as penalty for the forward path, i.e. bonus for the reverse path + * Note: Negative penalties are ok for the start tile. */ + reverse_penalty -= DistanceManhattan(cur_tile, tile) * YAPF_TILE_LENGTH; + } + + if (last_veh->track == TRACK_BIT_WORMHOLE) { + /* back in tunnel / on bridge */ + DiagDirection dir_into_wormhole = GetTunnelBridgeDirection(tile_rev); + + if (TrackdirToExitdir(td_rev) == dir_into_wormhole) tile_rev = GetOtherTunnelBridgeEnd(tile_rev); + /* Now 'tile_rev' is the tunnel entry/bridge ramp the train will reach when reversing */ + + /* Current position of the last wagon in the wormhole */ + TileIndex cur_tile = TileVirtXY(last_veh->x_pos, last_veh->y_pos); + + /* Add distance to drive in the wormhole as penalty for the revere path. */ + reverse_penalty += DistanceManhattan(cur_tile, tile_rev) * YAPF_TILE_LENGTH; + } + + typedef bool (*PfnCheckReverseTrain)(const Vehicle*, TileIndex, Trackdir, TileIndex, Trackdir, int); + PfnCheckReverseTrain pfnCheckReverseTrain = CYapfRail1::stCheckReverseTrain; + + /* check if non-default YAPF type needed */ + if (_settings_game.pf.forbid_90_deg) { + pfnCheckReverseTrain = &CYapfRail2::stCheckReverseTrain; // Trackdir, forbid 90-deg + } + + /* slightly hackish: If the pathfinders finds a path, the cost of the first node is tested to distinguish between forward- and reverse-path. */ + if (reverse_penalty == 0) reverse_penalty = 1; + + bool reverse = pfnCheckReverseTrain(v, tile, td, tile_rev, td_rev, reverse_penalty); + + return reverse; +} + +bool YapfFindNearestRailDepotTwoWay(const Vehicle *v, int max_distance, int reverse_penalty, TileIndex *depot_tile, bool *reversed) +{ + *depot_tile = INVALID_TILE; + *reversed = false; + + const Vehicle *last_veh = v->Last(); + + PBSTileInfo origin = FollowTrainReservation(Train::From(v)); + TileIndex last_tile = last_veh->tile; + Trackdir td_rev = ReverseTrackdir(last_veh->GetVehicleTrackdir()); + + typedef bool (*PfnFindNearestDepotTwoWay)(const Vehicle*, TileIndex, Trackdir, TileIndex, Trackdir, int, int, TileIndex*, bool*); + PfnFindNearestDepotTwoWay pfnFindNearestDepotTwoWay = &CYapfAnyDepotRail1::stFindNearestDepotTwoWay; + + /* check if non-default YAPF type needed */ + if (_settings_game.pf.forbid_90_deg) { + pfnFindNearestDepotTwoWay = &CYapfAnyDepotRail2::stFindNearestDepotTwoWay; // Trackdir, forbid 90-deg + } + + bool ret = pfnFindNearestDepotTwoWay(v, origin.tile, origin.trackdir, last_tile, td_rev, max_distance, reverse_penalty, depot_tile, reversed); + return ret; +} + +bool YapfRailFindNearestSafeTile(const Vehicle *v, TileIndex tile, Trackdir td, bool override_railtype) +{ + typedef bool (*PfnFindNearestSafeTile)(const Vehicle*, TileIndex, Trackdir, bool); + PfnFindNearestSafeTile pfnFindNearestSafeTile = CYapfAnySafeTileRail1::stFindNearestSafeTile; + + /* check if non-default YAPF type needed */ + if (_settings_game.pf.forbid_90_deg) { + pfnFindNearestSafeTile = &CYapfAnySafeTileRail2::stFindNearestSafeTile; + } + + return pfnFindNearestSafeTile(v, tile, td, override_railtype); +} + +/** if any track changes, this counter is incremented - that will invalidate segment cost cache */ +int CSegmentCostCacheBase::s_rail_change_counter = 0; + +void YapfNotifyTrackLayoutChange(TileIndex tile, Track track) +{ + CSegmentCostCacheBase::NotifyTrackLayoutChange(tile, track); +} diff --git a/src/pathfinder/yapf/yapf_road.cpp b/src/pathfinder/yapf/yapf_road.cpp new file mode 100644 index 000000000..3a5f80717 --- /dev/null +++ b/src/pathfinder/yapf/yapf_road.cpp @@ -0,0 +1,631 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf_road.cpp The road pathfinding. */ + +#include "../../stdafx.h" +#include "../../roadstop_base.h" +#include "../../cargotype.h" + +#include "yapf.hpp" +#include "yapf_node_road.hpp" + + +template +class CYapfCostRoadT +{ +public: + typedef typename Types::Tpf Tpf; ///< pathfinder (derived from THIS class) + typedef typename Types::TrackFollower TrackFollower; ///< track follower helper + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + +protected: + /** to access inherited path finder */ + Tpf& Yapf() + { + return *static_cast(this); + } + + int SlopeCost(TileIndex tile, TileIndex next_tile, Trackdir trackdir) + { + /* height of the center of the current tile */ + int x1 = TileX(tile) * TILE_SIZE; + int y1 = TileY(tile) * TILE_SIZE; + int z1 = GetSlopeZ(x1 + TILE_SIZE / 2, y1 + TILE_SIZE / 2); + + /* height of the center of the next tile */ + int x2 = TileX(next_tile) * TILE_SIZE; + int y2 = TileY(next_tile) * TILE_SIZE; + int z2 = GetSlopeZ(x2 + TILE_SIZE / 2, y2 + TILE_SIZE / 2); + + if (z2 - z1 > 1) { + /* Slope up */ + return Yapf().PfGetSettings().road_slope_penalty; + } + return 0; + } + + /** return one tile cost */ + FORCEINLINE int OneTileCost(TileIndex tile, Trackdir trackdir) + { + int cost = 0; + /* set base cost */ + if (IsDiagonalTrackdir(trackdir)) { + cost += YAPF_TILE_LENGTH; + switch (GetTileType(tile)) { + case MP_ROAD: + /* Increase the cost for level crossings */ + if (IsLevelCrossing(tile)) { + cost += Yapf().PfGetSettings().road_crossing_penalty; + } + break; + + case MP_STATION: + if (IsDriveThroughStopTile(tile)) { + cost += Yapf().PfGetSettings().road_stop_penalty; + } + break; + + default: + break; + } + } else { + /* non-diagonal trackdir */ + cost = YAPF_TILE_CORNER_LENGTH + Yapf().PfGetSettings().road_curve_penalty; + } + return cost; + } + +public: + /** Called by YAPF to calculate the cost from the origin to the given node. + * Calculates only the cost of given node, adds it to the parent node cost + * and stores the result into Node::m_cost member */ + FORCEINLINE bool PfCalcCost(Node& n, const TrackFollower *tf) + { + int segment_cost = 0; + /* start at n.m_key.m_tile / n.m_key.m_td and walk to the end of segment */ + TileIndex tile = n.m_key.m_tile; + Trackdir trackdir = n.m_key.m_td; + while (true) { + /* base tile cost depending on distance between edges */ + segment_cost += Yapf().OneTileCost(tile, trackdir); + + const Vehicle *v = Yapf().GetVehicle(); + /* we have reached the vehicle's destination - segment should end here to avoid target skipping */ + if (Yapf().PfDetectDestinationTile(tile, trackdir)) break; + + /* stop if we have just entered the depot */ + if (IsRoadDepotTile(tile) && trackdir == DiagDirToDiagTrackdir(ReverseDiagDir(GetRoadDepotDirection(tile)))) { + /* next time we will reverse and leave the depot */ + break; + } + + /* if there are no reachable trackdirs on new tile, we have end of road */ + TrackFollower F(Yapf().GetVehicle()); + if (!F.Follow(tile, trackdir)) break; + + /* if there are more trackdirs available & reachable, we are at the end of segment */ + if (KillFirstBit(F.m_new_td_bits) != TRACKDIR_BIT_NONE) break; + + Trackdir new_td = (Trackdir)FindFirstBit2x64(F.m_new_td_bits); + + /* stop if RV is on simple loop with no junctions */ + if (F.m_new_tile == n.m_key.m_tile && new_td == n.m_key.m_td) return false; + + /* if we skipped some tunnel tiles, add their cost */ + segment_cost += F.m_tiles_skipped * YAPF_TILE_LENGTH; + + /* add hilly terrain penalty */ + segment_cost += Yapf().SlopeCost(tile, F.m_new_tile, trackdir); + + /* add min/max speed penalties */ + int min_speed = 0; + int max_speed = F.GetSpeedLimit(&min_speed); + if (max_speed < v->max_speed) segment_cost += 1 * (v->max_speed - max_speed); + if (min_speed > v->max_speed) segment_cost += 10 * (min_speed - v->max_speed); + + /* move to the next tile */ + tile = F.m_new_tile; + trackdir = new_td; + }; + + /* save end of segment back to the node */ + n.m_segment_last_tile = tile; + n.m_segment_last_td = trackdir; + + /* save also tile cost */ + int parent_cost = (n.m_parent != NULL) ? n.m_parent->m_cost : 0; + n.m_cost = parent_cost + segment_cost; + return true; + } +}; + + +template +class CYapfDestinationAnyDepotRoadT +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::TrackFollower TrackFollower; + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + + /** to access inherited path finder */ + Tpf& Yapf() + { + return *static_cast(this); + } + + /** Called by YAPF to detect if node ends in the desired destination */ + FORCEINLINE bool PfDetectDestination(Node& n) + { + bool bDest = IsRoadDepotTile(n.m_segment_last_tile); + return bDest; + } + + FORCEINLINE bool PfDetectDestinationTile(TileIndex tile, Trackdir trackdir) + { + return IsRoadDepotTile(tile); + } + + /** Called by YAPF to calculate cost estimate. Calculates distance to the destination + * adds it to the actual cost from origin and stores the sum to the Node::m_estimate */ + FORCEINLINE bool PfCalcEstimate(Node& n) + { + n.m_estimate = n.m_cost; + return true; + } +}; + + +template +class CYapfDestinationAnyRoadVehicleCompatibleStopOfGivenStationT +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::TrackFollower TrackFollower; + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + + TileIndex m_destTile; + StationID m_dest_station; + bool m_bus; + bool m_non_artic; + + /** to access inherited path finder */ + Tpf& Yapf() + { + return *static_cast(this); + } + + void SetDestination(const RoadVehicle *v, StationID sid, TileIndex destTile) + { + m_dest_station = sid; + m_destTile = destTile; + m_bus = IsCargoInClass(v->cargo_type, CC_PASSENGERS); + m_non_artic = !v->HasArticulatedPart(); + } + + /** Called by YAPF to detect if node ends in the desired destination */ + FORCEINLINE bool PfDetectDestination(Node& n) + { + return PfDetectDestinationTile(n.m_segment_last_tile, INVALID_TRACKDIR); + } + + FORCEINLINE bool PfDetectDestinationTile(TileIndex tile, Trackdir trackdir) + { + return + IsTileType(tile, MP_STATION) && + GetStationIndex(tile) == m_dest_station && + (m_bus ? IsBusStop(tile) : IsTruckStop(tile)) && + (m_non_artic || IsDriveThroughStopTile(tile)); + } + + /** Called by YAPF to calculate cost estimate. Calculates distance to the destination + * adds it to the actual cost from origin and stores the sum to the Node::m_estimate */ + FORCEINLINE bool PfCalcEstimate(Node& n) + { + static const int dg_dir_to_x_offs[] = {-1, 0, 1, 0}; + static const int dg_dir_to_y_offs[] = {0, 1, 0, -1}; + if (PfDetectDestination(n)) { + n.m_estimate = n.m_cost; + return true; + } + + TileIndex tile = n.m_segment_last_tile; + DiagDirection exitdir = TrackdirToExitdir(n.m_segment_last_td); + int x1 = 2 * TileX(tile) + dg_dir_to_x_offs[(int)exitdir]; + int y1 = 2 * TileY(tile) + dg_dir_to_y_offs[(int)exitdir]; + int x2 = 2 * TileX(m_destTile); + int y2 = 2 * TileY(m_destTile); + int dx = abs(x1 - x2); + int dy = abs(y1 - y2); + int dmin = min(dx, dy); + int dxy = abs(dx - dy); + int d = dmin * YAPF_TILE_CORNER_LENGTH + (dxy - 1) * (YAPF_TILE_LENGTH / 2); + n.m_estimate = n.m_cost + d; + assert(n.m_estimate >= n.m_parent->m_estimate); + return true; + } +}; + + +template +class CYapfDestinationTileRoadT +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::TrackFollower TrackFollower; + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + +protected: + TileIndex m_destTile; + TrackdirBits m_destTrackdirs; + +public: + void SetDestination(TileIndex tile, TrackdirBits trackdirs) + { + m_destTile = tile; + m_destTrackdirs = trackdirs; + } + +protected: + /** to access inherited path finder */ + Tpf& Yapf() + { + return *static_cast(this); + } + +public: + /** Called by YAPF to detect if node ends in the desired destination */ + FORCEINLINE bool PfDetectDestination(Node& n) + { + bool bDest = (n.m_segment_last_tile == m_destTile) && ((m_destTrackdirs & TrackdirToTrackdirBits(n.m_segment_last_td)) != TRACKDIR_BIT_NONE); + return bDest; + } + + FORCEINLINE bool PfDetectDestinationTile(TileIndex tile, Trackdir trackdir) + { + return tile == m_destTile && ((m_destTrackdirs & TrackdirToTrackdirBits(trackdir)) != TRACKDIR_BIT_NONE); + } + + /** Called by YAPF to calculate cost estimate. Calculates distance to the destination + * adds it to the actual cost from origin and stores the sum to the Node::m_estimate */ + inline bool PfCalcEstimate(Node& n) + { + static const int dg_dir_to_x_offs[] = {-1, 0, 1, 0}; + static const int dg_dir_to_y_offs[] = {0, 1, 0, -1}; + if (PfDetectDestination(n)) { + n.m_estimate = n.m_cost; + return true; + } + + TileIndex tile = n.m_segment_last_tile; + DiagDirection exitdir = TrackdirToExitdir(n.m_segment_last_td); + int x1 = 2 * TileX(tile) + dg_dir_to_x_offs[(int)exitdir]; + int y1 = 2 * TileY(tile) + dg_dir_to_y_offs[(int)exitdir]; + int x2 = 2 * TileX(m_destTile); + int y2 = 2 * TileY(m_destTile); + int dx = abs(x1 - x2); + int dy = abs(y1 - y2); + int dmin = min(dx, dy); + int dxy = abs(dx - dy); + int d = dmin * YAPF_TILE_CORNER_LENGTH + (dxy - 1) * (YAPF_TILE_LENGTH / 2); + n.m_estimate = n.m_cost + d; + assert(n.m_estimate >= n.m_parent->m_estimate); + return true; + } +}; + + + +template +class CYapfFollowRoadT +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::TrackFollower TrackFollower; + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + +protected: + /** to access inherited path finder */ + FORCEINLINE Tpf& Yapf() + { + return *static_cast(this); + } + +public: + + /** Called by YAPF to move from the given node to the next tile. For each + * reachable trackdir on the new tile creates new node, initializes it + * and adds it to the open list by calling Yapf().AddNewNode(n) */ + inline void PfFollowNode(Node& old_node) + { + TrackFollower F(Yapf().GetVehicle()); + if (F.Follow(old_node.m_segment_last_tile, old_node.m_segment_last_td)) { + Yapf().AddMultipleNodes(&old_node, F); + } + } + + /** return debug report character to identify the transportation type */ + FORCEINLINE char TransportTypeChar() const + { + return 'r'; + } + + static Trackdir stChooseRoadTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir) + { + Tpf pf; + return pf.ChooseRoadTrack(v, tile, enterdir); + } + + FORCEINLINE Trackdir ChooseRoadTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir) + { + /* handle special case - when next tile is destination tile */ + if (tile == v->dest_tile) { + /* choose diagonal trackdir reachable from enterdir */ + return DiagDirToDiagTrackdir(enterdir); + } + /* our source tile will be the next vehicle tile (should be the given one) */ + TileIndex src_tile = tile; + /* get available trackdirs on the start tile */ + TrackdirBits src_trackdirs = TrackStatusToTrackdirBits(GetTileTrackStatus(tile, TRANSPORT_ROAD, RoadVehicle::From(v)->compatible_roadtypes)); + /* select reachable trackdirs only */ + src_trackdirs &= DiagdirReachesTrackdirs(enterdir); + + /* get available trackdirs on the destination tile */ + TileIndex dest_tile = v->dest_tile; + TrackdirBits dest_trackdirs = TrackStatusToTrackdirBits(GetTileTrackStatus(dest_tile, TRANSPORT_ROAD, RoadVehicle::From(v)->compatible_roadtypes)); + + /* set origin and destination nodes */ + Yapf().SetOrigin(src_tile, src_trackdirs); + Yapf().SetDestination(dest_tile, dest_trackdirs); + + /* find the best path */ + Yapf().FindPath(v); + + /* if path not found - return INVALID_TRACKDIR */ + Trackdir next_trackdir = INVALID_TRACKDIR; + Node *pNode = Yapf().GetBestNode(); + if (pNode != NULL) { + /* path was found or at least suggested + * walk through the path back to its origin */ + while (pNode->m_parent != NULL) { + pNode = pNode->m_parent; + } + /* return trackdir from the best origin node (one of start nodes) */ + Node& best_next_node = *pNode; + assert(best_next_node.GetTile() == tile); + next_trackdir = best_next_node.GetTrackdir(); + } + return next_trackdir; + } + + static uint stDistanceToTile(const Vehicle *v, TileIndex tile) + { + Tpf pf; + return pf.DistanceToTile(v, tile); + } + + FORCEINLINE uint DistanceToTile(const Vehicle *v, TileIndex dst_tile) + { + /* handle special case - when current tile is the destination tile */ + if (dst_tile == v->tile) { + /* distance is zero in this case */ + return 0; + } + + if (!SetOriginFromVehiclePos(v)) return UINT_MAX; + + /* set destination tile, trackdir + * get available trackdirs on the destination tile */ + TrackdirBits dst_td_bits = TrackStatusToTrackdirBits(GetTileTrackStatus(dst_tile, TRANSPORT_ROAD, RoadVehicle::From(v)->compatible_roadtypes)); + Yapf().SetDestination(dst_tile, dst_td_bits); + + /* if path not found - return distance = UINT_MAX */ + uint dist = UINT_MAX; + + /* find the best path */ + if (!Yapf().FindPath(v)) return dist; + + Node *pNode = Yapf().GetBestNode(); + if (pNode != NULL) { + /* path was found + * get the path cost estimate */ + dist = pNode->GetCostEstimate(); + } + + return dist; + } + + /** Return true if the valid origin (tile/trackdir) was set from the current vehicle position. */ + FORCEINLINE bool SetOriginFromVehiclePos(const Vehicle *v) + { + /* set origin (tile, trackdir) */ + TileIndex src_tile = v->tile; + Trackdir src_td = v->GetVehicleTrackdir(); + if ((TrackStatusToTrackdirBits(GetTileTrackStatus(src_tile, TRANSPORT_ROAD, RoadVehicle::From(v)->compatible_roadtypes)) & TrackdirToTrackdirBits(src_td)) == 0) { + /* sometimes the roadveh is not on the road (it resides on non-existing track) + * how should we handle that situation? */ + return false; + } + Yapf().SetOrigin(src_tile, TrackdirToTrackdirBits(src_td)); + return true; + } + + static bool stFindNearestDepot(const Vehicle *v, TileIndex tile, Trackdir td, int max_distance, TileIndex *depot_tile) + { + Tpf pf; + return pf.FindNearestDepot(v, tile, td, max_distance, depot_tile); + } + + FORCEINLINE bool FindNearestDepot(const Vehicle *v, TileIndex tile, Trackdir td, int max_distance, TileIndex *depot_tile) + { + /* set origin and destination nodes */ + Yapf().SetOrigin(tile, TrackdirToTrackdirBits(td)); + + /* find the best path */ + bool bFound = Yapf().FindPath(v); + if (!bFound) return false; + + /* some path found + * get found depot tile */ + Node *n = Yapf().GetBestNode(); + + if (max_distance > 0 && n->m_cost > max_distance * YAPF_TILE_LENGTH) return false; + + *depot_tile = n->m_segment_last_tile; + return true; + } + + static bool stFindNearestRoadVehicleCompatibleStop(const RoadVehicle *v, TileIndex tile, TileIndex destTile, Trackdir td, StationID sid, TileIndex *stop_tile) + { + Tpf pf; + return pf.FindNearestRoadVehicleCompatibleStop(v, tile, destTile, td, sid, stop_tile); + } + + FORCEINLINE bool FindNearestRoadVehicleCompatibleStop(const RoadVehicle *v, TileIndex tile, TileIndex destTile, Trackdir td, StationID sid, TileIndex *stop_tile) + { + /* set origin and destination nodes */ + Yapf().SetOrigin(tile, TrackdirToTrackdirBits(td)); + Yapf().SetDestination(v, sid, destTile); + + /* find the best path */ + bool bFound = Yapf().FindPath(v); + if (!bFound) return false; + + /* some path found + * get found depot tile */ + const Node *n = Yapf().GetBestNode(); + + *stop_tile = n->m_segment_last_tile; + return true; + } +}; + +template class Tdestination> +struct CYapfRoad_TypesT +{ + typedef CYapfRoad_TypesT Types; + + typedef Tpf_ Tpf; + typedef CFollowTrackRoad TrackFollower; + typedef Tnode_list NodeList; + typedef CYapfBaseT PfBase; + typedef CYapfFollowRoadT PfFollow; + typedef CYapfOriginTileT PfOrigin; + typedef Tdestination PfDestination; + typedef CYapfSegmentCostCacheNoneT PfCache; + typedef CYapfCostRoadT PfCost; +}; + +struct CYapfRoad1 : CYapfT > {}; +struct CYapfRoad2 : CYapfT > {}; + +struct CYapfRoadAnyDepot1 : CYapfT > {}; +struct CYapfRoadAnyDepot2 : CYapfT > {}; + +struct CYapfRoadAnyRoadVehicleCompatibleStopOfGivenStation1 : CYapfT > {}; +struct CYapfRoadAnyRoadVehicleCompatibleStopOfGivenStation2 : CYapfT > {}; + + +Trackdir YapfChooseRoadTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir) +{ + /* default is YAPF type 2 */ + typedef Trackdir (*PfnChooseRoadTrack)(const Vehicle*, TileIndex, DiagDirection); + PfnChooseRoadTrack pfnChooseRoadTrack = &CYapfRoad2::stChooseRoadTrack; // default: ExitDir, allow 90-deg + + /* check if non-default YAPF type should be used */ + if (_settings_game.pf.yapf.disable_node_optimization) { + pfnChooseRoadTrack = &CYapfRoad1::stChooseRoadTrack; // Trackdir, allow 90-deg + } + + Trackdir td_ret = pfnChooseRoadTrack(v, tile, enterdir); + return td_ret; +} + +uint YapfRoadVehDistanceToTile(const Vehicle *v, TileIndex tile) +{ + /* default is YAPF type 2 */ + typedef uint (*PfnDistanceToTile)(const Vehicle*, TileIndex); + PfnDistanceToTile pfnDistanceToTile = &CYapfRoad2::stDistanceToTile; // default: ExitDir, allow 90-deg + + /* check if non-default YAPF type should be used */ + if (_settings_game.pf.yapf.disable_node_optimization) { + pfnDistanceToTile = &CYapfRoad1::stDistanceToTile; // Trackdir, allow 90-deg + } + + /* measure distance in YAPF units */ + uint dist = pfnDistanceToTile(v, tile); + /* convert distance to tiles */ + if (dist != UINT_MAX) { + dist = (dist + YAPF_TILE_LENGTH - 1) / YAPF_TILE_LENGTH; + } + + return dist; +} + +bool YapfFindNearestRoadDepot(const Vehicle *v, int max_distance, TileIndex *depot_tile) +{ + *depot_tile = INVALID_TILE; + + TileIndex tile = v->tile; + Trackdir trackdir = v->GetVehicleTrackdir(); + if ((TrackStatusToTrackdirBits(GetTileTrackStatus(tile, TRANSPORT_ROAD, RoadVehicle::From(v)->compatible_roadtypes)) & TrackdirToTrackdirBits(trackdir)) == 0) { + return false; + } + + /* handle the case when our vehicle is already in the depot tile */ + if (IsRoadDepotTile(tile)) { + /* only what we need to return is the Depot* */ + *depot_tile = tile; + return true; + } + + /* default is YAPF type 2 */ + typedef bool (*PfnFindNearestDepot)(const Vehicle*, TileIndex, Trackdir, int, TileIndex*); + PfnFindNearestDepot pfnFindNearestDepot = &CYapfRoadAnyDepot2::stFindNearestDepot; + + /* check if non-default YAPF type should be used */ + if (_settings_game.pf.yapf.disable_node_optimization) { + pfnFindNearestDepot = &CYapfRoadAnyDepot1::stFindNearestDepot; // Trackdir, allow 90-deg + } + + bool ret = pfnFindNearestDepot(v, tile, trackdir, max_distance, depot_tile); + return ret; +} + +bool YapfFindNearestRoadVehicleCompatibleStop(const RoadVehicle *v, StationID station, TileIndex *stop_tile) +{ + *stop_tile = INVALID_TILE; + + const RoadStop *rs = Station::Get(station)->GetPrimaryRoadStop(v); + if (rs == NULL) return false; + + TileIndex tile = v->tile; + Trackdir trackdir = v->GetVehicleTrackdir(); + if ((TrackStatusToTrackdirBits(GetTileTrackStatus(tile, TRANSPORT_ROAD, RoadVehicle::From(v)->compatible_roadtypes)) & TrackdirToTrackdirBits(trackdir)) == 0) { + return false; + } + + /* default is YAPF type 2 */ + typedef bool (*PfnFindNearestRoadVehicleCompatibleStop)(const RoadVehicle*, TileIndex, TileIndex, Trackdir, StationID, TileIndex*); + PfnFindNearestRoadVehicleCompatibleStop pfnFindNearestRoadVehicleCompatibleStop = &CYapfRoadAnyRoadVehicleCompatibleStopOfGivenStation2::stFindNearestRoadVehicleCompatibleStop; + + /* check if non-default YAPF type should be used */ + if (_settings_game.pf.yapf.disable_node_optimization) { + pfnFindNearestRoadVehicleCompatibleStop = &CYapfRoadAnyRoadVehicleCompatibleStopOfGivenStation1::stFindNearestRoadVehicleCompatibleStop; // Trackdir, allow 90-deg + } + + bool ret = pfnFindNearestRoadVehicleCompatibleStop(v, tile, rs->xy, trackdir, station, stop_tile); + return ret; +} diff --git a/src/pathfinder/yapf/yapf_ship.cpp b/src/pathfinder/yapf/yapf_ship.cpp new file mode 100644 index 000000000..3ae152bd6 --- /dev/null +++ b/src/pathfinder/yapf/yapf_ship.cpp @@ -0,0 +1,203 @@ +/* $Id$ */ + +/* + * This file is part of OpenTTD. + * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2. + * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see . + */ + +/** @file yapf_ship.cpp Implementation of YAPF for ships. */ + +#include "../../stdafx.h" + +#include "yapf.hpp" + +/** Node Follower module of YAPF for ships */ +template +class CYapfFollowShipT +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::TrackFollower TrackFollower; + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + +protected: + /** to access inherited path finder */ + FORCEINLINE Tpf& Yapf() + { + return *static_cast(this); + } + +public: + /** Called by YAPF to move from the given node to the next tile. For each + * reachable trackdir on the new tile creates new node, initializes it + * and adds it to the open list by calling Yapf().AddNewNode(n) */ + inline void PfFollowNode(Node& old_node) + { + TrackFollower F(Yapf().GetVehicle()); + if (F.Follow(old_node.m_key.m_tile, old_node.m_key.m_td)) { + Yapf().AddMultipleNodes(&old_node, F); + } + } + + /** return debug report character to identify the transportation type */ + FORCEINLINE char TransportTypeChar() const + { + return 'w'; + } + + static Trackdir ChooseShipTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir, TrackBits tracks) + { + /* handle special case - when next tile is destination tile */ + if (tile == v->dest_tile) { + /* convert tracks to trackdirs */ + TrackdirBits trackdirs = (TrackdirBits)(tracks | ((int)tracks << 8)); + /* choose any trackdir reachable from enterdir */ + trackdirs &= DiagdirReachesTrackdirs(enterdir); + return (Trackdir)FindFirstBit2x64(trackdirs); + } + + /* move back to the old tile/trackdir (where ship is coming from) */ + TileIndex src_tile = TILE_ADD(tile, TileOffsByDiagDir(ReverseDiagDir(enterdir))); + Trackdir trackdir = v->GetVehicleTrackdir(); + assert(IsValidTrackdir(trackdir)); + + /* convert origin trackdir to TrackdirBits */ + TrackdirBits trackdirs = TrackdirToTrackdirBits(trackdir); + /* get available trackdirs on the destination tile */ + TrackdirBits dest_trackdirs = TrackStatusToTrackdirBits(GetTileTrackStatus(v->dest_tile, TRANSPORT_WATER, 0)); + + /* create pathfinder instance */ + Tpf pf; + /* set origin and destination nodes */ + pf.SetOrigin(src_tile, trackdirs); + pf.SetDestination(v->dest_tile, dest_trackdirs); + /* find best path */ + pf.FindPath(v); + + Trackdir next_trackdir = INVALID_TRACKDIR; // this would mean "path not found" + + Node *pNode = pf.GetBestNode(); + if (pNode != NULL) { + /* walk through the path back to the origin */ + Node *pPrevNode = NULL; + while (pNode->m_parent != NULL) { + pPrevNode = pNode; + pNode = pNode->m_parent; + } + /* return trackdir from the best next node (direct child of origin) */ + Node& best_next_node = *pPrevNode; + assert(best_next_node.GetTile() == tile); + next_trackdir = best_next_node.GetTrackdir(); + } + return next_trackdir; + } +}; + +/** Cost Provider module of YAPF for ships */ +template +class CYapfCostShipT +{ +public: + typedef typename Types::Tpf Tpf; ///< the pathfinder class (derived from THIS class) + typedef typename Types::TrackFollower TrackFollower; + typedef typename Types::NodeList::Titem Node; ///< this will be our node type + typedef typename Node::Key Key; ///< key to hash tables + +protected: + /** to access inherited path finder */ + Tpf& Yapf() + { + return *static_cast(this); + } + +public: + /** Called by YAPF to calculate the cost from the origin to the given node. + * Calculates only the cost of given node, adds it to the parent node cost + * and stores the result into Node::m_cost member */ + FORCEINLINE bool PfCalcCost(Node& n, const TrackFollower *tf) + { + /* base tile cost depending on distance */ + int c = IsDiagonalTrackdir(n.GetTrackdir()) ? YAPF_TILE_LENGTH : YAPF_TILE_CORNER_LENGTH; + /* additional penalty for curves */ + if (n.m_parent != NULL && n.GetTrackdir() != NextTrackdir(n.m_parent->GetTrackdir())) { + /* new trackdir does not match the next one when going straight */ + c += YAPF_TILE_LENGTH; + } + + c += YAPF_TILE_LENGTH * tf->m_tiles_skipped; + + /* apply it */ + n.m_cost = n.m_parent->m_cost + c; + return true; + } +}; + +/** Config struct of YAPF for ships. + * Defines all 6 base YAPF modules as classes providing services for CYapfBaseT. + */ +template +struct CYapfShip_TypesT +{ + /** Types - shortcut for this struct type */ + typedef CYapfShip_TypesT Types; + + /** Tpf - pathfinder type */ + typedef Tpf_ Tpf; + /** track follower helper class */ + typedef Ttrack_follower TrackFollower; + /** node list type */ + typedef Tnode_list NodeList; + /** pathfinder components (modules) */ + typedef CYapfBaseT PfBase; // base pathfinder class + typedef CYapfFollowShipT PfFollow; // node follower + typedef CYapfOriginTileT PfOrigin; // origin provider + typedef CYapfDestinationTileT PfDestination; // destination/distance provider + typedef CYapfSegmentCostCacheNoneT PfCache; // segment cost cache provider + typedef CYapfCostShipT PfCost; // cost provider +}; + +/* YAPF type 1 - uses TileIndex/Trackdir as Node key, allows 90-deg turns */ +struct CYapfShip1 : CYapfT > {}; +/* YAPF type 2 - uses TileIndex/DiagDirection as Node key, allows 90-deg turns */ +struct CYapfShip2 : CYapfT > {}; +/* YAPF type 3 - uses TileIndex/Trackdir as Node key, forbids 90-deg turns */ +struct CYapfShip3 : CYapfT > {}; + +/** Ship controller helper - path finder invoker */ +Trackdir YapfChooseShipTrack(const Vehicle *v, TileIndex tile, DiagDirection enterdir, TrackBits tracks) +{ + /* default is YAPF type 2 */ + typedef Trackdir (*PfnChooseShipTrack)(const Vehicle*, TileIndex, DiagDirection, TrackBits); + PfnChooseShipTrack pfnChooseShipTrack = CYapfShip2::ChooseShipTrack; // default: ExitDir, allow 90-deg + + /* check if non-default YAPF type needed */ + if (_settings_game.pf.forbid_90_deg) { + pfnChooseShipTrack = &CYapfShip3::ChooseShipTrack; // Trackdir, forbid 90-deg + } else if (_settings_game.pf.yapf.disable_node_optimization) { + pfnChooseShipTrack = &CYapfShip1::ChooseShipTrack; // Trackdir, allow 90-deg + } + + Trackdir td_ret = pfnChooseShipTrack(v, tile, enterdir, tracks); + return td_ret; +} + +/** performance measurement helper */ +void *NpfBeginInterval() +{ + CPerformanceTimer& perf = *new CPerformanceTimer; + perf.Start(); + return &perf; +} + +/** performance measurement helper */ +int NpfEndInterval(void *vperf) +{ + CPerformanceTimer& perf = *(CPerformanceTimer*)vperf; + perf.Stop(); + int t = perf.Get(1000000); + delete &perf; + return t; +} -- cgit v1.2.3-54-g00ecf