/* amod - Copyright (c) 2018, ETH Zurich, Institute for Dynamic Systems and Control */
package amodeus.amod.dispatcher;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.List;
import java.util.Random;
import amodeus.amodeus.dispatcher.core.RoboTaxi;
import amodeus.amodeus.dispatcher.core.SharedRebalancingDispatcher;
import amodeus.amodeus.dispatcher.shared.SharedCourse;
import amodeus.amodeus.dispatcher.shared.SharedCourseUtil;
import amodeus.amodeus.net.MatsimAmodeusDatabase;
import amodeus.amodeus.util.matsim.SafeConfig;
import org.matsim.amodeus.components.AmodeusDispatcher;
import org.matsim.amodeus.components.AmodeusRouter;
import org.matsim.amodeus.config.AmodeusModeConfig;
import org.matsim.api.core.v01.network.Link;
import org.matsim.api.core.v01.network.Network;
import org.matsim.contrib.dvrp.passenger.PassengerRequest;
import org.matsim.contrib.dvrp.run.ModalProviders.InstanceGetter;
import org.matsim.core.api.experimental.events.EventsManager;
import org.matsim.core.config.Config;
import org.matsim.core.router.util.TravelTime;
/** this is a demo of functionality for the shared dispatchers (> 1 person in {@link RoboTaxi}
*
* whenever 4 {@link PassengerRequest}s are open, a {@link RoboTaxi} is assigned to pickup all of them,
* it first picks up passengers 1,2,3,4 and then starts to bring passengers 1,2,3 to their destinations.
* Passenger 4 is less lucky as the {@link RoboTaxi} first visits the city's North pole (northern most link)
* before passenger 4 is finally dropped of and the procedure starts from beginning. */
/* package */ class DemoDispatcherShared extends SharedRebalancingDispatcher {
private final int dispatchPeriod;
private final int rebalancePeriod;
private final Random randGen = new Random(1234);
private final Link cityNorthPole;
private final List<Link> equatorLinks;
protected DemoDispatcherShared(Network network, //
Config config, AmodeusModeConfig operatorConfig, //
TravelTime travelTime, AmodeusRouter router, EventsManager eventsManager, //
MatsimAmodeusDatabase db) {
super(config, operatorConfig, travelTime, router, eventsManager, db);
this.cityNorthPole = getNorthPole(network);
this.equatorLinks = getEquator(network);
SafeConfig safeConfig = SafeConfig.wrap(operatorConfig.getDispatcherConfig());
dispatchPeriod = safeConfig.getInteger("dispatchPeriod", 30);
rebalancePeriod = safeConfig.getInteger("rebalancingPeriod", 1800);
Collections.shuffle(new ArrayList<>(network.getLinks().values()), randGen);
}
@Override
protected void redispatch(double now) {
final long round_now = Math.round(now);
if (round_now % dispatchPeriod == 0) {
/** assignment of {@link RoboTaxi}s */
for (RoboTaxi sharedRoboTaxi : getDivertableUnassignedRoboTaxis()) {
if (getUnassignedPassengerRequests().size() >= 4) {
/** select 4 requests */
PassengerRequest firstRequest = getUnassignedPassengerRequests().get(0);
PassengerRequest secondRequest = getUnassignedPassengerRequests().get(1);
PassengerRequest thirdRequest = getUnassignedPassengerRequests().get(2);
PassengerRequest fourthRequest = getUnassignedPassengerRequests().get(3);
/** add pickup for request 1 */
addSharedRoboTaxiPickup(sharedRoboTaxi, firstRequest);
/** add pickup for request 2 and move to first location */
addSharedRoboTaxiPickup(sharedRoboTaxi, secondRequest);
SharedCourse sharedAVCourse = SharedCourse.pickupCourse(secondRequest);
sharedRoboTaxi.moveAVCourseToPrev(sharedAVCourse);
/** add pickup for request 3 and move to first location */
addSharedRoboTaxiPickup(sharedRoboTaxi, thirdRequest);
SharedCourse sharedAVCourse3 = SharedCourse.pickupCourse(thirdRequest);
sharedRoboTaxi.moveAVCourseToPrev(sharedAVCourse3);
sharedRoboTaxi.moveAVCourseToPrev(sharedAVCourse3);
/** add pickup for request 4 and reorder the menu based on a list of Shared Courses */
List<SharedCourse> courses = SharedCourseUtil.copy(sharedRoboTaxi.getUnmodifiableViewOfCourses());
courses.add(3, SharedCourse.pickupCourse(fourthRequest));
courses.add(SharedCourse.dropoffCourse(fourthRequest));
addSharedRoboTaxiPickup(sharedRoboTaxi, fourthRequest);
sharedRoboTaxi.updateMenu(courses);
/** add a redirect task (to the north pole) and move to prev */
Link redirectLink = cityNorthPole;
SharedCourse redirectCourse = SharedCourse.redirectCourse(redirectLink, Double.toString(now) + sharedRoboTaxi.getId().toString());
addSharedRoboTaxiRedirect(sharedRoboTaxi, redirectCourse);
sharedRoboTaxi.moveAVCourseToPrev(redirectCourse);
} else {
break;
}
}
}
/** dispatching of available {@link RoboTaxi}s to the equator */
if (round_now % rebalancePeriod == 0)
/** relocation of empty {@link RoboTaxi}s to a random link on the equator */
for (RoboTaxi roboTaxi : getDivertableUnassignedRoboTaxis()) {
Link rebalanceLink = equatorLinks.get(randGen.nextInt(equatorLinks.size()));
setRoboTaxiRebalance(roboTaxi, rebalanceLink);
}
}
/** @param network
* @return northern most {@link Link} in the {@link Network} */
private static Link getNorthPole(Network network) {
return network.getLinks().values().stream().max(Comparator.comparingDouble(l -> l.getCoord().getY())).get();
}
/** @param network
* @return all {@link Link}s crossing the equator of the city {@link Network} , starting
* with links on the equator, if no links found, the search radius is increased by 1 m */
private static List<Link> getEquator(Network network) {
double northX = network.getLinks().values().stream().mapToDouble(l -> l.getCoord().getY()).max().getAsDouble();
double southX = network.getLinks().values().stream().mapToDouble(l -> l.getCoord().getY()).min().getAsDouble();
double equator = southX + (northX - southX) / 2;
List<Link> equatorLinks = new ArrayList<>();
double margin = 0.0;
while (equatorLinks.size() < 1) {
for (Link l : network.getLinks().values()) {
boolean crossEq1 = l.getFromNode().getCoord().getY() - margin <= //
equator && l.getToNode().getCoord().getY() + margin >= equator;
boolean crossEq2 = l.getFromNode().getCoord().getY() + margin >= //
equator && l.getToNode().getCoord().getY() - margin <= equator;
if (crossEq1 || crossEq2)
equatorLinks.add(l);
}
margin += 1.0;
}
return equatorLinks;
}
public static class Factory implements AVDispatcherFactory {
@Override
public AmodeusDispatcher createDispatcher(InstanceGetter inject) {
Config config = inject.get(Config.class);
MatsimAmodeusDatabase db = inject.get(MatsimAmodeusDatabase.class);
EventsManager eventsManager = inject.get(EventsManager.class);
AmodeusModeConfig operatorConfig = inject.getModal(AmodeusModeConfig.class);
Network network = inject.getModal(Network.class);
AmodeusRouter router = inject.getModal(AmodeusRouter.class);
TravelTime travelTime = inject.getModal(TravelTime.class);
return new DemoDispatcherShared(network, config, operatorConfig, travelTime, router, eventsManager, db);
}
}
}
