AgentsSourcesManager.cpp 20.9 KB
Newer Older
1 2 3 4
/**
 * \file        AgentsSourcesManager.cpp
 * \date        Apr 14, 2015
 * \version     v0.7
Mohcine Chraibi's avatar
Mohcine Chraibi committed
5
 * \copyright   <2009-2015> Forschungszentrum Jülich GmbH. All rights reserved.
6
 *
7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28
 * \section License
 * This file is part of JuPedSim.
 *
 * JuPedSim is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * any later version.
 *
 * JuPedSim 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 Lesser General Public License
 * along with JuPedSim. If not, see <http://www.gnu.org/licenses/>.
 *
 * \section Description
 * This class is responsible for materialising agent in a given location at a given frequency up to a maximum number.
 * The optimal position where to put the agents is given by various algorithms, for instance
 * the Voronoi algorithm or the Mitchell Best candidate algorithm.
 *
 **/
29 30 31

#include "AgentsSourcesManager.h"
#include "Pedestrian.h"
32
#include "../mpi/LCGrid.h"
33
#include <thread>
34
#include "AgentsQueue.h"
35

36
#include "../voronoi-boost/VoronoiPositionGenerator.h"
Mohcine Chraibi's avatar
Mohcine Chraibi committed
37
#define UNUSED(x) [&x]{}()  // c++11 silence warnings
38

39 40
using namespace std;

41
bool AgentsSourcesManager::_isCompleted=true;
42

43 44 45 46 47 48 49 50
AgentsSourcesManager::AgentsSourcesManager()
{
}

AgentsSourcesManager::~AgentsSourcesManager()
{
}

51
void AgentsSourcesManager::operator()()
52
{
53
     Run();
54
}
55

56 57
void AgentsSourcesManager::Run()
{
58
      SetRunning(true);
59
     Log->Write("INFO:\tStarting agent manager thread");
60
     /* std::cout<< KGRN << "\n Starting agent manager thread\n" << "\n>> time: " << Pedestrian::GetGlobalTime() << RESET << "\n"; */
61 62
     //Generate all agents required for the complete simulation
     //It might be more efficient to generate at each frequency step
63
     //TODO  this loop is exactly GenerateAgents( --> REFACTOR)
64 65
     for (const auto& src : _sources)
     {
66
           /* std::cout << "Generate AgentsAndAddToPool src: " << src->GetId() << "\n" ; */
67 68 69 70 71 72 73 74 75 76
          src->GenerateAgentsAndAddToPool(src->GetMaxAgents(), _building);
     }

     //first call ignoring the return value
     ProcessAllSources();

     //the loop is updated each x second.
     //it might be better to use a timer
     _isCompleted = false;
     bool finished = false;
77
     SetBuildingUpdated(false);
78
     long updateFrequency = 1; //TODO parse this from inifile
79
     /* std::cout << KMAG << "RUN Starting thread manager with _lastUpdateTime " << _lastUpdateTime<< std::endl; */
80
     do
81
     {
Mohcine Chraibi's avatar
Mohcine Chraibi committed
82
          int current_time = (int)Pedestrian::GetGlobalTime();
83 84
          /* std::cout << KBLU << ">> RUN: current_time " << current_time << " last update  " << _lastUpdateTime << "\n" << RESET; */

85
          if ((current_time != _lastUpdateTime)
86
              && ((current_time % updateFrequency) == 0))
Mohcine Chraibi's avatar
Mohcine Chraibi committed
87
          {
88
                /* std::cout << "   ---  Enter IF  --- \n" << KRED << "QUEUE isempty: " << AgentsQueueIn::IsEmpty() << "\n" << RESET; */
89 90 91
                if(AgentsQueueIn::IsEmpty())
                //if queue is empty. Otherwise, wait for main thread to empty it and update _building
                {
92
                      /* std::cout << "   ---  Enter QUEUE EMPTY --- \n"; */
93 94
                      finished=ProcessAllSources();
                      _lastUpdateTime = current_time;
95
                      //SetBuildingUpdated(false);
96
                }
97
          }
98
          // wait for main thread to update building
99 100
          if(current_time >= GetMaxSimTime())
                break; // break if max simulation time is reached.
101

102
     } while (!finished);
103 104
     Log->Write("INFO:\tTerminating agent manager thread");
     _isCompleted = true;
105 106
}

107 108
bool AgentsSourcesManager::ProcessAllSources() const
{
109
     /* std::cout << "\nSTART   AgentsSourcesManager::ProcessAllSources()\n"; */
110

111 112
     bool empty=true;
     double current_time = Pedestrian::GetGlobalTime();
113
     vector<Pedestrian*> source_peds; // we have to collect peds from all sources, so that we can consider them  while computing new positions
114 115
     for (const auto& src : _sources)
     {
116
          /* std::cout << KRED << "\nprocessing src: " <<  src->GetId() << " -- current time: " << current_time << " schedule time: " << src->GetPlanTime() <<". number of peds in building " << _building->GetAllPedestrians().size() << "\n" << RESET; */
117

118 119 120
          if (src->GetPoolSize() && (src->GetPlanTime() <= current_time) )// maybe diff<eps
          {
               vector<Pedestrian*> peds;
121

122
               src->RemoveAgentsFromPool(peds, src->GetFrequency());
123 124
               source_peds.reserve(source_peds.size() + peds.size());

125 126 127
               Log->Write("> INFO:\tSource %d generating %d agents (%d remaining)\n",src->GetId(),peds.size(),src->GetPoolSize());
               //ComputeBestPositionRandom(src.get(), peds);
               //todo: here every pedestrian needs an exitline
128 129

               if( !ComputeBestPositionVoronoiBoost(src.get(), peds, _building, source_peds) )
130 131
                    Log->Write("WARNING:\tThere was no place for some pedestrians");

132 133 134 135 136 137 138 139
               source_peds.insert(source_peds.end(), peds.begin(), peds.end());
               /* std::cout << KRED << ">>  Add to queue " << peds.size() << "\n" << RESET; */
                /* for( auto pp: peds) */
                /*       std::cout << "id: "<< pp->GetID() << "  pos " << pp->GetPos()._x << ", " << pp->GetPos()._y << "\n"; */
                /* std::cout << "------\n"; */
                /* for( auto pp: source_peds) */
                /*       std::cout  <<  "id: "<< pp->GetID() << "  POS " << pp->GetPos()._x << ", " << pp->GetPos()._y << "\n"; */

140 141 142
               AgentsQueueIn::Add(peds);
               empty = false;
               //src->Dump();
143
          }
144 145 146 147
          if (src->GetPlanTime() > current_time) // for the case we still expect
               // agents coming
               empty = false;
          //src->Dump();//exit(0);
148
     }
149
     /* std::cout << "LEAVE   AgentsSourcesManager::ProcessAllSources()\n"; */
150 151 152 153 154
     // std::cout << " Source building: "<<  _building << " size "  << _building->GetAllPedestrians().size()<< std::endl;

     //                                                                                                        for(auto pp: _building->GetAllPedestrians())
     //                                                                                                             std::cout<< KBLU << "BUL: agentssourcesManager: " << pp->GetPos()._x << ", " << pp->GetPos()._y << RESET << std::endl;
     //
155
/* std::cout << "========================\n"; */
156 157
                                                                                                                                                                                                                                          return empty;
}
158

159 160 161 162 163 164 165 166
                                                                                                                                                                                                                             //4 agents frequency, just for an example
     void AgentsSourcesManager::ComputeBestPositionDummy(AgentsSource* src,
                                                         vector<Pedestrian*>& peds)const
     {
          peds[0]->SetPos( Point(10,5.5) );
          peds[1]->SetPos( Point(10,4.9) );
          peds[2]->SetPos( Point(10,4.3) );
          peds[3]->SetPos( Point(10,3.7) );
167

168 169 170
          /*peds[0]->SetPos( Point(10,5.4) );
            peds[1]->SetPos( Point(10,4.6) );
            peds[2]->SetPos( Point(10,3.8) );*/
171

172 173 174 175 176 177 178
          for(auto&& ped : peds)
          {
               Point v = (ped->GetExitLine()->ShortestPoint(ped->GetPos())- ped->GetPos()).Normalized();
               double speed=ped->GetV0Norm();
               v=v*speed;
               ped->SetV(v);
          }
179 180 181
     }

void AgentsSourcesManager::ComputeBestPositionCompleteRandom(AgentsSource* src,
182
                                                             vector<Pedestrian*>& peds)const
183 184 185 186
{
     auto dist = src->GetStartDistribution();
     auto subroom = _building->GetRoom(dist->GetRoomId())->GetSubRoom(dist->GetSubroomID());
     vector<Point> positions = PedDistributor::PossiblePositions(*subroom);
187
     double seed = time(0);
188
     //TODO: get the seed from the simulation
Mohcine Chraibi's avatar
Mohcine Chraibi committed
189 190 191
     std:: cout << "seed: "<< seed << std::endl;

     srand (seed);
192 193 194 195 196 197 198 199 200

     for (auto& ped : peds)
     {
          if( positions.size() )
          {
               int index = rand()%positions.size();
               Point new_pos = positions[index];
               positions.erase(positions.begin() + index);
               ped->SetPos(new_pos, true);
Mohcine Chraibi's avatar
Mohcine Chraibi committed
201 202
               std:: cout << "pos: " << new_pos._x << new_pos._y << std::endl;

203 204 205 206 207 208 209 210 211 212 213 214
               AdjustVelocityByNeighbour(ped);
          }
          else
          {
               Log->Write("\t No place for a pedestrian");
               break;
          }
     }

}

/*
215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331
  void AgentsSourcesManager::ComputeBestPositionVoronoi(AgentsSource* src,
  Pedestrian* agent) const
  {
  auto dist = src->GetStartDistribution();
  double bounds[4];
  dist->Getbounds(bounds);
  int roomID = dist->GetRoomId();
  int subroomID = dist->GetSubroomID();

  //Get all pedestrians in that location
  vector<Pedestrian*> peds;
  _building->GetPedestrians(roomID, subroomID, peds);

  //filter the points that are not within the boundaries
  for (auto&& iter = peds.begin(); iter != peds.end();)
  {
  const Point& pos = (*iter)->GetPos();
  if ((bounds[0] <= pos._x && pos._x <= bounds[1])
  && (bounds[1] <= pos._y && pos._y <= bounds[2]))
  {
  iter = peds.erase(iter);
  cout << "removing (testing only)..." << endl;
  exit(0);
  } else
  {
  ++iter;
  }
  }

  //special case with 1, 2 or only three pedestrians in the area
  if (peds.size() < 3)
  {
  //TODO/random position in the area
  return;

  }
  // compute the cells and cut with the bounds
  const int count = peds.size();
  float* xValues = new float[count];
  float* yValues = new float[count];
  //float xValues[count];
  //float yValues[count];

  for (int i = 0; i < count; i++)
  {
  xValues[i] = peds[i]->GetPos()._x;
  yValues[i] = peds[i]->GetPos()._y;
  }

  VoronoiDiagramGenerator vdg;
  vdg.generateVoronoi(xValues, yValues, count, bounds[0], bounds[1],
  bounds[2], bounds[3], 3);
  vdg.resetIterator();
  vdg.resetVerticesIterator();

  printf("\n------vertices---------\n");
  //collect the positions
  vector<Point> positions;
  float x1, y1;
  while (vdg.getNextVertex(x1, y1))
  {
  printf("GOT Point (%f,%f)\n", x1, y1);
  positions.push_back(Point(x1, y1));
  }

  //look for the biggest spot
  map<double, Point> map_dist_to_position;

  for (auto&& pos : positions)
  {
  double min_dist = FLT_MAX;

  for (auto&& ped : peds)
  {
  double dist = (pos - ped->GetPos()).NormSquare();
  if (dist < min_dist)
  {
  min_dist = dist;
  }
  }
  map_dist_to_position[min_dist] = pos;
  }

  //list the result
  for (auto&& mp : map_dist_to_position)
  {
  cout << "dist: " << mp.first << " pos: " << mp.second.toString()
  << endl;
  //agent->SetPos(mp.second, true);
  }

  //the elements are ordered.
  // so the last one has the largest distance
  if (!map_dist_to_position.empty())
  {
  agent->SetPos(map_dist_to_position.rbegin()->second, true);
  cout << "position:" << agent->GetPos().toString() << endl;
  //exit(0);

  } else
  {
  cout << "position not set:" << endl;
  cout << "size: " << map_dist_to_position.size() << endl;
  cout << " for " << peds.size() << " pedestrians" << endl;
  exit(0);
  }
  //exit(0);
  // float x1,y1,x2,y2;
  //while(vdg.getNext(x1,y1,x2,y2))
  //{
  //     printf("GOT Line (%f,%f)->(%f,%f)\n",x1,y1,x2, y2);
  //
  //}
  //compute the best position
  //exit(0);
  }
*/
332 333


334

335
void AgentsSourcesManager::ComputeBestPositionRandom(AgentsSource* src,
336
                                                     std::vector<Pedestrian*>& peds) const
337 338 339
{

     //generate the agents with default positions
340 341
     auto dist = src->GetStartDistribution();
     auto subroom = _building->GetRoom(dist->GetRoomId())->GetSubRoom(
342
          dist->GetSubroomID());
343 344
     vector<Point> positions = PedDistributor::PossiblePositions(*subroom);
     double bounds[4] = { 0, 0, 0, 0 };
345 346
     dist->Getbounds(bounds);

347 348
     std::vector<Pedestrian*> peds_without_place;

349 350
     vector<Point> extra_positions;

351 352
     std::vector<Pedestrian*>::iterator iter_ped;
     for (iter_ped = peds.begin(); iter_ped != peds.end(); )
353
     {
354 355 356
          //need to be called at each iteration
          SortPositionByDensity(positions, extra_positions);

357
          int index = -1;
358
          double radius = ( (*iter_ped)->GetEllipse() ).GetBmax()   ;
359 360

          //in the case a range was specified
361
          //just take the first element
362
          for (unsigned int a = 0; a < positions.size(); a++)
363
          {
364
               Point pos = positions[a];
365 366
               //cout<<"checking: "<<pos.toString()<<endl;
               // for positions inside bounds, check it there is enough space
367
               if ((bounds[0] <= pos._x) && (pos._x <= bounds[1])
368
                   && (bounds[2] <= pos._y) && (pos._y < bounds[3]))
369
               {
370

371
                    bool enough_space = true;
372

373 374 375
                    //checking enough space!!
                    vector<Pedestrian*> neighbours;
                    _building->GetGrid()->GetNeighbourhood(pos,neighbours);
376

377 378 379 380 381 382
                    for (const auto& ngh: neighbours)
                         if(  (ngh->GetPos() - pos).NormSquare() < 4*radius*radius )
                         {
                              enough_space = false;
                              break;
                         }
383 384


385 386 387 388 389
                    if( enough_space )
                    {
                         index = a;
                         break;
                    }
390

391 392
               }
          }
393
          if (index == -1)
394
          {
395
               if (positions.size())
396
               {
397
                    Log->Write(
398 399
                         "ERROR:\t AgentSourceManager Cannot distribute pedestrians in the mentioned area [%0.2f,%0.2f,%0.2f,%0.2f]",
                         bounds[0], bounds[1], bounds[2], bounds[3]);
400 401 402
                    Log->Write("     \t Specifying a subroom_id might help");
                    Log->Write("     \t %d positions were available",positions.size());
                    //exit(EXIT_FAILURE);
403
               }
404 405 406
               //dump the pedestrian, move iterator
               peds_without_place.push_back(*iter_ped);
               iter_ped=peds.erase(iter_ped);
407
          }
408
          else //we found a position with enough space
409 410 411
          {
               const Point& pos = positions[index];

412 413 414
               extra_positions.push_back(pos);
               (*iter_ped)->SetPos(pos, true); //true for the initial position
               positions.erase(positions.begin() + index);
415

416 417 418 419 420 421
               //at this point we have a position
               //so we can adjust the velocity
               //AdjustVelocityUsingWeidmann(ped);
               AdjustVelocityByNeighbour( (*iter_ped) );
               //move iterator
               iter_ped++;
422

423
          }
424 425

          //return the pedestrians without place
426
     }
427
     if(peds_without_place.size()>0)
428
          src->AddAgentsToPool(peds_without_place);
429
}
430

431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463
void AgentsSourcesManager::AdjustVelocityByNeighbour(Pedestrian* ped) const
{
     //get the density
     vector<Pedestrian*> neighbours;
     _building->GetGrid()->GetNeighbourhood(ped,neighbours);

     double speed=0.0;
     double radius_square=0.56*0.56;//corresponding to an area of 1m3
     int count=0;

     for(const auto& p: neighbours)
     {
          //only pedes in a sepcific rance
          if( (ped->GetPos()-p->GetPos()).NormSquare()<=radius_square)
          {
               //only peds with the same destination
               if(ped->GetExitIndex()==p->GetExitIndex())
               {
                    double dist1=ped->GetDistanceToNextTarget();
                    double dist2=p->GetDistanceToNextTarget();
                    //only peds in front of me
                    if(dist2<dist1)
                    {
                         speed+=p->GetV().Norm();
                         count++;
                    }
               }
          }

     }
     //mean speed
     if(count==0)
     {
Mohcine Chraibi's avatar
Mohcine Chraibi committed
464
          speed=ped->GetEllipse().GetV0(); // FIXME:  bad fix for: peds without navline (ar.graf)
465
          //speed=ped->GetV0Norm();
466 467 468 469 470 471 472 473 474 475 476 477 478 479 480
     }
     else
     {
          speed=speed/count;
     }

     if(ped->FindRoute()!=-1)
     {
          //get the next destination point
          Point v =(ped->GetExitLine()->ShortestPoint(ped->GetPos())- ped->GetPos()).Normalized();
          v=v*speed;
          ped->SetV(v);
     }
     else
     {
Mohcine Chraibi's avatar
Mohcine Chraibi committed
481
          Log->Write(">> ERROR:\t no route could be found for agent [%d] going to [%d]",ped->GetID(),ped->GetFinalDestination());
482 483 484 485 486 487
          //that will be most probably be fixed in the next computation step.
          // so do not abort
     }

}

488 489 490 491 492 493
void AgentsSourcesManager::AdjustVelocityUsingWeidmann(Pedestrian* ped) const
{
     //get the density
     vector<Pedestrian*> neighbours;
     _building->GetGrid()->GetNeighbourhood(ped,neighbours);

494
     //density in pers per m2
495 496
     double density = 1.0;
     //radius corresponding to a surface of 1m2
497
     //double radius_square=0.564*0.564;
498
     double radius_square=1.0;
499

500 501
     for(const auto& p: neighbours)
     {
502
          if( (ped->GetPos()-p->GetPos()).NormSquare()<=radius_square)
503 504
               density+=1.0;
     }
505 506
     density=density/(radius_square*M_PI);

507 508
     //get the velocity
     double density_max=5.4;
509

510 511 512 513 514 515
     //speed from taken from weidmann FD
     double speed=1.34*(1-exp(-1.913*(1.0/density-1.0/density_max)));
     if(speed>=ped->GetV0Norm())
     {
          speed=ped->GetV0Norm();
     }
516

517 518
     //set the velocity vector
     if(ped->FindRoute()!=-1)
519 520 521 522 523
     {
          //get the next destination point
          Point v =(ped->GetExitLine()->ShortestPoint(ped->GetPos())- ped->GetPos()).Normalized();
          v=v*speed;
          ped->SetV(v);
524
          //cout<<"density: "<<density<<endl;
525 526 527
     }
     else
     {
528
          Log->Write(">>> SOURCE ERROR:\t no route could be found for agent [%d] going to [%d]",ped->GetID(),ped->GetFinalDestination());
529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549
          //that will be most probably be fixed in the next computation step.
          // so do not abort
     }

}

void AgentsSourcesManager::SortPositionByDensity(std::vector<Point>& positions, std::vector<Point>& extra_positions) const
{
     std::multimap<double,Point> density2pt;
     //std::map<double,Point> density2pt;

     for(auto&& pt:positions)
     {
          vector<Pedestrian*> neighbours;
          _building->GetGrid()->GetNeighbourhood(pt,neighbours);
          //density in pers per m2
          double density = 0.0;
          double radius_square=0.40*0.40;

          for(const auto& p: neighbours)
          {
550 551
               //FIXME: p  can be null, if deleted in the main simulation thread.
               if( p && (pt-p->GetPos()).NormSquare()<=radius_square)
552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572
                    density+=1.0;
          }

          //consider the extra positions
          for(const auto& ptx: extra_positions)
          {
               if( (ptx-pt).NormSquare()<=radius_square)
                    density+=1.0;
          }
          density=density/(radius_square*M_PI);

          density2pt.insert(std::pair<double,Point>(density,pt));

     }

     //cout<<"------------------"<<positions.size()<<"-------"<<endl;
     positions.clear();
     for(auto&& d: density2pt)
     {
          positions.push_back(d.second);
          //     printf("density [%lf, %s]\n",d.first, d.second.toString().c_str());
573
     }
574 575

}
576 577 578 579 580 581 582 583 584 585 586


void AgentsSourcesManager::GenerateAgents()
{

     for (const auto& src : _sources)
     {
          src->GenerateAgentsAndAddToPool(src->GetMaxAgents(), _building);
     }
}

587 588 589
void AgentsSourcesManager::AddSource(std::shared_ptr<AgentsSource> src)
{
     _sources.push_back(src);
590
     _isCompleted=false;//at least one source was provided
591 592 593 594 595 596
}

const std::vector<std::shared_ptr<AgentsSource> >& AgentsSourcesManager::GetSources() const
{
     return _sources;
}
597 598 599

void AgentsSourcesManager::SetBuilding(Building* building)
{
600
     _building = building;
601
}
602 603 604

bool AgentsSourcesManager::IsCompleted() const
{
605
     return _isCompleted;
606
}
607

608 609 610 611 612
bool AgentsSourcesManager::IsRunning() const
{
     return _isRunning;
}

613

614 615 616 617 618 619 620 621 622 623
bool AgentsSourcesManager::IsBuildingUpdated() const
{
     return _buildingUpdated;
}

void AgentsSourcesManager::SetBuildingUpdated(bool update)
{
     _buildingUpdated = update;
}

624 625 626 627 628 629

void AgentsSourcesManager::SetRunning(bool running)
{
     _isRunning = running;
}

630 631 632 633
Building* AgentsSourcesManager::GetBuilding() const
{
     return _building;
}
634 635 636 637 638 639 640 641 642 643

long AgentsSourcesManager::GetMaxAgentNumber() const
{
     long pop=0;
     for (const auto& src : _sources)
     {
          pop+=src->GetMaxAgents();
     }
     return pop;
}
644 645 646 647 648 649 650 651


 int AgentsSourcesManager::GetMaxSimTime() const{
      return maxSimTime;
}
void AgentsSourcesManager::SetMaxSimTime(int t){
      maxSimTime = t;
}