Merge master to lifelong (#47)

* changes required to create LaCAM builder class (#37) * Add low level expansion/generation rate, and add all rates to A_RunManager output ("log" files) * add generation and expansion rates for low-level * fix low level expansion/generation rate metric * simplify (and optimize?) TieBreakingForLessConflictsAndHigherG * lacam constraints support (#39) * add constraints support in lacam, do constraints checks only if necessary for efficiency * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * refactoring and removing not necessary constraints set * add constraints handling test --------- Co-authored-by: J-morag <[email protected]> * Add regenerated nodes metric. Low level only. * Add regenerated nodes metric. Low level only. * simplify Move.equals * Transient seperating vertices (#43) * add boolean to TransientMAPFSettings indicates avoid separating vertices * Implementing Tarjan's Algorithm to find cut vertices with Iterative DFS * Add separating vertices set to RunParameters * Update src/main/java/BasicMAPF/DataTypesAndStructures/RunParameters.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/DataTypesAndStructures/RunParameters.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/DataTypesAndStructures/RunParameters.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/DataTypesAndStructures/RunParametersBuilder.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/TransientMAPFSettings.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * throw exceptions where needed, add separating vertices support for PIBT and improve efficiency * refactoring of files locations, support finding SVs to I_ExplicitMap, make SV finder static, improve SV test class, * Update src/main/java/BasicMAPF/Solvers/PrioritisedPlanning/PrioritisedPlanning_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/SeparatingVerticesFinder.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/CBS/CBS_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LargeNeighborhoodSearch/LargeNeighborhoodSearch_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/SeparatingVerticesFinder.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/TransientMAPFExampleMain.java Co-authored-by: J-morag <[email protected]> * Update src/test/java/BasicMAPF/Solvers/LargeNeighborhoodSearch/LargeNeighborhoodSearch_SolverTest.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/SeparatingVerticesFinder.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/SeparatingVerticesFinder.java Co-authored-by: J-morag <[email protected]> * visualize SV in visualizer and print in test * final fixes before PR --------- Co-authored-by: J-morag <[email protected]> * merge fixes and add LaCAMBuilder --------- Co-authored-by: J-morag <[email protected]>
J-morag · Nov 18, 2024 · fe934e8 · fe934e8
1 parent e6fd292
commit fe934e8
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Showing 25 changed files with 516 additions and 102 deletions.
diff --git a/src/main/java/BasicMAPF/DataTypesAndStructures/Move.java b/src/main/java/BasicMAPF/DataTypesAndStructures/Move.java
@@ -46,20 +46,12 @@ public String toString() {
         return this.timeNow + ":" + this.prevLocation.getCoordinate() + "->" + this.currLocation.getCoordinate();
     }
 
-    /**
-     * Ignores the {@link #agent} field.
-     */
     @Override
-    public boolean equals(Object o) {
+    public final boolean equals(Object o) {
         if (this == o) return true;
-        if (o == null || getClass() != o.getClass()) return false;
-
-        Move move = (Move) o;
-
-        if (timeNow != move.timeNow) return false;
-        if (!prevLocation.equals(move.prevLocation)) return false;
-        return currLocation.equals(move.currLocation);
+        if (!(o instanceof Move move)) return false;
 
+        return timeNow == move.timeNow && prevLocation.equals(move.prevLocation) && currLocation.equals(move.currLocation);
     }
 
     /**

diff --git a/src/main/java/BasicMAPF/DataTypesAndStructures/RunParameters.java b/src/main/java/BasicMAPF/DataTypesAndStructures/RunParameters.java
@@ -1,6 +1,7 @@
 package BasicMAPF.DataTypesAndStructures;
 
 import BasicMAPF.Instances.Agent;
+import BasicMAPF.Instances.Maps.I_Location;
 import BasicMAPF.Solvers.AStar.CostsAndHeuristics.SingleAgentGAndH;
 import BasicMAPF.Solvers.ConstraintsAndConflicts.Constraint.I_ConstraintSet;
 import BasicMAPF.Solvers.I_Solver;
@@ -10,6 +11,7 @@
 import org.jetbrains.annotations.Nullable;
 
 import java.util.Random;
+import java.util.Set;
 
 /**
  * A set of parameters for a {@link I_Solver solver} to use when solving an {@link BasicMAPF.Instances.MAPF_Instance instance}.
@@ -61,6 +63,14 @@ public class RunParameters {
      * optional heuristic function to use in the single agent solver.
      */
     public final SingleAgentGAndH singleAgentGAndH;
+
+    /**
+     * Set of separating vertices for a given map.
+     * Separating vertices are vertices in a graph whose removal increases the number of connected componenets in a graph,
+     * effectively disconneccting it.
+     */
+    public final Set<I_Location> separatingVertices;
+
     /**
      * Start time of the problem. {@link Solution solutions} and {@link SingleAgentPlan plans} start at this time.
      * Not real-time.
@@ -87,7 +97,7 @@ public class RunParameters {
      * Intentionally package-private constructor.
      * Use {@link RunParametersBuilder} to create a {@link RunParameters} object.
      */
-    RunParameters(long timeout, I_ConstraintSet constraints, InstanceReport instanceReport, Solution existingSolution, long softTimeout, SingleAgentGAndH singleAgentGAndH, int problemStartTime, @Nullable Random randomNumberGenerator, Agent[] priorityOrder) {
+    RunParameters(long timeout, I_ConstraintSet constraints, InstanceReport instanceReport, Solution existingSolution, long softTimeout, SingleAgentGAndH singleAgentGAndH, int problemStartTime, @Nullable Random randomNumberGenerator, Agent[] priorityOrder, Set<I_Location> separatingVertices) {
         this.timeout = timeout;
         this.softTimeout = softTimeout;
         if (this.softTimeout > this.timeout){
@@ -100,10 +110,11 @@ public class RunParameters {
         this.problemStartTime = problemStartTime;
         this.randomNumberGenerator = randomNumberGenerator;
         this.priorityOrder = priorityOrder;
+        this.separatingVertices = separatingVertices;
     }
 
     public RunParameters(RunParameters runParameters) {
-        this(runParameters.timeout, runParameters.constraints, runParameters.instanceReport, runParameters.existingSolution, runParameters.softTimeout, runParameters.singleAgentGAndH, runParameters.problemStartTime, runParameters.randomNumberGenerator, runParameters.priorityOrder);
+        this(runParameters.timeout, runParameters.constraints, runParameters.instanceReport, runParameters.existingSolution, runParameters.softTimeout, runParameters.singleAgentGAndH, runParameters.problemStartTime, runParameters.randomNumberGenerator, runParameters.priorityOrder, runParameters.separatingVertices);
     }
 
 }
diff --git a/src/main/java/BasicMAPF/DataTypesAndStructures/RunParametersBuilder.java b/src/main/java/BasicMAPF/DataTypesAndStructures/RunParametersBuilder.java
@@ -1,11 +1,13 @@
 package BasicMAPF.DataTypesAndStructures;
 
 import BasicMAPF.Instances.Agent;
+import BasicMAPF.Instances.Maps.I_Location;
 import BasicMAPF.Solvers.AStar.CostsAndHeuristics.SingleAgentGAndH;
 import BasicMAPF.Solvers.ConstraintsAndConflicts.Constraint.I_ConstraintSet;
 import Environment.Metrics.InstanceReport;
 
 import java.util.Random;
+import java.util.Set;
 
 public class RunParametersBuilder {
     private long timeout = 1000*60*5 /*5 minutes*/;
@@ -17,6 +19,7 @@ public class RunParametersBuilder {
     public int problemStartTime = 0;
     public Random randomNumberGenerator;
     public Agent[] priorityOrder;
+    public Set<I_Location> separatingVertices;
 
     public RunParametersBuilder copy(RunParameters rp) {
         this.timeout = rp.timeout;
@@ -28,6 +31,7 @@ public RunParametersBuilder copy(RunParameters rp) {
         this.problemStartTime = rp.problemStartTime;
         this.randomNumberGenerator = rp.randomNumberGenerator;
         this.priorityOrder = rp.priorityOrder;
+        this.separatingVertices = rp.separatingVertices;
         return this;
     }
 
@@ -104,7 +108,15 @@ public RunParametersBuilder setPriorityOrder(Agent[] priorityOrder) {
         return this;
     }
 
+    /**
+     * @see RunParameters#separatingVertices
+     */
+    public RunParametersBuilder setseparatingVertices(Set<I_Location> separatingVertices) {
+        this.separatingVertices = separatingVertices;
+        return this;
+    }
+
     public RunParameters createRP() {
-        return new RunParameters(timeout, constraints, instanceReport, existingSolution, softTimeout, singleAgentGAndH, problemStartTime, randomNumberGenerator, priorityOrder);
+        return new RunParameters(timeout, constraints, instanceReport, existingSolution, softTimeout, singleAgentGAndH, problemStartTime, randomNumberGenerator, priorityOrder, separatingVertices);
     }
 }
diff --git a/src/main/java/BasicMAPF/Solvers/AStar/SingleAgentAStar_Solver.java b/src/main/java/BasicMAPF/Solvers/AStar/SingleAgentAStar_Solver.java
@@ -57,6 +57,7 @@ public class SingleAgentAStar_Solver extends A_Solver {
     protected int problemStartTime;
     protected int expandedNodes;
     private int generatedNodes;
+    private int numRegeneratedNodes;
     /**
      * Maximum allowed f value ({@link SingleAgentPlan} cost). Will stop and return null if proved that it cannot be found.
      */
@@ -156,6 +157,7 @@ protected void init(MAPF_Instance instance, RunParameters runParameters){
 
         this.expandedNodes = 0;
         this.generatedNodes = 0;
+        this.numRegeneratedNodes = 0;
     }
 
     /*  = A* algorithm =  */
@@ -336,6 +338,7 @@ protected void writeMetricsToReport(Solution solution) {
         if(instanceReport != null){
             instanceReport.putIntegerValue(InstanceReport.StandardFields.expandedNodesLowLevel, this.expandedNodes);
             instanceReport.putIntegerValue(InstanceReport.StandardFields.generatedNodesLowLevel, this.generatedNodes);
+            instanceReport.putIntegerValue(InstanceReport.StandardFields.regeneratedNodesLowLevel, this.numRegeneratedNodes);
         }
     }
 
@@ -425,7 +428,10 @@ private float calcH() {
 
         protected void keepTheStateWithMinG(AStarState newState, AStarState existingState) {
             // decide which state to keep, seeing as how they are both equal and in open.
-            openList.keepOne(existingState, newState, SingleAgentAStar_Solver.equalStatesDiscriminator);
+            AStarState dropped = openList.keepOne(existingState, newState, SingleAgentAStar_Solver.equalStatesDiscriminator);
+            if (dropped == existingState){
+                SingleAgentAStar_Solver.this.numRegeneratedNodes++;
+            }
         }
 
         /**
@@ -523,12 +529,10 @@ protected int getG(@Nullable AStarState prev, Move move){
      * For sorting the open list.
      */
     private static class TieBreakingForLessConflictsAndHigherG implements Comparator<AStarState>{
-
-        private static final Comparator<AStarState> fComparator = Comparator.comparing(AStarState::getF);
-
         @Override
         public int compare(AStarState o1, AStarState o2) {
-            if(Math.abs(o1.getF() - o2.getF()) < 0.1){ // floats are equal
+            float fCompared = o1.getF() - o2.getF();
+            if(Math.abs(fCompared) < 0.1){ // floats are equal
                 // if f() value is equal, we consider the state with less conflicts to be better.
                 if(o1.conflicts == o2.conflicts){
                     // if equal in conflicts, we break ties for higher g. Therefore, we want to return a negative
@@ -547,7 +551,7 @@ public int compare(AStarState o1, AStarState o2) {
                 }
             }
             else {
-                return fComparator.compare(o1, o2);
+                return fCompared > 0 ? 1 : -1;
             }
         }
     }
@@ -572,7 +576,6 @@ public int compare(AStarState o1, AStarState o2) {
                 else{
                     return o1.conflicts - o2.conflicts; // less conflicts is better
                 }
-
             }
             else {
                 return o1.g - o2.g; //lower g is better

diff --git a/src/main/java/BasicMAPF/Solvers/A_Solver.java b/src/main/java/BasicMAPF/Solvers/A_Solver.java
@@ -31,6 +31,7 @@ public abstract class A_Solver implements I_Solver{
     protected long endTime;
     protected boolean abortedForTimeout;
     protected int totalLowLevelNodesGenerated;
+    protected int totalLowLevelNodesRegenerated;
     protected int totalLowLevelNodesExpanded;
     protected int totalLowLevelTimeMS;
     protected int totalLowLevelCalls;
@@ -87,6 +88,7 @@ protected void init(MAPF_Instance instance, RunParameters parameters){
         this.generatedNodes = 0;
 
         this.totalLowLevelNodesGenerated = 0;
+        this.totalLowLevelNodesRegenerated = 0;
         this.totalLowLevelNodesExpanded = 0;
         this.totalLowLevelTimeMS = 0;
         this.totalLowLevelCalls = 0;
@@ -105,6 +107,8 @@ protected void init(MAPF_Instance instance, RunParameters parameters){
     protected void digestSubproblemReport(InstanceReport subproblemReport) {
         Integer statesGenerated = subproblemReport.getIntegerValue(InstanceReport.StandardFields.generatedNodesLowLevel);
         this.totalLowLevelNodesGenerated += statesGenerated==null ? 0 : statesGenerated;
+        Integer statesRegenerated = subproblemReport.getIntegerValue(InstanceReport.StandardFields.regeneratedNodesLowLevel);
+        this.totalLowLevelNodesRegenerated += statesRegenerated==null ? 0 : statesRegenerated;
         Integer statesExpanded = subproblemReport.getIntegerValue(InstanceReport.StandardFields.expandedNodesLowLevel);
         this.totalLowLevelNodesExpanded += statesExpanded==null ? 0 : statesExpanded;
         Integer totalLowLevelTimeMS = subproblemReport.getIntegerValue(InstanceReport.StandardFields.elapsedTimeMS);
@@ -144,9 +148,12 @@ protected void writeMetricsToReport(Solution solution){
         else{
             instanceReport.putIntegerValue(InstanceReport.StandardFields.solved, 0);
         }
+        instanceReport.putIntegerValue(InstanceReport.StandardFields.totalLowLevelTimeMS, this.totalLowLevelTimeMS);
         instanceReport.putIntegerValue(InstanceReport.StandardFields.generatedNodesLowLevel, this.totalLowLevelNodesGenerated);
+        instanceReport.putFloatValue(InstanceReport.StandardFields.generationRateLowLevel,(float) this.totalLowLevelNodesGenerated / ((float) (this.totalLowLevelTimeMS) / 1000f));
+        instanceReport.putIntegerValue(InstanceReport.StandardFields.regeneratedNodesLowLevel, this.totalLowLevelNodesRegenerated);
         instanceReport.putIntegerValue(InstanceReport.StandardFields.expandedNodesLowLevel, this.totalLowLevelNodesExpanded);
-        instanceReport.putIntegerValue(InstanceReport.StandardFields.totalLowLevelTimeMS, this.totalLowLevelTimeMS);
+        instanceReport.putFloatValue(InstanceReport.StandardFields.expansionRateLowLevel, (float) this.totalLowLevelNodesExpanded / ((float) (this.totalLowLevelTimeMS) / 1000f));
         instanceReport.putIntegerValue(InstanceReport.StandardFields.totalLowLevelCalls, this.totalLowLevelCalls);
     }
 

diff --git a/src/main/java/BasicMAPF/Solvers/CBS/CBS_Solver.java b/src/main/java/BasicMAPF/Solvers/CBS/CBS_Solver.java
@@ -133,6 +133,9 @@ public class CBS_Solver extends A_Solver implements I_LifelongCompatibleSolver {
         this.ignoresStayAtSharedGoals = Objects.requireNonNullElse(ignoresStayAtSharedGoals, false);
         this.sharedSources = Objects.requireNonNullElse(sharedSources, false);
         this.transientMAPFSettings = Objects.requireNonNullElse(transientMAPFSettings, TransientMAPFSettings.defaultRegularMAPF);
+        if (this.transientMAPFSettings.avoidSeparatingVertices()) {
+            throw new IllegalArgumentException("CBS does not support transient with separating vertices.");
+        }
         if (RHCR_Horizon != null && RHCR_Horizon <= 0){
             throw new IllegalArgumentException("RHCR_Horizon must be positive");
         }
@@ -404,7 +407,7 @@ private RunParameters getSubproblemParameters(Solution currentSolution, I_Constr
 
             // TMAPF goal condition
             if (transientMAPFSettings.isTransientMAPF()){
-                if (transientMAPFSettings.useBlacklist()) {
+                if (transientMAPFSettings.avoidOtherAgentsTargets()) {
                     Set<I_Coordinate> targetsOfAgentsThatHaventPlannedYet = new HashSet<>();
                     for (Agent agentToBlack : this.instance.agents) {
                         if (!agent.equals(agentToBlack)) {

diff --git a/src/main/java/BasicMAPF/Solvers/LaCAM/LaCAMBuilder.java b/src/main/java/BasicMAPF/Solvers/LaCAM/LaCAMBuilder.java
@@ -0,0 +1,45 @@
+package BasicMAPF.Solvers.LaCAM;
+
+import BasicMAPF.CostFunctions.I_SolutionCostFunction;
+import BasicMAPF.CostFunctions.SumOfCosts;
+import TransientMAPF.TransientMAPFSettings;
+
+import java.util.Objects;
+
+public class LaCAMBuilder {
+    private I_SolutionCostFunction solutionCostFunction = null;
+    private TransientMAPFSettings transientMAPFSettings = null;
+    private Integer RHCR_Horizon = Integer.MAX_VALUE;
+
+    private Boolean returnPartialSolutions = false;
+
+    private Boolean ignoresStayAtSharedGoals = false;
+    public LaCAMBuilder setSolutionCostFunction(I_SolutionCostFunction solutionCostFunction) {
+        this.solutionCostFunction = solutionCostFunction;
+        return this;
+    }
+
+    public LaCAMBuilder setTransientMAPFBehaviour(TransientMAPFSettings transientMAPFSettings) {
+        this.transientMAPFSettings = transientMAPFSettings;
+        return this;
+    }
+
+    public LaCAMBuilder setRHCRHorizon(Integer RHCR_Horizon) {
+        this.RHCR_Horizon = RHCR_Horizon;
+        return this;
+    }
+
+    public LaCAMBuilder setReturnPartialSolutions(Boolean returnPartialSolutions) {
+        this.returnPartialSolutions = returnPartialSolutions;
+        return this;
+    }
+
+    public LaCAMBuilder setIgnoresStayAtSharedGoals(Boolean ignoresStayAtSharedGoals) {
+        this.ignoresStayAtSharedGoals = ignoresStayAtSharedGoals;
+        return this;
+    }
+
+    public LaCAM_Solver createLaCAM() {
+        return new LaCAM_Solver(solutionCostFunction, transientMAPFSettings, RHCR_Horizon, returnPartialSolutions, ignoresStayAtSharedGoals);
+    }
+}
diff --git a/src/main/java/BasicMAPF/Solvers/LaCAM/LaCAMStar_Solver.java b/src/main/java/BasicMAPF/Solvers/LaCAM/LaCAMStar_Solver.java
@@ -32,7 +32,7 @@ public class LaCAMStar_Solver extends A_Solver {
      * @param transientMAPFSettings indicates whether to solve transient-MAPF.
      */
     public LaCAMStar_Solver(I_SolutionCostFunction solutionCostFunction, TransientMAPFSettings transientMAPFSettings) {
-        this.lacamSolver = new LaCAM_Solver(solutionCostFunction, transientMAPFSettings, null, null, null);
+        this.lacamSolver = new LaCAMBuilder().setSolutionCostFunction(solutionCostFunction).setTransientMAPFBehaviour(transientMAPFSettings).createLaCAM();
         super.name = "LaCAMStar" + (this.lacamSolver.transientMAPFSettings.isTransientMAPF() ? "t" : "");
     }
 
@@ -353,7 +353,6 @@ protected void releaseMemory() {
     @Override
     protected void writeMetricsToReport(Solution solution) {
         super.writeMetricsToReport(solution);
-
         this.lacamSolver.writeMetricsToReport(solution);
         this.expandedNodes += instanceReport.getIntegerValue(InstanceReport.StandardFields.expandedNodes);
         this.generatedNodes += instanceReport.getIntegerValue(InstanceReport.StandardFields.generatedNodes);