diff --git a/r2sol-old.cc b/r2sol-old.cc
index c3b37f6032c2b0315586e21db6c400bb9a4553d8..7ae3f3484157a4116d89a1a57d527e4396e5a56b 100644
--- a/r2sol-old.cc
+++ b/r2sol-old.cc
@@ -72,7 +72,7 @@ namespace SOLVE {
FILE* fin;
char fname[128];
-int H, W, T, N, TINIT;
+int H, W, T, TEST, N, TINIT;
double TSTART;
struct Node {
@@ -98,7 +98,8 @@ void ReadTransitionsMap() {
}
}
nnodes = 0;
- T = 8 * (H + W + 20);
+ T = TMAX - 7;
+ //T = 8 * (H + W + 20);
int row, col, o1, o2, num_transitions = 0;
while (fscanf(fin, "%d %d %d %d", &row, &col, &o1, &o2) == 4) {
if (row < 0 || col < 0 || o1 < 0 || o2 < 0) break;
@@ -314,11 +315,45 @@ bool reschedule;
int num_done_agents, num_planned, num_reschedules, num_adjust_ipaths;
int num_adjust_ipaths_without_full_plan_regeneration;
+int important_row[2 * NMAX], important_col[2 * NMAX];
+char visited[2 * NMAX];
+
+void DFSMarkCities(int aid) {
+ visited[aid] = 1;
+ static const int kMaxDiff = 2;
+ for (int aid2 = 0; aid2 < 2 * N; ++aid2) {
+ if (visited[aid2]) continue;
+ if (abs(important_row[aid] - important_row[aid2]) <= kMaxDiff && abs(important_col[aid] - important_col[aid2]) <= kMaxDiff)
+ DFSMarkCities(aid2);
+ }
+}
+
+void EstimateT() {
+ for (int aid = 0; aid < N; ++aid) {
+ const auto& agent_aid = agent[aid];
+ important_row[2 * aid] = agent_aid.poz_row;
+ important_col[2 * aid] = agent_aid.poz_col;
+ important_row[2 * aid + 1] = agent_aid.target_row;
+ important_col[2 * aid + 1] = agent_aid.target_col;
+ visited[2 * aid] = visited[2 * aid + 1] = 0;
+ }
+ int num_cities = 0;
+ for (int aid = 0; aid < 2 * N; ++aid) {
+ if (visited[aid]) continue;
+ DFSMarkCities(aid);
+ ++num_cities;
+ }
+ if (1.0 * N / num_cities < 20.0 - 1e-6)
+ TEST = (int)(8.0 * (H + W + 1.0 * N / num_cities));
+ else
+ TEST = 8 * (H + W + 20);
+ DBG(0, "(estimated) num_cities=%d TEST=%d\n", num_cities, TEST);
+}
+
void ReadAgentsData(bool replay_mode = false) {
fscanf(fin, "%d %d", &N, &TINIT);
DBG(2, "[ReadAgentsData] N=%d TINIT=%d/%d\n", N, TINIT, T);
assert(1 <= N && N < NMAX);
- assert(TINIT < T);
if (replay_mode) {
fscanf(fin, "%d %d %d", &num_reschedules, &num_planned, &num_adjust_ipaths_without_full_plan_regeneration);
reschedule = TINIT == 0;
@@ -445,6 +480,11 @@ void ReadAgentsData(bool replay_mode = false) {
}
}
+ if (TINIT == 0 || replay_mode) {
+ if (TINIT == 0) EstimateT();
+ else fscanf(fin, "%d", &T);
+ }
+
//exit(1);
}
@@ -707,8 +747,21 @@ bool OverlapsOngoingMove(int t1, int t2, int node, const int covered_by[][MAXNOD
if (!USE_SPACING_TO_AVOID_DEADLOCKS) return false;
if (t1 < tend_ongoing_move[node]) return true;
+ //if (t2 <= tend_ongoing_move[node]) return true;
+
+ const int min_tstart = t2;//USE_STRICT_SPACING_TO_AVOID_DEADLOCKS ? t2 : t1;
+ //const int min_tstart = t1;//USE_STRICT_SPACING_TO_AVOID_DEADLOCKS ? t2 : t1;
+
const int aid_t1 = is_covered[t1][node] == is_covered_idx ? covered_by[t1][node] : -1;
+ for (int tend = t2 + 1; tend <= t2 + 3 && tend <= T; ++tend) {
+ if (is_covered[tend][node] == is_covered_idx) {
+ const auto& aid = covered_by[tend][node];
+ const auto& agent_aid = agent[aid];
+ if (tend - agent_aid.cturns < min_tstart && (aid != aid_t1 || is_covered[tend - 1][node] != is_covered_idx)) return true;
+ }
+ }
+
if (USE_STRICT_SPACING_TO_AVOID_DEADLOCKS) {
for (int tend = t1 + 1; tend <= t2; ++tend) {
if (is_covered[tend][node] == is_covered_idx) {
@@ -718,15 +771,6 @@ bool OverlapsOngoingMove(int t1, int t2, int node, const int covered_by[][MAXNOD
}
}
- const int min_tstart = t2;//USE_STRICT_SPACING_TO_AVOID_DEADLOCKS ? t2 : t1;
- for (int tend = t2 + 1; tend <= t2 + 3 && tend <= T; ++tend) {
- if (is_covered[tend][node] == is_covered_idx) {
- const auto& aid = covered_by[tend][node];
- const auto& agent_aid = agent[aid];
- if (tend - agent_aid.cturns < min_tstart && (aid != aid_t1 || is_covered[tend - 1][node] != is_covered_idx)) return true;
- }
- }
-
/*for (int tend = t2 + 1; tend <= t2 + 3 && tend <= T; ++tend) {
if (is_covered[tend][node] == is_covered_idx) {
const auto& aid = covered_by[tend][node];
@@ -775,7 +819,7 @@ bool FindBestPath(int aid, const int covered_by[][MAXNODES], const int is_covere
if (!agent_aid.inside_poz) {
rnode = agent_aid.poz_node;
ro = agent_aid.poz_o;
- t1 = TINIT + max(agent_aid.malfunc - 1/*2*/, 0);
+ t1 = TINIT + max(agent_aid.malfunc - 1, 0);
for (int tstart = t1; tstart < T; ++tstart) {
if (!CanEnterCell(aid, tstart + 1, -1, rnode, covered_by, is_covered, is_covered_idx, tmp_path)) continue;
int t2 = tstart + 1;
@@ -839,22 +883,27 @@ bool FindBestPath(int aid, const int covered_by[][MAXNODES], const int is_covere
}
}
- int TMIN = T + 1, best_o = -1;
-
- /*if (aid == 126 || aid == 50) {
- DBG(0, ">>> aid=%d\n", aid);
- for (int t = 40; t <= 50 && t <= ipath[aid].tmax; ++t) DBG(0, " t=%d node=%d\n", t, ipath[aid].p[t].node);
- }*/
-
+ int TMIN = T + 1, best_o = -1, best_node = -1, best_t1 = -1;
+
if (tmp_path_aid.tmax < TINIT || tmp_path_aid.p[tmp_path_aid.tmax].node == agent_aid.target_node) TMIN = tmp_path_aid.tmax;
- while (hsize >= 1 /*&& TMIN > T*/) {
+ while (hsize >= 1) {
int t, node, o, ct1;
ExtractMinFromHeap(h, hsize, t, node, o, ct1);
- //DBG(0, "aid=%d hsize=%d t=%d node=%d o=%d ct1=%d can_reach=%d/%d\n", aid, hsize, t, node, o, ct1, can_reach[t][node][o], can_reach_idx);
+ assert(0 <= t && t <= T);
assert(can_reach[t][node][o] == can_reach_idx);
if (ct1 != can_reach_with_t1[t][node][o]) continue;
- if (t + dmin_aid[node][o] >= TMIN) break;
+
+ if (best_node == target_node && t + dmin_aid[node][o] > TMIN) break;
+ if (t > TMIN || t > T) continue;
+
+ if (t == T && (best_node < 0 || (best_node >= 0 && best_node != target_node && best_t1 < ct1))) {
+ TMIN = t;
+ best_node = node;
+ best_o = o;
+ best_t1 = ct1;
+ //assert(false);
+ }
// Case 1: Wait.
if (t + 1 < TMIN && CanEnterCell(aid, t + 1, node, node, covered_by, is_covered, is_covered_idx, tmp_path) &&
@@ -868,10 +917,10 @@ bool FindBestPath(int aid, const int covered_by[][MAXNODES], const int is_covere
new_prev.o = o;
new_prev.type = WAITED;
const int est_tmin = t + 1 + dmin_aid[node][o];
- if (est_tmin < TMIN) InsertIntoHeap(h, hsize, t + 1, node, o, ct1, est_tmin);
+ if ((t + 1 <= T && best_node != target_node) || est_tmin <= TMIN) InsertIntoHeap(h, hsize, t + 1, node, o, ct1, est_tmin);
}
- if (t + cturns >= TMIN) continue;
+ if (t + cturns > TMIN) continue;
const int tarrive_node2 = t + cturns;
if (!IsFreeTimeWindow(aid, t + 1, tarrive_node2 - 1, node, covered_by, is_covered, is_covered_idx, tmp_path)) continue;
@@ -893,7 +942,7 @@ bool FindBestPath(int aid, const int covered_by[][MAXNODES], const int is_covere
new_prev.o = o;
new_prev.type = STARTED_MOVING;
const int est_tmin = tarrive_node2 + dmin_aid[node2][onext];
- if (est_tmin < TMIN) InsertIntoHeap(h, hsize, tarrive_node2, node2, onext, ct1, est_tmin);
+ if ((tarrive_node2 <= T && best_node != target_node) || est_tmin <= TMIN) InsertIntoHeap(h, hsize, tarrive_node2, node2, onext, ct1, est_tmin);
} else {
can_reach[tarrive_node2][node2][onext] = can_reach_idx;
can_reach_with_t1[tarrive_node2][node2][onext] = ct1;
@@ -902,24 +951,40 @@ bool FindBestPath(int aid, const int covered_by[][MAXNODES], const int is_covere
new_prev.node = node;
new_prev.o = o;
new_prev.type = STARTED_MOVING;
- if (tarrive_node2 < TMIN) {
+ if (best_node != target_node || tarrive_node2 < TMIN || (tarrive_node2 == TMIN && best_t1 < ct1)) {
TMIN = tarrive_node2;
+ best_node = target_node;
best_o = onext;
+ best_t1 = ct1;
}
}
}
}
}
+ //if (agent_aid.inside_poz) assert(best_o >= 0);
if (best_o < 0) return false;
+ if (best_node != target_node && !agent_aid.inside_poz) {
+ tmp_path_aid.tmax = T;
+ for (int t = TINIT; t <= T; ++t) {
+ auto& new_path_elem = tmp_path_aid.p[t];
+ new_path_elem.node = agent_aid.poz_node;
+ new_path_elem.o = agent_aid.poz_o;
+ new_path_elem.moving_to_node = new_path_elem.moving_to_o = -1;
+ new_path_elem.num_partial_turns = 0;
+ new_path_elem.how_i_got_here = OUTSIDE_SRC;
+ }
+ return true;
+ }
+
+ //assert(best_node == target_node);
tmp_path_aid.tmax = TMIN;
- int ct = TMIN, cnode = target_node, co = best_o;
+ int ct = TMIN, cnode = best_node, co = best_o;
while (1) {
assert(can_reach[ct][cnode][co] == can_reach_idx);
assert(ct >= can_reach_with_t1[ct][cnode][co]);
const auto& cprev = prev[ct][cnode][co];
- //DBG(0, "ct=%d cnode=%d co=%d cprev.t=%d cprev.type=%d\n", ct, cnode, co, cprev.t, cprev.type);
if (cprev.t < 0) break;
if (cprev.type == WAITED || cprev.type == MALFUNCTIONED) {
// Wait 1 unit.
@@ -935,7 +1000,6 @@ bool FindBestPath(int aid, const int covered_by[][MAXNODES], const int is_covere
int num_partial_turns = 0;
for (int tmove = cprev.t; tmove < ct; ++tmove) {
- //DBG(0, " tmove=%d npt=%d\n", tmove, num_partial_turns);
auto& new_path_elem = tmp_path_aid.p[tmove + 1];
++num_partial_turns;
if (num_partial_turns < agent_aid.cturns) {
@@ -1009,6 +1073,25 @@ void UncoverPath(int aid, const Path& path, int covered_by[][MAXNODES], int is_c
}
}
+void CoverPath1(int aid, const Path& path, int covered_by[][MAXNODES], int is_covered[][MAXNODES], int is_covered_idx) {
+ const auto& agent_aid = agent[aid];
+ if (!agent_aid.inside_poz) return;
+ for (int t = TINIT; t <= T; ++t) {
+ assert(is_covered[t][agent_aid.poz_node] != is_covered_idx);
+ is_covered[t][agent_aid.poz_node] = is_covered_idx;
+ covered_by[t][agent_aid.poz_node] = aid;
+ }
+}
+
+void UncoverPath1(int aid, const Path& path, int covered_by[][MAXNODES], int is_covered[][MAXNODES], int is_covered_idx) {
+ const auto& agent_aid = agent[aid];
+ if (!agent_aid.inside_poz) return;
+ for (int t = TINIT; t <= T; ++t) {
+ assert(is_covered[t][agent_aid.poz_node] == is_covered_idx && covered_by[t][agent_aid.poz_node] == aid);
+ is_covered[t][agent_aid.poz_node] = 0;
+ }
+}
+
bool RunConsistencyChecks(Path path[], const int covered_by[][MAXNODES], const int is_covered[][MAXNODES], int is_covered_idx, bool crash_on_error = true) {
for (int aid = 0; aid < N; ++aid) {
const auto& agent_aid = agent[aid];
@@ -1160,10 +1243,12 @@ void CheckNonDeadlockPaths() {
}
}
-const double kScoreExponent = 1.0;//2.0;
-const double kMaxTmaxWeight = 0.0;
+double SCORE_EXPONENT1, SCORE_EXPONENT2;
+double MAX_TMAX_WEIGHT;
-void RandomPermutations(int tid, int ntries) {
+#define GetScore(t) (t <= TEST ? pow(1.0 * t / TEST, SCORE_EXPONENT1) : pow(1.0 * t / TEST, SCORE_EXPONENT2))
+
+/*void RandomPermutations(int tid, int ntries) {
auto& pused_tid = pused[tid];
auto& perm_tid = perm[tid];
auto& xor128_tid = xor128[tid];
@@ -1198,20 +1283,20 @@ void RandomPermutations(int tid, int ntries) {
int last_trial_update = -1, last_idx_update = -1;
for (int trial = 1; trial <= ntries; ++trial) {
- if (0&&tid == 0 && trial <= 2) {
+ if (tid == 0 && trial <= 1) {
if (trial == 2) reverse(shpaths_sorted.begin(), shpaths_sorted.end());
for (int i = 0; i < N; ++i) perm_tid[i] = shpaths_sorted[i].second;
} else {
for (int i = 0; i < N; ++i) pused_tid[i] = 0;
int idx = 0;
- if ((trial & 3) >= 2) {
+ if ((0&&trial & 3) >= 2) {
for (int i = 0; i < N; ++i) {
do {
perm_tid[idx] = xor128_tid.rand() % N;
} while (pused_tid[perm_tid[idx]]);
pused_tid[perm_tid[idx++]] = 1;
}
- } else if ((trial & 3) == 1) {
+ } else if (0&&(trial & 3) == 1) {
for (int cturns = MAX_CTURNS - 1; cturns >= 0; --cturns) {
const auto& cturns_agents_cturns = cturns_agents[cturns];
const auto& num_cturns_agents_cturns = num_cturns_agents[cturns];
@@ -1308,19 +1393,140 @@ void RandomPermutations(int tid, int ntries) {
}
}
}
+*/
+
+void RandomPermutations(int tid, int ntries) {
+ auto& pused_tid = pused[tid];
+ auto& perm_tid = perm[tid];
+ auto& xor128_tid = xor128[tid];
+ auto& covered_by_tid = covered_by[tid];
+ auto& is_covered_tid = is_covered[tid];
+ auto& is_covered_idx_tid = is_covered_idx[tid];
+ auto& can_reach_tid = can_reach[tid];
+ auto& can_reach_idx_tid = can_reach_idx[tid];
+ auto& can_reach_with_t1_tid = can_reach_with_t1[tid];
+ auto& heap_tid = heap[tid];
+ auto& heap_size_tid = heap_size[tid];
+ auto& prev_tid = prev[tid];
+ auto& tmp_path_tid = tmp_path[tid];
+ auto& tmp_path2_tid = tmp_path2[tid];
+ auto& tmax_at_poz_node_tid = tmax_at_poz_node[tid];
+
+ if (tid == 0) {
+ shpaths_sorted.resize(N);
+ for (int aid = 0; aid < N; ++aid) {
+ shpaths_sorted[aid].second = aid;
+ const auto& agent_aid = agent[aid];
+ shpaths_sorted[aid].first = agent_aid.malfunc + dmin[aid][agent_aid.poz_node][agent_aid.poz_o];
+ }
+ sort(shpaths_sorted.begin(), shpaths_sorted.end());
+ }
+
+ for (int trial = 1; trial <= ntries; ++trial) {
+ if (tid == 0 && trial <= 1) {
+ for (int i = 0; i < N; ++i) perm_tid[i] = shpaths_sorted[i].second;
+ reverse(shpaths_sorted.begin(), shpaths_sorted.end());
+ } else {
+ for (int i = 0; i < N; ++i) pused_tid[i] = 0;
+ int idx = 0;
+ if (0&&(trial & 1) == 1) {
+ for (int cturns = MAX_CTURNS - 1; cturns >= 0; --cturns) {
+ const auto& cturns_agents_cturns = cturns_agents[cturns];
+ const auto& num_cturns_agents_cturns = num_cturns_agents[cturns];
+ for (int i = 0; i < num_cturns_agents_cturns; ++i) {
+ do {
+ perm_tid[idx] = cturns_agents_cturns[xor128_tid.rand() % num_cturns_agents_cturns];
+ } while (pused_tid[perm_tid[idx]]);
+ pused_tid[perm_tid[idx++]] = 1;
+ }
+ }
+ } else {
+ for (int cturns = 0; cturns < MAX_CTURNS; ++cturns) {
+ const auto& cturns_agents_cturns = cturns_agents[cturns];
+ const auto& num_cturns_agents_cturns = num_cturns_agents[cturns];
+ for (int i = 0; i < num_cturns_agents_cturns; ++i) {
+ do {
+ perm_tid[idx] = cturns_agents_cturns[xor128_tid.rand() % num_cturns_agents_cturns];
+ } while (pused_tid[perm_tid[idx]]);
+ pused_tid[perm_tid[idx++]] = 1;
+ }
+ }
+ }
+ }
+ ++is_covered_idx_tid;
+ for (int aid = 0; aid < N; ++aid) {
+ auto& tmax_at_poz_node_tid_aid = tmax_at_poz_node_tid[aid];
+ tmax_at_poz_node_tid_aid = -1;
+ auto& tmp_path_tid_aid = tmp_path_tid[aid];
+ CopyPath(ipath[aid], &tmp_path_tid_aid);
+ const auto& agent_aid = agent[aid];
+ if (agent_aid.status == DONE_REMOVED) continue;
+ CoverPath(aid, tmp_path_tid_aid, covered_by_tid, is_covered_tid, is_covered_idx_tid);
+ if (agent_aid.inside_poz) {
+ tmax_at_poz_node_tid_aid = TINIT;
+ for (int t = TINIT + 1; t <= tmp_path_tid_aid.tmax; ++t) {
+ const auto& path_elem = tmp_path_tid_aid.p[t];
+ if (path_elem.node != agent_aid.poz_node) break;
+ tmax_at_poz_node_tid_aid = t;
+ }
+ }
+ }
+ bool inconsistent = false;
+ for (int idx = 0; idx < N; ++idx) {
+ const auto& aid = perm_tid[idx];
+ const auto& agent_aid = agent[aid];
+ if (agent_aid.status == DONE_REMOVED) continue;
+ auto& tmp_path_tid_aid = tmp_path_tid[aid];
+ UncoverPath(aid, tmp_path_tid_aid, covered_by_tid, is_covered_tid, is_covered_idx_tid);
+ if (!FindBestPath(aid, covered_by_tid, is_covered_tid, is_covered_idx_tid, can_reach_tid, can_reach_idx_tid, can_reach_with_t1_tid, heap_tid, heap_size_tid, prev_tid, tmp_path_tid, &tmp_path2_tid[aid], tmax_at_poz_node_tid)) {
+ //inconsistent = true;
+ //break;
+ }
+ CoverPath(aid, tmp_path_tid_aid, covered_by_tid, is_covered_tid, is_covered_idx_tid);
+ }
+ if (!inconsistent && RunConsistencyChecks(tmp_path_tid, covered_by_tid, is_covered_tid, is_covered_idx_tid, false)) {
+ int num_done_agents = 0;
+ double cost = 0.0;
+ int max_tmax = 0;
+ for (int aid = 0; aid < N; ++aid) {
+ const auto& agent_aid = agent[aid];
+ if (agent_aid.status == DONE_REMOVED) continue;
+ const auto& tmp_path_tid_aid = tmp_path_tid[aid];
+ assert(tmp_path_tid_aid.tmax > TINIT);
+ if (tmp_path_tid_aid.tmax > TINIT && tmp_path_tid_aid.tmax <= T && tmp_path_tid_aid.p[tmp_path_tid_aid.tmax].node == agent_aid.target_node) {
+ ++num_done_agents;
+ cost += GetScore(tmp_path_tid_aid.tmax);
+ if (tmp_path_tid_aid.tmax > max_tmax) max_tmax = tmp_path_tid_aid.tmax;
+ }
+ }
+ if (num_done_agents >= 1) cost /= num_done_agents;
+
+ {
+ lock_guard<mutex> guard(m);
+ if (num_done_agents > MAX_DONE_AGENTS || (num_done_agents == MAX_DONE_AGENTS && cost < MIN_COST - 1e-6)) {
+ MAX_DONE_AGENTS = num_done_agents;
+ MIN_COST = cost;
+ updated_best_solution = true;
+ CopyTmpPathToPath(tid);
+ DBG(0, "[RandomPermutations] rerun=%d tid=%d trial=%d/%d maxda=%d/%d minc=%.6lf time=%.3lf\n", rerun, tid, trial, ntries, MAX_DONE_AGENTS, num_planned, MIN_COST, GetTime() - TSTART);
+ }
+ }
+ }
+ }
+}
bool any_best_solution_updates;
void RegenerateFullPlan() {
+ ++num_reschedules;
any_best_solution_updates = false;
updated_best_solution = true;
rerun = 0;
- const int kMaxReruns = 2;//4;
-
+ const int kMaxReruns = 4;//2;
+
while (updated_best_solution && rerun < kMaxReruns) {
updated_best_solution = false;
- ++num_reschedules;
++rerun;
for (int node = 0; node < nnodes; ++node) tend_ongoing_move[node] = TINIT;
@@ -1344,7 +1550,7 @@ void RegenerateFullPlan() {
if (max_threads >= 2) th = new thread*[max_threads - 1];
// Random Permutations.
- const int kNumRandomPermutations = TINIT == 0 ? 10 : 6;
+ const int kNumRandomPermutations = TINIT == 0 ? 20 /*10*/ : 12 /*6*/;
if (max_threads >= 2) {
for (int tid = 0; tid + 1 < max_threads; ++tid) th[tid] = new thread([tid, kNumRandomPermutations]{
RandomPermutations(tid, kNumRandomPermutations);
@@ -1498,7 +1704,7 @@ bool AdjustIPaths() {
else new_path_elem.how_i_got_here = first_expected_step.how_i_got_here;
} else new_path_elem.how_i_got_here = OUTSIDE_SRC;
- const int tmin = TINIT + max(0, agent_aid.malfunc - (agent_aid.inside_poz ? /*1*/ 0 : /*2*/1));
+ const int tmin = TINIT + max(0, agent_aid.malfunc - (agent_aid.inside_poz ? 0 : 1));
for (int t = TINIT + 1; t <= tmin && t <= T; ++t) {
auto& new_path_elem = path_aid.p[t];
memcpy(&new_path_elem, &path_aid.p[t - 1], sizeof(PathElem));
@@ -1629,7 +1835,7 @@ bool AdjustIPaths() {
int tend_move = ipath_visiting_order_next_node[next_vidx_next_node].first;
- //const bool print_debug = (aid == 56 || aid == 49 || aid == 27) && (curr_node == 191 || next_node == 191);
+ //const bool print_debug = (aid == 76 || aid == 24) && (curr_node == 117 || next_node == 117);
const bool print_debug = false;
if (print_debug) DBG(0, "\n[AdjustIPaths-Debug-A] aid=%d next_aidx_aid=%d next_node=%d:(%d %d) next_vidx_next_node=%d curr_node=%d:(%d %d) t_curr_node=%d tend_move=%d(init) \n", aid, next_aidx_aid, next_node, node[next_node].row, node[next_node].col, next_vidx_next_node, curr_node, node[curr_node].row, node[curr_node].col, t_curr_node, tend_move);
@@ -1738,12 +1944,9 @@ bool AdjustIPaths() {
assert(next_vidx_next_node >= 1);
const int prev_aid = ipath_visiting_order_next_node[next_vidx_next_node - 1].second;
DBG(0, " prev_aid=%d\n", prev_aid);
- if (agent_aid.target_node == next_node || agent[prev_aid].target_node == next_node) {
- SwapVisitingOrder(aid, next_aidx_aid, prev_aid);
- updated_visiting_order = true;
- break;
- }
- exit(1);
+ SwapVisitingOrder(aid, next_aidx_aid, prev_aid);
+ updated_visiting_order = true;
+ break;
}
if (new_path_elem->node != agent_aid.target_node) {
is_covered_0[t][new_path_elem->node] = is_covered_idx_0;
@@ -1797,7 +2000,7 @@ bool AdjustIPaths() {
const auto& last_path_elem = path_aid1.p[path_aid1.tmax];
int tend_move_aid1 = tend_move + (aid1 < aid && agent[aid1].target_node != next_node ? 1 : 0);
const auto& agent_aid1 = agent[aid1];
- if (USE_SPACING_TO_AVOID_DEADLOCKS && last_path_elem.num_partial_turns == 0) {
+ if (USE_SPACING_TO_AVOID_DEADLOCKS && last_path_elem.num_partial_turns == 0 && (next_aidx[aid1] > next_checkpoint[aid1] || agent[aid1].moving_to_node < 0)) {
const int min_tstart = tend_move;//USE_STRICT_SPACING_TO_AVOID_DEADLOCKS ? tend_move : t_curr_node;
assert(t_curr_node < tend_move);
if (tend_move_aid1 - agent_aid1.cturns < min_tstart) tend_move_aid1 = min_tstart + agent_aid1.cturns;
@@ -1819,7 +2022,7 @@ bool AdjustIPaths() {
const auto& last_path_elem = path_aid1.p[path_aid1.tmax];
int tend_move_aid1 = tend_move + (aid1 < aid ? 1 : 0);
const auto& agent_aid1 = agent[aid1];
- if (USE_SPACING_TO_AVOID_DEADLOCKS && last_path_elem.num_partial_turns == 0) {
+ if (USE_SPACING_TO_AVOID_DEADLOCKS && last_path_elem.num_partial_turns == 0 && (next_aidx[aid1] > next_checkpoint[aid1] || agent[aid1].moving_to_node < 0)) {
const int min_tstart = t_curr_node;//USE_STRICT_SPACING_TO_AVOID_DEADLOCKS ? tend_move : t_curr_node;
assert(t_curr_node < tend_move);
if (tend_move_aid1 - agent_aid1.cturns < min_tstart) tend_move_aid1 = min_tstart + agent_aid1.cturns;
@@ -1956,17 +2159,17 @@ bool AdjustIPaths() {
assert(path_aid.tmax > TINIT);
if (path_aid.p[path_aid.tmax].node == agent_aid.target_node) {
++MAX_DONE_AGENTS;
- MIN_COST += pow(path_aid.tmax, kScoreExponent);
+ MIN_COST += GetScore(path_aid.tmax);
if (path_aid.tmax > new_max_tmax) new_max_tmax = path_aid.tmax;
} else {
assert(path_aid.tmax == T);
}
}
- MIN_COST += new_max_tmax * kMaxTmaxWeight;
-
+ if (MAX_DONE_AGENTS >= 1) MIN_COST /= MAX_DONE_AGENTS;
+
const bool changed_important_data = MAX_DONE_AGENTS != num_planned || new_max_tmax > max_tmax;
if (changed_important_data) {
- DBG(0, ">>> [AdjustIPaths] mda=%d/%d minc=%.3lf new_max_tmax=%d/%d\n", MAX_DONE_AGENTS, num_planned, MIN_COST, new_max_tmax, max_tmax);
+ DBG(0, ">>> [AdjustIPaths] mda=%d/%d minc=%.6lf new_max_tmax=%d/%d\n", MAX_DONE_AGENTS, num_planned, MIN_COST, new_max_tmax, max_tmax);
}
CheckNonDeadlockPaths();
@@ -2118,6 +2321,7 @@ void SaveDataForReplay(const char* testid) {
fprintf(f, "%d %d %d %d\n", node[checkpoints_aid[cid]].row, node[checkpoints_aid[cid]].col, checkpoints_o_aid[cid], checkpoints_t_aid[cid]);
}
}
+ fprintf(f, "%d\n", T);
fclose(f);
}
@@ -2134,6 +2338,8 @@ void GetMoves(const char* testid, bool replay_mode = false) {
ReinitDataStructures();
ComputeShortestPaths();
}
+ SCORE_EXPONENT1 = 2.0;//2.0;
+ SCORE_EXPONENT2 = 4.0;//3.0;
DBG(2, "testid=%s TINIT=%d: resc=%d nda=%d npl=%d\n", testid, TINIT, reschedule, num_done_agents, num_planned);
if (reschedule) {
if (TINIT >= MIN_TINIT_FOR_SAVE_DATA_FOR_REPLAY) SaveDataForReplay(testid);
@@ -2142,7 +2348,7 @@ void GetMoves(const char* testid, bool replay_mode = false) {
updated_paths_ok = AdjustIPaths();
++num_adjust_ipaths_without_full_plan_regeneration;
}
- const int kMaxNumAdjustIPathsWithoutFullPlanRegenartion = 10;
+ const int kMaxNumAdjustIPathsWithoutFullPlanRegenartion = 5;//10;
if (!updated_paths_ok || num_adjust_ipaths_without_full_plan_regeneration > kMaxNumAdjustIPathsWithoutFullPlanRegenartion) {
RegenerateFullPlan();
if (TINIT >= 1 && any_best_solution_updates) AdjustIPaths();
@@ -2152,7 +2358,7 @@ void GetMoves(const char* testid, bool replay_mode = false) {
WriteMoves(testid);
if (TINIT == 0) total_time = 0.0;
total_time += GetTime() - TSTART;
- DBG(0, "[GetMoves] testid=%s TINIT=%d/%d ttime=%.3lf nresc=%d nadjip=%d nadjipwofpr=%d nda=%d npl=%d sum=%d/%d(%.2lf)\n", testid, TINIT, T, total_time, num_reschedules, num_adjust_ipaths, num_adjust_ipaths_without_full_plan_regeneration, num_done_agents, num_planned, num_done_agents + num_planned, N, 100.0 * (num_done_agents + num_planned) / N);
+ DBG(0, "[GetMoves] testid=%s TINIT=%d/%d ttime=%.3lf nresc=%d nadjip=%d nadjipwofpr=%d nda=%d npl=%d sum=%d/%d(%.2lf)\n", testid, TINIT, TEST, total_time, num_reschedules, num_adjust_ipaths, num_adjust_ipaths_without_full_plan_regeneration, num_done_agents, num_planned, num_done_agents + num_planned, N, 100.0 * (num_done_agents + num_planned) / N);
/*for (int aid = 0; aid < N; ++aid) {
if (aid == 27 || aid == 49 || aid == 56) {
@@ -2175,3 +2381,4 @@ int main() {
SOLVE::GetMoves("1", true);
return 0;
}
+
diff --git a/r2sol.cc b/r2sol.cc
index 73bef062cdef18f622da64303186cf189741db2b..20f210bdd70ac9a58926b6b22ed6ef3cee13afbe 100644
--- a/r2sol.cc
+++ b/r2sol.cc
@@ -98,7 +98,8 @@ void ReadTransitionsMap() {
}
}
nnodes = 0;
- T = TMAX - 7;//8 * (H + W + 20);
+ T = TMAX - 7;
+ //T = 8 * (H + W + 20);
int row, col, o1, o2, num_transitions = 0;
while (fscanf(fin, "%d %d %d %d", &row, &col, &o1, &o2) == 4) {
if (row < 0 || col < 0 || o1 < 0 || o2 < 0) break;
@@ -882,36 +883,43 @@ bool FindBestPath(int aid, const int covered_by[][MAXNODES], const int is_covere
}
}
- int TMIN = T + 1, best_o = -1;
+ int TMIN = T + 1, best_o = -1, best_node = -1, best_t1 = -1;
if (tmp_path_aid.tmax < TINIT || tmp_path_aid.p[tmp_path_aid.tmax].node == agent_aid.target_node) TMIN = tmp_path_aid.tmax;
- while (hsize >= 1 /*&& TMIN > T*/) {
+ while (hsize >= 1) {
int t, node, o, ct1;
ExtractMinFromHeap(h, hsize, t, node, o, ct1);
- //DBG(0, "aid=%d hsize=%d t=%d node=%d o=%d ct1=%d can_reach=%d/%d\n", aid, hsize, t, node, o, ct1, can_reach[t][node][o], can_reach_idx);
+ assert(0 <= t && t <= T);
assert(can_reach[t][node][o] == can_reach_idx);
if (ct1 != can_reach_with_t1[t][node][o]) continue;
- if (t + dmin_aid[node][o] >= TMIN) break;
+ if (/*best_node == target_node &&*/ t + dmin_aid[node][o] > TMIN) break;
+ if (t > T) continue;
+
+ /*if (t == T && (best_node < 0 || (best_node >= 0 && best_node != target_node && best_t1 < ct1))) {
+ TMIN = t;
+ best_node = node;
+ best_o = o;
+ best_t1 = ct1;
+ }*/
// Case 1: Wait.
- if (t + 1 < TMIN && CanEnterCell(aid, t + 1, node, node, covered_by, is_covered, is_covered_idx, tmp_path) &&
+ if (t + 1 <= TMIN && t + 1 <= T && CanEnterCell(aid, t + 1, node, node, covered_by, is_covered, is_covered_idx, tmp_path) &&
(can_reach[t + 1][node][o] != can_reach_idx || can_reach_with_t1[t + 1][node][o] < ct1) &&
(agent_aid.inside_poz || t > ct1)) {
- can_reach[t + 1][node][o] = can_reach_idx;
- can_reach_with_t1[t + 1][node][o] = ct1;
- auto& new_prev = prev[t + 1][node][o];
- new_prev.t = t;
- new_prev.node = node;
- new_prev.o = o;
- new_prev.type = WAITED;
- const int est_tmin = t + 1 + dmin_aid[node][o];
- if (est_tmin < TMIN) InsertIntoHeap(h, hsize, t + 1, node, o, ct1, est_tmin);
- }
-
- if (t + cturns >= TMIN) continue;
+ can_reach[t + 1][node][o] = can_reach_idx;
+ can_reach_with_t1[t + 1][node][o] = ct1;
+ auto& new_prev = prev[t + 1][node][o];
+ new_prev.t = t;
+ new_prev.node = node;
+ new_prev.o = o;
+ new_prev.type = WAITED;
+ const int est_tmin = t + 1 + dmin_aid[node][o];
+ if (best_node != target_node || est_tmin <= TMIN) InsertIntoHeap(h, hsize, t + 1, node, o, ct1, est_tmin);
+ }
const int tarrive_node2 = t + cturns;
+ if (tarrive_node2 > TMIN || tarrive_node2 > T) continue;
if (!IsFreeTimeWindow(aid, t + 1, tarrive_node2 - 1, node, covered_by, is_covered, is_covered_idx, tmp_path)) continue;
// Case 2: Move.
@@ -931,7 +939,7 @@ bool FindBestPath(int aid, const int covered_by[][MAXNODES], const int is_covere
new_prev.o = o;
new_prev.type = STARTED_MOVING;
const int est_tmin = tarrive_node2 + dmin_aid[node2][onext];
- if (est_tmin < TMIN) InsertIntoHeap(h, hsize, tarrive_node2, node2, onext, ct1, est_tmin);
+ if (best_node != target_node || est_tmin <= TMIN) InsertIntoHeap(h, hsize, tarrive_node2, node2, onext, ct1, est_tmin);
} else {
can_reach[tarrive_node2][node2][onext] = can_reach_idx;
can_reach_with_t1[tarrive_node2][node2][onext] = ct1;
@@ -940,19 +948,36 @@ bool FindBestPath(int aid, const int covered_by[][MAXNODES], const int is_covere
new_prev.node = node;
new_prev.o = o;
new_prev.type = STARTED_MOVING;
- if (tarrive_node2 < TMIN) {
+ if (best_node != target_node || tarrive_node2 < TMIN || (tarrive_node2 == TMIN && best_t1 < ct1)) {
TMIN = tarrive_node2;
+ best_node = target_node;
best_o = onext;
+ best_t1 = ct1;
}
}
}
}
}
+ //if (agent_aid.inside_poz) assert(best_o >= 0);
if (best_o < 0) return false;
+ if (best_node != target_node && !agent_aid.inside_poz) {
+ tmp_path_aid.tmax = T;
+ for (int t = TINIT; t <= T; ++t) {
+ auto& new_path_elem = tmp_path_aid.p[t];
+ new_path_elem.node = agent_aid.poz_node;
+ new_path_elem.o = agent_aid.poz_o;
+ new_path_elem.moving_to_node = new_path_elem.moving_to_o = -1;
+ new_path_elem.num_partial_turns = 0;
+ new_path_elem.how_i_got_here = OUTSIDE_SRC;
+ }
+ return true;
+ }
+
+ //assert(best_node == target_node);
tmp_path_aid.tmax = TMIN;
- int ct = TMIN, cnode = target_node, co = best_o;
+ int ct = TMIN, cnode = best_node, co = best_o;
while (1) {
assert(can_reach[ct][cnode][co] == can_reach_idx);
assert(ct >= can_reach_with_t1[ct][cnode][co]);
@@ -1045,6 +1070,25 @@ void UncoverPath(int aid, const Path& path, int covered_by[][MAXNODES], int is_c
}
}
+void CoverPath1(int aid, const Path& path, int covered_by[][MAXNODES], int is_covered[][MAXNODES], int is_covered_idx) {
+ const auto& agent_aid = agent[aid];
+ if (!agent_aid.inside_poz) return;
+ for (int t = TINIT; t <= T; ++t) {
+ assert(is_covered[t][agent_aid.poz_node] != is_covered_idx);
+ is_covered[t][agent_aid.poz_node] = is_covered_idx;
+ covered_by[t][agent_aid.poz_node] = aid;
+ }
+}
+
+void UncoverPath1(int aid, const Path& path, int covered_by[][MAXNODES], int is_covered[][MAXNODES], int is_covered_idx) {
+ const auto& agent_aid = agent[aid];
+ if (!agent_aid.inside_poz) return;
+ for (int t = TINIT; t <= T; ++t) {
+ assert(is_covered[t][agent_aid.poz_node] == is_covered_idx && covered_by[t][agent_aid.poz_node] == aid);
+ is_covered[t][agent_aid.poz_node] = 0;
+ }
+}
+
bool RunConsistencyChecks(Path path[], const int covered_by[][MAXNODES], const int is_covered[][MAXNODES], int is_covered_idx, bool crash_on_error = true) {
for (int aid = 0; aid < N; ++aid) {
const auto& agent_aid = agent[aid];
@@ -1424,17 +1468,20 @@ void RandomPermutations(int tid, int ntries) {
}
}
}
+ bool inconsistent = false;
for (int idx = 0; idx < N; ++idx) {
const auto& aid = perm_tid[idx];
const auto& agent_aid = agent[aid];
if (agent_aid.status == DONE_REMOVED) continue;
auto& tmp_path_tid_aid = tmp_path_tid[aid];
UncoverPath(aid, tmp_path_tid_aid, covered_by_tid, is_covered_tid, is_covered_idx_tid);
- FindBestPath(aid, covered_by_tid, is_covered_tid, is_covered_idx_tid, can_reach_tid, can_reach_idx_tid, can_reach_with_t1_tid, heap_tid, heap_size_tid, prev_tid, tmp_path_tid, &tmp_path2_tid[aid], tmax_at_poz_node_tid);
+ if (!FindBestPath(aid, covered_by_tid, is_covered_tid, is_covered_idx_tid, can_reach_tid, can_reach_idx_tid, can_reach_with_t1_tid, heap_tid, heap_size_tid, prev_tid, tmp_path_tid, &tmp_path2_tid[aid], tmax_at_poz_node_tid)) {
+ //inconsistent = true;
+ //break;
+ }
CoverPath(aid, tmp_path_tid_aid, covered_by_tid, is_covered_tid, is_covered_idx_tid);
}
-
- if (RunConsistencyChecks(tmp_path_tid, covered_by_tid, is_covered_tid, is_covered_idx_tid, false)) {
+ if (!inconsistent && RunConsistencyChecks(tmp_path_tid, covered_by_tid, is_covered_tid, is_covered_idx_tid, false)) {
int num_done_agents = 0;
double cost = 0.0;
int max_tmax = 0;
@@ -1468,6 +1515,7 @@ void RandomPermutations(int tid, int ntries) {
bool any_best_solution_updates;
void RegenerateFullPlan() {
+ ++num_reschedules;
any_best_solution_updates = false;
updated_best_solution = true;
rerun = 0;
@@ -1476,7 +1524,6 @@ void RegenerateFullPlan() {
while (updated_best_solution && rerun < kMaxReruns) {
updated_best_solution = false;
- ++num_reschedules;
++rerun;
for (int node = 0; node < nnodes; ++node) tend_ongoing_move[node] = TINIT;
@@ -2119,7 +2166,7 @@ bool AdjustIPaths() {
const bool changed_important_data = MAX_DONE_AGENTS != num_planned || new_max_tmax > max_tmax;
if (changed_important_data) {
- DBG(0, ">>> [AdjustIPaths] mda=%d/%d minc=%.3lf new_max_tmax=%d/%d\n", MAX_DONE_AGENTS, num_planned, MIN_COST, new_max_tmax, max_tmax);
+ DBG(0, ">>> [AdjustIPaths] mda=%d/%d minc=%.6lf new_max_tmax=%d/%d\n", MAX_DONE_AGENTS, num_planned, MIN_COST, new_max_tmax, max_tmax);
}
CheckNonDeadlockPaths();
diff --git a/r2sol.exe b/r2sol.exe
index d880c25cf96d662f43da3ac527f2231190ae955f..2cfca4c12a2f7749ec74179eef1cf436a5521965 100755
Binary files a/r2sol.exe and b/r2sol.exe differ
diff --git a/run_local.py b/run_local.py
index bd6842d0a04ff1899bb96b91e49910e9abee6e77..7bea0246b30c3ba83a7a2b8218f0190edbf601d8 100644
--- a/run_local.py
+++ b/run_local.py
@@ -26,7 +26,7 @@ def GetTestParams(tid):
def ShouldRunTest(tid):
#return tid >= 22
- #return tid == 2
+ #return tid >= 1
return True
DEFAULT_SPEED_RATIO_MAP = {1.: 0.25,
@@ -127,7 +127,7 @@ for test_id in range(NUM_TESTS):
avg_nda_dif = (total_percentage_num_done_agents - total_base_percentage_num_done_agents) / num_tests
print("\n### test_id=%d nda=%d(dif=%d) pnda=%.6f(dif=%.6f) score=%.6f(dif=%.6f) avg_nda=%.6f(dif=%.6f) avg_sc=%.6f(dif=%.6f)\n" % (test_id, num_done_agents, num_done_agents - base_num_done_agents, percentage_num_done_agents, percentage_num_done_agents - base_percentage_num_done_agents, score, score - base_score, avg_nda, avg_nda_dif, total_score / num_tests, (total_score - total_base_score) / num_tests))
- f.write("%d %d% .10f %.10f %.10f %.10f\n" % (test_id, num_done_agents, percentage_num_done_agents, score, avg_nda, avg_nda_dif))
+ f.write("%d %d% .10f %.10f %d %.10f %.10f\n" % (test_id, num_done_agents, percentage_num_done_agents, score, num_done_agents - base_num_done_agents, percentage_num_done_agents - base_percentage_num_done_agents, avg_nda_dif))
f.flush()
f.close()
diff --git a/scores.txt b/scores.txt
index d1735f31aeaec212beeaeac3a6b137832cb4c67d..93e592743fcd99193b5b91a8a3e2255834b095c2 100644
--- a/scores.txt
+++ b/scores.txt
@@ -1,111 +1,71 @@
-0 106 78.5185185185 -52994.1666667134 78.5185185185 2.2222222222
-1 100 71.4285714286 -44207.9166666883 74.9735449735 0.0396825397
-2 49 40.4958677686 -49127.5833333638 63.4809859052 -2.1774017229
-3 80 100.0000000000 -12663.0000000030 72.6107394289 -1.6330512921
-4 99 63.8709677419 -98876.3333331863 70.8627850915 -1.4354732918
-5 124 94.6564885496 -45629.8333333515 74.8284023345 -1.4506806694
-6 133 76.8786127168 -71251.7500000302 75.1212895320 -0.8305586580
-7 90 66.1764705882 -47082.7500000240 74.0031871640 -0.4510035316
-8 88 73.3333333333 -39408.2500000073 73.9287589606 -0.1231142503
-9 63 41.1764705882 -78234.5833333309 70.6535301234 0.1506350832
-10 81 48.2142857143 -93231.6666665908 68.6135988135 -0.4041845564
-11 93 89.4230769231 -18525.5000000024 70.3477219893 0.0301385156
-12 66 60.0000000000 -47917.5833333604 69.5517433747 0.4474005878
-13 115 72.3270440252 -53697.9166667235 69.7499791355 0.4154434030
-14 84 68.2926829268 -61577.3333333941 69.6528260549 0.7671509702
-15 84 44.2105263158 -137849.0833331903 68.0626823212 0.6863092977
-16 47 41.9642857143 -73369.9166666747 66.5274825208 0.5934171541
-17 94 65.2777777778 -59859.8333333889 66.4580544795 0.4061285468
-18 80 43.4782608696 -69422.5000000359 65.2485916579 0.4133574791
-19 75 93.7500000000 -24955.4166666572 66.6736620750 0.8301896052
-20 117 89.3129770992 -42584.0833333417 67.7517246952 0.7179559308
-21 89 74.1666666667 -48544.2500000212 68.0433129667 0.9883518733
-22 58 52.2522522523 -64849.3333333850 52.2522522523 -2.7027027027
-23 133 81.5950920245 -61359.7500000714 66.9236721384 -1.3513513514
-24 77 96.2500000000 -23466.2499999932 76.6991147589 -1.3175675676
-25 77 40.7407407407 -106668.2499998568 67.7095212544 -1.1204508080
-26 96 96.0000000000 -30766.9999999834 73.3676170035 -1.4963606464
-27 107 74.8251748252 -49891.7500000391 73.6105433071 -1.7131676715
-28 159 85.4838709677 -79484.3333333132 75.3067329729 -1.1612097707
-29 116 77.8523489933 -41342.0833333376 75.6249349755 -0.9321659319
-30 63 45.0000000000 -78791.7499999835 72.2221644226 -0.7492268601
-31 72 45.0000000000 -101734.6666665632 69.4999479804 -0.9868041741
-32 96 81.3559322034 -29777.3333333180 70.5777647279 -0.2037202815
-33 111 80.4347826087 -50994.8333333660 71.3991828847 0.5982805632
-34 85 51.8292682927 -85673.4999999486 69.8938048391 0.3177374054
-35 60 31.5789473684 -110669.8333332141 67.1570293055 0.1822599216
-36 80 100.0000000000 -12376.6666666689 69.3465606851 0.1701092601
-37 117 70.9090909091 -58963.6666667266 69.4442188241 0.3488713708
-38 107 55.4404145078 -82089.9999999491 68.6204656290 0.2673925001
-39 56 46.2809917355 -71158.4166666919 67.3793837461 0.4361920904
-40 89 72.9508196721 -45861.3333333560 67.6726172159 0.3269533350
-41 97 59.1463414634 -69539.5000000394 67.2463034282 -0.2076870147
-42 137 90.7284768212 -66168.0833334116 68.3645021612 -0.2293329500
-43 83 69.1666666667 -56323.0833333781 68.4009641842 -0.0673935735
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diff --git a/tmp-scores.txt b/tmp-scores.txt
index 8e791b1108a0ece993743fe6a5c8c6b2173a8032..8c327cec8a541f704b025470e27b65486d5378ac 100644
--- a/tmp-scores.txt
+++ b/tmp-scores.txt
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