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added working ALT

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This commit is contained in:
Johannes Erwerle 2022-09-15 09:57:46 +02:00
parent 7d657b7222
commit b11eef1cf7
8 changed files with 167 additions and 80 deletions
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76
src/alt.rs
View file

@ -12,6 +12,11 @@ pub struct Landmark {
#[derive(Debug, Clone, Default, Serialize, Deserialize)]
pub struct LandmarkSet {
pub landmarks: Vec<Landmark>,
}
#[derive(Debug, Clone)]
pub struct LandmarkBestSet<'a> {
pub landmark_set: &'a LandmarkSet,
pub best_size: usize,
best_landmarks: Vec<usize>,
}
@ -24,7 +29,7 @@ impl Landmark {
};
landmark.node = node;
#[derive(Eq)]
#[derive(Eq, PartialEq)]
struct DijkstraElement {
index: u32,
cost: EdgeCost,
@ -44,40 +49,23 @@ impl Landmark {
}
}
impl PartialEq for DijkstraElement {
fn eq(&self, other: &Self) -> bool {
self.cost == other.cost
}
}
let mut heap = BinaryHeap::new();
heap.push(DijkstraElement {
cost: 0,
index: landmark.node.index,
});
let mut counter = 0;
while let Some(DijkstraElement { index, cost }) = heap.pop() {
// the heap does not support "update" operations, so we
// insert elements again and if they come out of the heap but have
// been processed earlier we simply skip them.
if landmark.distances[index as usize] <= cost {
if cost > landmark.distances[index as usize] {
continue;
};
counter += 1;
if counter % 1000 == 0 {
println!("Finished {} nodes", counter);
}
landmark.distances[index as usize] = cost;
let edge_start = graph.edge_offsets[index as usize] as usize;
let edge_end = graph.edge_offsets[(index + 1) as usize] as usize;
for edge in graph.edges[edge_start..edge_end].iter() {
for edge in graph.get_edges(index as NodeId) {
let new_cost = cost + edge.cost;
if new_cost < landmark.distances[edge.neighbor as usize] {
@ -86,11 +74,11 @@ impl Landmark {
index: edge.neighbor,
cost: new_cost,
});
landmark.distances[edge.neighbor as usize] = new_cost;
}
}
}
// now the shortest paths to all reachable nodes is calculated.
// now the costs to all reachable nodes is calculated.
landmark
}
@ -103,18 +91,28 @@ impl Landmark {
let l_to = self.distances[to];
let l_from = self.distances[from];
if l_to == EdgeCost::MAX {
0
if l_to == EdgeCost::MAX || l_from == EdgeCost::MAX {
EdgeCost::MAX
} else {
l_to.saturating_sub(l_from)
// since we are working on an undirected graph we can
// use the distances once from and once to the landmark.
// This leads to l_to - l_from and l_from - l_to (as signed subtractions)
// which except for the sign are the same value.
// We can simply take the bigger one, which is handled
// nicely the abs() function
let distance = (l_to as i64 - l_from as i64).abs() as EdgeCost;
//println!(
// "distance from {} to {} via landmark {} is at least {}",
// from, to, self.node.index, distance
//);
distance
}
}
}
impl LandmarkSet {
pub fn random_set(size: usize, best_size: usize, graph: &GridGraph) -> Self {
pub fn random_set(size: usize, graph: &GridGraph) -> Self {
let mut set = LandmarkSet::default();
set.best_size = best_size;
let nodes = graph.get_random_nodes(size);
@ -125,11 +123,13 @@ impl LandmarkSet {
set
}
}
impl LandmarkBestSet<'_> {
pub fn select_best(&mut self, from: NodeId, to: NodeId) {
let mut results = vec![];
for (index, landmark) in self.landmarks.iter().enumerate() {
for (index, landmark) in self.landmark_set.landmarks.iter().enumerate() {
results.push((index, landmark.estimate(from, to)));
}
@ -143,18 +143,28 @@ impl LandmarkSet {
}
pub fn estimate(&self, from: NodeId, to: NodeId) -> EdgeCost {
let mut distance = 0;
for index in &self.best_landmarks {
distance = distance.max(self.landmarks[*index].estimate(from, to));
};
let candidate = self.landmark_set.landmarks[*index].estimate(from, to);
if distance == 0 {
distance = EdgeCost::MAX;
if candidate == EdgeCost::MAX {
continue;
}
distance = distance.max(candidate)
}
//println!("calculated estimate {:?} for {} to {}", distance, from, to);
distance
}
pub fn new<'a>(best_size: usize, landmark_set: &'a LandmarkSet) -> LandmarkBestSet<'a> {
LandmarkBestSet {
best_size,
landmark_set,
best_landmarks: Vec::new(),
}
}
}

59
src/astar.rs
View file

@ -4,17 +4,16 @@ use crate::utils::EARTH_RADIUS;
use std::cmp::Ordering;
use std::collections::BinaryHeap;
pub struct AStar {
pub graph: GridGraph,
pub struct AStar<'a> {
pub graph: &'a GridGraph,
}
#[derive(Eq)]
#[derive(Eq, PartialEq)]
struct HeapElement {
index: u32,
cost: EdgeCost, // the cost so far plus the estimated cost until we reach the
// destination
path_cost: EdgeCost, // the cost to reach this node from the start node
ancestor: Option<u32>,
}
impl Ord for HeapElement {
@ -31,12 +30,6 @@ impl PartialOrd for HeapElement {
}
}
impl PartialEq for HeapElement {
fn eq(&self, other: &Self) -> bool {
self.cost == other.cost
}
}
pub fn estimate_haversine(node: &GraphNode, destination: &GraphNode) -> EdgeCost {
// simple haversine distance
(node.position.distance_to(&destination.position) * EARTH_RADIUS) as EdgeCost
@ -47,26 +40,27 @@ pub fn estimate_haversine(node: &GraphNode, destination: &GraphNode) -> EdgeCost
}
pub fn estimate_latitude(node: &GraphNode, destination: &GraphNode) -> EdgeCost {
let lat_dist_a = (node.position.lat - destination.position.lat).abs();
let lat_dist_b = (destination.position.lat - node.position.lat).abs();
let lat_dist = (node.position.lat - destination.position.lat).abs();
(lat_dist_a.min(lat_dist_b) * EARTH_RADIUS) as EdgeCost
(lat_dist * EARTH_RADIUS) as EdgeCost
}
impl AStar {
impl AStar<'_> {
pub fn shortest_path<F>(&self, start: &GraphNode, end: &GraphNode, estimate: F) -> Option<Route>
where F: Fn(&GraphNode, &GraphNode) -> EdgeCost {
where
F: Fn(&GraphNode, &GraphNode) -> EdgeCost,
{
let mut heap = BinaryHeap::new();
heap.push(HeapElement {
cost: estimate(start, end),
path_cost: 0,
index: start.index,
ancestor: None,
});
let mut distance = vec![EdgeCost::MAX; self.graph.nodes.len()];
let mut ancestor: Vec<Option<u32>> = vec![None; self.graph.nodes.len()];
distance[start.index as usize] = 0;
let mut popcount = 0;
while let Some(HeapElement {
@ -74,37 +68,44 @@ impl AStar {
cost, // the cost value, no longer needed, because it is only important for the
// distance estimate
path_cost,
ancestor: prev,
}) = heap.pop()
{
//println!("working on node {} with cost {} and path cost {}", index, cost, path_cost);
popcount += 1;
// the heap does not support "update" operations, so we
// insert elements again and if they come out of the heap but have
// been processed earlier (which implies a shorter distance)
// we simply skip them.
if distance[index as usize] <= path_cost {
if path_cost > distance[index as usize] {
continue;
};
popcount += 1;
distance[index as usize] = path_cost;
ancestor[index as usize] = prev;
if index == end.index {
break;
}
for edge in self.graph.get_edges(index as usize).iter() {
//println!("working on edge {:?}", edge);
let new_cost = path_cost + edge.cost;
if new_cost < distance[edge.neighbor as usize] {
//println!("adding new element to heap");
let remaining_cost = estimate(&self.graph.nodes[edge.neighbor as usize], end);
// check for unreachable nodes
if remaining_cost == EdgeCost::MAX {
continue;
}
distance[edge.neighbor as usize] = new_cost;
ancestor[edge.neighbor as usize] = Some(index);
heap.push(HeapElement {
index: edge.neighbor,
cost: new_cost + estimate(&self.graph.nodes[edge.neighbor as usize], end),
cost: new_cost + remaining_cost,
path_cost: new_cost,
ancestor: Some(index),
});
}
}
@ -122,10 +123,14 @@ impl AStar {
let mut current = end.index;
while current != start.index {
route.nodes.push(self.graph.nodes[current as usize].position);
route
.nodes
.push(self.graph.nodes[current as usize].position);
current = ancestor[current as usize].unwrap();
}
route.nodes.push(self.graph.nodes[current as usize].position);
route
.nodes
.push(self.graph.nodes[current as usize].position);
route.nodes.reverse();

18
src/bin/performance.rs
View file

@ -1,5 +1,5 @@
use clap::Parser;
use fapra_osm_2::alt::LandmarkSet;
use fapra_osm_2::alt::{LandmarkSet, LandmarkBestSet};
use fapra_osm_2::astar::{estimate_haversine, estimate_latitude, AStar};
use fapra_osm_2::gridgraph::{GridGraph, NodeId};
use fapra_osm_2::utils::RoutingQuery;
@ -77,10 +77,9 @@ fn main() {
}
};
let mut landmarks: LandmarkSet = bincode::deserialize_from(BufReader::new(landmarks)).unwrap();
landmarks.best_size = 4;
let landmarks: LandmarkSet = bincode::deserialize_from(BufReader::new(landmarks)).unwrap();
let astar = AStar { graph: *graph };
let astar = AStar { graph: &(*graph) };
println!("{:?}", args);
@ -93,7 +92,7 @@ fn main() {
let source = astar.graph.nodes[query.source];
let destination = astar.graph.nodes[query.destination];
let _result = astar.shortest_path(&source, &destination, estimate_latitude);
let _result = astar.shortest_path(&source, &destination, estimate_haversine);
}
let elapsed = start.elapsed();
@ -113,7 +112,7 @@ fn main() {
let source = astar.graph.nodes[query.source];
let destination = astar.graph.nodes[query.destination];
let result = astar.graph.shortest_path(&source, &destination);
let _result = astar.graph.shortest_path(&source, &destination);
//println!("{}", result.unwrap().to_geojson());
}
@ -126,17 +125,20 @@ fn main() {
if args.alt {
println!("running ALT");
let mut best_landmarks = LandmarkBestSet::new(4, &landmarks);
// Landmarks
let start = Instant::now();
for query in targets.iter() {
println!("working on {:?}", query);
let source = astar.graph.nodes[query.source];
let destination = astar.graph.nodes[query.destination];
landmarks.select_best(source.index as NodeId, destination.index as NodeId);
best_landmarks.select_best(source.index as NodeId, destination.index as NodeId);
let _result = astar.shortest_path(&source, &destination, |src, dest| {
landmarks.estimate(src.index as NodeId, dest.index as NodeId)
best_landmarks.estimate(src.index as NodeId, dest.index as NodeId)
});
}

67
src/bin/task6-rocket.rs
View file

@ -3,10 +3,14 @@
use clap::Parser;
use std::process::exit;
use std::fs::File;
use fapra_osm_2::gridgraph::{GridGraph, Route};
use fapra_osm_2::gridgraph::{GridGraph, Route, NodeId};
use fapra_osm_2::coordinates::{RadianCoordinate, DegreeCoordinate};
use fapra_osm_2::astar::{AStar, estimate_haversine};
use fapra_osm_2::alt::{LandmarkSet, LandmarkBestSet};
use rand::seq::SliceRandom;
use serde::Serialize;
use std::io::BufReader;
use fapra_osm_2::utils::EARTH_RADIUS;
use rocket::State;
use rocket::response::status::BadRequest;
@ -21,6 +25,10 @@ struct Args {
/// name of the FMI file to read
#[clap(short, long)]
filename: String,
/// the landmarks to load
#[clap(short, long)]
landmarks: String,
}
#[get("/")]
@ -47,6 +55,7 @@ fn random_route(graphwrapper: &State<GraphWrapper>) -> String {
struct RouteQuery<'r> {
r#from: &'r str,
r#to: &'r str,
r#algorithm: &'r str,
}
#[derive(Debug)]
@ -54,6 +63,7 @@ struct RouteQuery<'r> {
pub struct RouteResponse {
success: bool,
route: Option<Route>,
algorithm: String,
}
#[post("/route", data = "<routequery>")]
@ -71,16 +81,50 @@ fn route(routequery: Form<RouteQuery<'_>>, graphwrapper: &State<GraphWrapper>) -
let from = graphwrapper.graph.get_nearest_node(from).unwrap();
let to = graphwrapper.graph.get_nearest_node(to).unwrap();
let route = graphwrapper.graph.shortest_path(from, to);
println!("working on route from {:?} to {:?}", from, to);
let direct_distance = from.position.distance_to(&to.position) * EARTH_RADIUS;
println!("haversine distance: {}", direct_distance);
let graph_distance = graphwrapper.graph.shortest_path(from, to).unwrap().cost;
println!("graph distance is: {}", graph_distance);
let mut algorithm = routequery.algorithm;
let route = if algorithm == "astar-haversine" {
println!("running A* with haversine distance");
let astar = AStar{graph: &graphwrapper.graph};
astar.shortest_path(from, to, estimate_haversine)
} else if algorithm == "alt" {
println!("running ALT");
let mut best_landmarks = LandmarkBestSet::new(4, &graphwrapper.landmarks);
let astar = AStar{graph: &graphwrapper.graph};
best_landmarks.select_best(from.index as usize, to.index as usize);
println!("initial estimate: {:?}", best_landmarks.estimate(from.index as NodeId, to.index as NodeId));
astar.shortest_path(from, to, |src, dest| {
best_landmarks.estimate(src.index as NodeId, dest.index as NodeId)
})
} else {
println!("running dijkstra");
algorithm = "dijkstra";
graphwrapper.graph.shortest_path(from, to)
};
println!("from: {:?}, to: {:?}", from, to);
let response = RouteResponse{success: route.is_some(), route};
let response = RouteResponse{success: route.is_some(), route, algorithm: algorithm.to_string()};
Ok(Json(response))
}
struct GraphWrapper {
graph: Box<GridGraph>
graph: GridGraph,
landmarks: LandmarkSet,
}
#[launch]
@ -106,10 +150,21 @@ fn rocket() -> _ {
println!("Loaded graph file");
// let graph = GridGraph::generate_regular_grid(10,10);
let landmarks = match File::open(args.landmarks.clone()) {
Ok(f) => f,
Err(e) => {
println!(
"Error while opening landmark file {}: {:?}",
args.landmarks, e
);
exit(1);
}
};
let landmarks: LandmarkSet = bincode::deserialize_from(BufReader::new(landmarks)).unwrap();
rocket::build()
.manage(GraphWrapper{graph: graph})
.manage(GraphWrapper{graph: *graph, landmarks})
.mount("/", routes![index])
.mount("/", routes![random_route])
.mount("/", routes![route])

2
src/bin/test_alt_gen.rs
View file

@ -44,7 +44,7 @@ fn main() {
}
};
let set = LandmarkSet::random_set(args.amount, 4, &grid);
let set = LandmarkSet::random_set(args.amount, &grid);
let encoded = bincode::serialize(&set).unwrap();

1
src/gridgraph.rs
View file

@ -291,7 +291,6 @@ impl GridGraph {
let mut gridgraph = Box::new(GridGraph::default());
let reader = BufReader::new(file);
let lines = reader.lines();
let mut total_node_count: u32 = 0;

6
static/js/script.js
View file

@ -67,6 +67,11 @@ function set_route_cost(cost) {
field.value = cost;
}
function set_algorithm_type(alg) {
let field = document.getElementById("algorithm_used");
field.value = alg;
}
async function get_route() {
let form = document.getElementById("queryform");
data = new FormData(form);
@ -74,6 +79,7 @@ async function get_route() {
let response = await(fetch("/route", { method: "POST", body: data }));
let result = await response.json();
set_algorithm_type(result.algorithm);
if (result.success === true) {
set_route_cost(result.route.cost);

10
templates/index.html.hbs
View file

@ -31,10 +31,20 @@
<input type="text" class="form-control" name="to" id="to">
</div>
<div class="form group">
<label for="algorithm">Algorithm</label>
<select name="algorithm" id="algorithm" class="form-control">
<option value="dijkstra">Dijkstra</option>
<option value="astar-haversine">A* with haversine</option>
<option value="alt">ALT</option>
</select>
</div>
</form>
<button class="btn btn-primary" onclick="get_route()">Submit</button>
<button class="btn btn-primary" onclick="get_random_route()">Random Route</button>
<p>Route Cost: <input class="form-control " type="text" id="routecost" readonly></p>
<p>Algorithm: <input class="form-control " type="text" id="algorithm_used" readonly></p>
</div>
<div id="map" class="col-9"></div>
<script type="text/javascript" src="/static/js/script.js"></script>