633 lines
26 KiB
C++
633 lines
26 KiB
C++
/*
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open source routing machine
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Copyright (C) Dennis Luxen, others 2010
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU AFFERO General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU Affero General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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or see http://www.gnu.org/licenses/agpl.txt.
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*/
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#ifndef CONTRACTOR_H_INCLUDED
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#define CONTRACTOR_H_INCLUDED
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#ifdef _GLIBCXX_PARALLEL
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#include <parallel/algorithm>
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#else
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#include <algorithm>
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#endif
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#include "../DataStructures/DynamicGraph.h"
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#include "../DataStructures/LevelInformation.h"
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#include "../DataStructures/Percent.h"
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#include "../DataStructures/BinaryHeap.h"
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#include <ctime>
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#include <vector>
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#include <queue>
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#include <set>
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#include <stack>
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#include <limits>
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#ifdef _OPEMP
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#include <omp.h>
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#endif
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class Contractor {
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private:
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struct _EdgeBasedContractorEdgeData {
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unsigned distance;
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unsigned originalEdges;
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unsigned via;
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unsigned nameID;
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bool shortcut;
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bool forward;
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bool backward;
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short turnInstruction;
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} data;
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struct _HeapData {
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bool target;
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_HeapData() : target(false) {}
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_HeapData( bool t ) : target(t) {}
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};
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typedef DynamicGraph< _EdgeBasedContractorEdgeData > _DynamicGraph;
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typedef BinaryHeap< NodeID, NodeID, int, _HeapData> _Heap;
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typedef _DynamicGraph::InputEdge _ImportEdge;
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struct _ThreadData {
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_Heap heap;
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std::vector< _ImportEdge > insertedEdges;
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_ThreadData( NodeID nodes ): heap( nodes ) {
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}
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};
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struct _PriorityData {
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int depth;
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NodeID bias;
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_PriorityData() : depth(0), bias(0) { }
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};
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struct _ContractionInformation {
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int edgesDeleted;
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int edgesAdded;
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int originalEdgesDeleted;
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int originalEdgesAdded;
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_ContractionInformation() {
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edgesAdded = edgesDeleted = originalEdgesAdded = originalEdgesDeleted = 0;
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}
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};
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struct _NodePartitionor {
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bool operator()( std::pair< NodeID, bool > nodeData ) {
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return !nodeData.second;
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}
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};
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public:
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template< class InputEdge >
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Contractor( int nodes, std::vector< InputEdge >& inputEdges, unsigned eqf = 2, unsigned oqf = 1, unsigned df = 1) : edgeQuotionFactor(eqf), originalQuotientFactor(oqf), depthFactor(df), maxDepth(0) {
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std::vector< _ImportEdge > edges;
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edges.reserve( 2 * inputEdges.size() );
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for ( typename std::vector< InputEdge >::const_iterator i = inputEdges.begin(), e = inputEdges.end(); i != e; ++i ) {
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_ImportEdge edge;
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edge.source = i->source();
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edge.target = i->target();
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edge.data.distance = (std::max)((int)i->weight(), 1 );
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assert( edge.data.distance > 0 );
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#ifdef DEBUG
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if ( edge.data.distance > 24 * 60 * 60 * 10 ) {
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cout << "Edge Weight too large -> May lead to invalid CH" << endl;
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continue;
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}
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#endif
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edge.data.shortcut = false;
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edge.data.nameID = i->getNameIDOfTurnTarget();
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edge.data.via = i->via();
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edge.data.turnInstruction = i->turnInstruction();
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edge.data.forward = i->isForward();
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edge.data.backward = i->isBackward();
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edge.data.originalEdges = 1;
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edges.push_back( edge );
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std::swap( edge.source, edge.target );
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edge.data.forward = i->isBackward();
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edge.data.backward = i->isForward();
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edges.push_back( edge );
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}
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// std::vector< InputEdge >().swap( inputEdges ); //free memory
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#ifdef _GLIBCXX_PARALLEL
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__gnu_parallel::sort( edges.begin(), edges.end() );
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#else
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sort( edges.begin(), edges.end() );
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#endif
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NodeID edge = 0;
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for ( NodeID i = 0; i < edges.size(); ) {
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const NodeID source = edges[i].source;
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const NodeID target = edges[i].target;
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const NodeID via = edges[i].data.via;
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const short turnType = edges[i].data.turnInstruction;
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//remove eigenloops
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if ( source == target ) {
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i++;
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continue;
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}
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_ImportEdge forwardEdge;
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_ImportEdge backwardEdge;
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forwardEdge.source = backwardEdge.source = source;
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forwardEdge.target = backwardEdge.target = target;
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forwardEdge.data.forward = backwardEdge.data.backward = true;
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forwardEdge.data.backward = backwardEdge.data.forward = false;
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forwardEdge.data.turnInstruction = backwardEdge.data.turnInstruction = turnType;
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forwardEdge.data.nameID = backwardEdge.data.nameID = edges[i].data.nameID;
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forwardEdge.data.shortcut = backwardEdge.data.shortcut = false;
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forwardEdge.data.via = backwardEdge.data.via = via;
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forwardEdge.data.originalEdges = backwardEdge.data.originalEdges = 1;
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forwardEdge.data.distance = backwardEdge.data.distance = std::numeric_limits< int >::max();
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//remove parallel edges
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while ( i < edges.size() && edges[i].source == source && edges[i].target == target ) {
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if ( edges[i].data.forward )
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forwardEdge.data.distance = std::min( edges[i].data.distance, forwardEdge.data.distance );
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if ( edges[i].data.backward )
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backwardEdge.data.distance = std::min( edges[i].data.distance, backwardEdge.data.distance );
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i++;
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}
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//merge edges (s,t) and (t,s) into bidirectional edge
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if ( forwardEdge.data.distance == backwardEdge.data.distance ) {
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if ( (int)forwardEdge.data.distance != std::numeric_limits< int >::max() ) {
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forwardEdge.data.backward = true;
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edges[edge++] = forwardEdge;
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}
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} else { //insert seperate edges
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if ( ((int)forwardEdge.data.distance) != std::numeric_limits< int >::max() ) {
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edges[edge++] = forwardEdge;
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}
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if ( (int)backwardEdge.data.distance != std::numeric_limits< int >::max() ) {
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edges[edge++] = backwardEdge;
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}
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}
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}
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cout << "ok" << endl << "merged " << edges.size() - edge << " edges out of " << edges.size() << endl;
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INFO("Contractor holds " << edge << " edges");
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edges.resize( edge );
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_graph = new _DynamicGraph( nodes, edges );
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std::vector< _ImportEdge >().swap( edges );
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_levelInformation = new LevelInformation();
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}
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~Contractor() {
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delete _graph;
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delete _levelInformation;
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}
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int GetNumberOfLevels() const { return maxDepth; }
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template< class InputEdge >
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void CheckForAllOrigEdges(std::vector< InputEdge >& inputEdges) {
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for(unsigned int i = 0; i < inputEdges.size(); i++) {
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bool found = false;
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_DynamicGraph::EdgeIterator eit = _graph->BeginEdges(inputEdges[i].source());
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for(;eit<_graph->EndEdges(inputEdges[i].source()); eit++) {
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if(_graph->GetEdgeData(eit).distance == inputEdges[i].weight())
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found = true;
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}
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eit = _graph->BeginEdges(inputEdges[i].target());
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for(;eit<_graph->EndEdges(inputEdges[i].target()); eit++) {
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if(_graph->GetEdgeData(eit).distance == inputEdges[i].weight())
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found = true;
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}
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assert(found);
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}
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}
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void Run() {
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const NodeID numberOfNodes = _graph->GetNumberOfNodes();
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Percent p (numberOfNodes);
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unsigned maxThreads = omp_get_max_threads();
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std::vector < _ThreadData* > threadData;
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for ( unsigned threadNum = 0; threadNum < maxThreads; ++threadNum ) {
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threadData.push_back( new _ThreadData( numberOfNodes ) );
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}
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cout << "Contractor is using " << maxThreads << " threads" << endl;
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NodeID levelID = 0;
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std::vector< std::pair< NodeID, bool > > remainingNodes( numberOfNodes );
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std::vector< double > nodePriority( numberOfNodes );
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std::vector< _PriorityData > nodeData( numberOfNodes );
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//initialize the variables
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#pragma omp parallel for schedule ( guided )
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for ( int x = 0; x < ( int ) numberOfNodes; ++x )
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remainingNodes[x].first = x;
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std::random_shuffle( remainingNodes.begin(), remainingNodes.end() );
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for ( int x = 0; x < ( int ) numberOfNodes; ++x )
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nodeData[remainingNodes[x].first].bias = x;
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cout << "initializing elimination PQ ..." << flush;
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#pragma omp parallel
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{
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_ThreadData* data = threadData[omp_get_thread_num()];
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#pragma omp for schedule ( guided )
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for ( int x = 0; x < ( int ) numberOfNodes; ++x ) {
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nodePriority[x] = _Evaluate( data, &nodeData[x], x );
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}
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}
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cout << "ok" << endl << "preprocessing ..." << flush;
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while ( levelID < numberOfNodes ) {
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const int last = ( int ) remainingNodes.size();
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//determine independent node set
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#pragma omp parallel for schedule ( guided )
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for ( int i = 0; i < last; ++i ) {
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const NodeID node = remainingNodes[i].first;
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remainingNodes[i].second = _IsIndependent( _graph, nodePriority, nodeData, node );
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}
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_NodePartitionor functor;
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const std::vector < std::pair < NodeID, bool > >::const_iterator first = stable_partition( remainingNodes.begin(), remainingNodes.end(), functor );
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const int firstIndependent = first - remainingNodes.begin();
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//contract independent nodes
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#pragma omp parallel
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{
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_ThreadData* data = threadData[omp_get_thread_num()];
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#pragma omp for schedule ( guided ) nowait
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for ( int position = firstIndependent ; position < last; ++position ) {
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NodeID x = remainingNodes[position].first;
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_Contract< false > ( data, x );
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nodePriority[x] = -1;
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}
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std::sort( data->insertedEdges.begin(), data->insertedEdges.end() );
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}
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#pragma omp parallel
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{
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_ThreadData* data = threadData[omp_get_thread_num()];
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#pragma omp for schedule ( guided ) nowait
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for ( int position = firstIndependent ; position < last; ++position ) {
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NodeID x = remainingNodes[position].first;
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_DeleteIncomingEdges( data, x );
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}
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}
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//insert new edges
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for ( unsigned threadNum = 0; threadNum < maxThreads; ++threadNum ) {
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_ThreadData& data = *threadData[threadNum];
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for ( int i = 0; i < ( int ) data.insertedEdges.size(); ++i ) {
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const _ImportEdge& edge = data.insertedEdges[i];
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bool found = false;
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for ( _DynamicGraph::EdgeIterator e = _graph->BeginEdges( edge.source ) ; e < _graph->EndEdges( edge.source ) ; ++e ) {
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const NodeID target = _graph->GetTarget( e );
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if ( target != edge.target )
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continue;
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_EdgeBasedContractorEdgeData& data = _graph->GetEdgeData( e );
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if ( data.distance != edge.data.distance )
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continue;
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if ( data.shortcut != edge.data.shortcut )
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continue;
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if ( data.via != edge.data.via )
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continue;
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data.forward |= edge.data.forward;
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data.backward |= edge.data.backward;
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found = true;
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break;
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}
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if ( !found )
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_graph->InsertEdge( edge.source, edge.target, edge.data );
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}
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std::vector< _ImportEdge >().swap( data.insertedEdges );
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}
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//update priorities
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#pragma omp parallel
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{
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_ThreadData* data = threadData[omp_get_thread_num()];
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#pragma omp for schedule ( guided ) nowait
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for ( int position = firstIndependent ; position < last; ++position ) {
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NodeID x = remainingNodes[position].first;
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_UpdateNeighbours( &nodePriority, &nodeData, data, x );
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}
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}
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//remove contracted nodes from the pool
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levelID += last - firstIndependent;
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remainingNodes.resize( firstIndependent );
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std::vector< std::pair< NodeID, bool > >( remainingNodes ).swap( remainingNodes );
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p.printStatus(levelID);
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}
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for ( _DynamicGraph::NodeIterator n = 0; n < _graph->GetNumberOfNodes(); n++ ) {
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_levelInformation->Add(nodeData[n].depth, n);
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}
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for ( unsigned threadNum = 0; threadNum < maxThreads; threadNum++ ) {
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delete threadData[threadNum];
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}
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cout << "[contractor] checking sanity of generated data ..." << flush;
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_CheckCH<_EdgeBasedContractorEdgeData>();
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cout << "ok" << endl;
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std::cout << "[contractor] max level: " << maxDepth << std::endl;
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}
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template< class Edge >
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void GetEdges( std::vector< Edge >& edges ) {
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NodeID numberOfNodes = _graph->GetNumberOfNodes();
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for ( NodeID node = 0; node < numberOfNodes; ++node ) {
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for ( _DynamicGraph::EdgeIterator edge = _graph->BeginEdges( node ), endEdges = _graph->EndEdges( node ); edge < endEdges; edge++ ) {
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const NodeID target = _graph->GetTarget( edge );
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const _EdgeBasedContractorEdgeData& data = _graph->GetEdgeData( edge );
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Edge newEdge;
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newEdge.source = node;
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newEdge.target = target;
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newEdge.data.distance = data.distance;
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newEdge.data.shortcut = data.shortcut;
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newEdge.data.via = data.via;
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newEdge.data.nameID1 = data.nameID;
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newEdge.data.turnInstruction = data.turnInstruction;
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newEdge.data.forward = data.forward;
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newEdge.data.backward = data.backward;
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edges.push_back( newEdge );
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}
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}
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}
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LevelInformation * GetLevelInformation() {
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return _levelInformation;
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}
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private:
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void _Dijkstra( NodeID source, const int maxDistance, const unsigned numTargets, _ThreadData* data ){
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_Heap& heap = data->heap;
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unsigned nodes = 0;
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unsigned targetsFound = 0;
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while ( heap.Size() > 0 ) {
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const NodeID node = heap.DeleteMin();
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const int distance = heap.GetKey( node );
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if ( nodes++ > numTargets )
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return;
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//Destination settled?
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if ( distance > maxDistance )
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return;
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if ( heap.GetData( node ).target ) {
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targetsFound++;
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if ( targetsFound >= numTargets )
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return;
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}
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//iterate over all edges of node
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for ( _DynamicGraph::EdgeIterator edge = _graph->BeginEdges( node ), endEdges = _graph->EndEdges( node ); edge != endEdges; ++edge ) {
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const _EdgeBasedContractorEdgeData& data = _graph->GetEdgeData( edge );
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if ( !data.forward )
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continue;
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const NodeID to = _graph->GetTarget( edge );
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const int toDistance = distance + data.distance;
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//New Node discovered -> Add to Heap + Node Info Storage
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if ( !heap.WasInserted( to ) )
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heap.Insert( to, toDistance, _HeapData() );
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//Found a shorter Path -> Update distance
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else if ( toDistance < heap.GetKey( to ) ) {
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heap.DecreaseKey( to, toDistance );
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//heap.GetData( to ).hops = hops + 1;
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}
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}
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}
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}
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double _Evaluate( _ThreadData* data, _PriorityData* nodeData, NodeID node ){
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_ContractionInformation stats;
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//perform simulated contraction
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_Contract< true > ( data, node, &stats );
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if(nodeData->depth > maxDepth) {
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#pragma omp critical
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maxDepth = nodeData->depth;
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}
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// Result will contain the priority
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if ( stats.edgesDeleted == 0 || stats.originalEdgesDeleted == 0 )
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return depthFactor * nodeData->depth;
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return edgeQuotionFactor * ((( double ) stats.edgesAdded ) / stats.edgesDeleted ) + originalQuotientFactor * ((( double ) stats.originalEdgesAdded ) / stats.originalEdgesDeleted ) + depthFactor * nodeData->depth;
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}
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template< class Edge >
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bool _CheckCH()
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{
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NodeID numberOfNodes = _graph->GetNumberOfNodes();
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for ( NodeID node = 0; node < numberOfNodes; ++node ) {
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for ( _DynamicGraph::EdgeIterator edge = _graph->BeginEdges( node ), endEdges = _graph->EndEdges( node ); edge != endEdges; ++edge ) {
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const NodeID start = node;
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const NodeID target = _graph->GetTarget( edge );
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const _EdgeBasedContractorEdgeData& data = _graph->GetEdgeData( edge );
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const NodeID middle = data.via;
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assert(start != target);
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if(data.shortcut)
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{
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if(_graph->FindEdge(start, middle) == SPECIAL_EDGEID && _graph->FindEdge(middle, start) == SPECIAL_EDGEID)
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{
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assert(false);
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return false;
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}
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if(_graph->FindEdge(middle, target) == SPECIAL_EDGEID && _graph->FindEdge(target, middle) == SPECIAL_EDGEID)
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{
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assert(false);
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return false;
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}
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}
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}
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}
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return true;
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}
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template< bool Simulate > bool _Contract( _ThreadData* data, NodeID node, _ContractionInformation* stats = NULL ) {
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_Heap& heap = data->heap;
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for ( _DynamicGraph::EdgeIterator inEdge = _graph->BeginEdges( node ), endInEdges = _graph->EndEdges( node ); inEdge != endInEdges; ++inEdge ) {
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const _EdgeBasedContractorEdgeData& inData = _graph->GetEdgeData( inEdge );
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const NodeID source = _graph->GetTarget( inEdge );
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if ( Simulate ) {
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assert( stats != NULL );
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unsigned factor = (inData.forward && inData.backward ? 2 : 1 );
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stats->edgesDeleted+=factor;
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stats->originalEdgesDeleted += factor*inData.originalEdges;
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}
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if ( !inData.backward )
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continue;
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heap.Clear();
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heap.Insert( source, 0, _HeapData() );
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if ( node != source )
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heap.Insert( node, inData.distance, _HeapData() );
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int maxDistance = 0;
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unsigned numTargets = 0;
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for ( _DynamicGraph::EdgeIterator outEdge = _graph->BeginEdges( node ), endOutEdges = _graph->EndEdges( node ); outEdge != endOutEdges; ++outEdge ) {
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const _EdgeBasedContractorEdgeData& outData = _graph->GetEdgeData( outEdge );
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|
if ( !outData.forward )
|
|
continue;
|
|
const NodeID target = _graph->GetTarget( outEdge );
|
|
const int pathDistance = inData.distance + outData.distance;
|
|
maxDistance = (std::max)( maxDistance, pathDistance );
|
|
if ( !heap.WasInserted( target ) ) {
|
|
heap.Insert( target, pathDistance, _HeapData( true ) );
|
|
numTargets++;
|
|
} else if ( pathDistance < heap.GetKey( target ) ) {
|
|
heap.DecreaseKey( target, pathDistance );
|
|
}
|
|
|
|
}
|
|
|
|
if( Simulate )
|
|
_Dijkstra( source, maxDistance, 500, data );
|
|
else
|
|
_Dijkstra( source, maxDistance, 1000, data );
|
|
|
|
for ( _DynamicGraph::EdgeIterator outEdge = _graph->BeginEdges( node ), endOutEdges = _graph->EndEdges( node ); outEdge != endOutEdges; ++outEdge ) {
|
|
const _EdgeBasedContractorEdgeData& outData = _graph->GetEdgeData( outEdge );
|
|
if ( !outData.forward )
|
|
continue;
|
|
const NodeID target = _graph->GetTarget( outEdge );
|
|
const int pathDistance = inData.distance + outData.distance;
|
|
const int distance = heap.GetKey( target );
|
|
|
|
if ( pathDistance <= distance ) {
|
|
if ( Simulate ) {
|
|
assert( stats != NULL );
|
|
stats->edgesAdded++;
|
|
stats->originalEdgesAdded += ( outData.originalEdges + inData.originalEdges );
|
|
} else {
|
|
_ImportEdge newEdge;
|
|
newEdge.source = source;
|
|
newEdge.target = target;
|
|
newEdge.data.distance = pathDistance;
|
|
newEdge.data.forward = true;
|
|
newEdge.data.backward = false;
|
|
newEdge.data.via = node;
|
|
newEdge.data.shortcut = true;
|
|
newEdge.data.turnInstruction = inData.turnInstruction;
|
|
newEdge.data.originalEdges = outData.originalEdges + inData.originalEdges;
|
|
|
|
data->insertedEdges.push_back( newEdge );
|
|
std::swap( newEdge.source, newEdge.target );
|
|
newEdge.data.forward = false;
|
|
newEdge.data.backward = true;
|
|
data->insertedEdges.push_back( newEdge );
|
|
}
|
|
}
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
bool _DeleteIncomingEdges( _ThreadData* data, NodeID node ) {
|
|
std::vector < NodeID > neighbours;
|
|
|
|
//find all neighbours
|
|
for ( _DynamicGraph::EdgeIterator e = _graph->BeginEdges( node ) ; e < _graph->EndEdges( node ) ; ++e ) {
|
|
const NodeID u = _graph->GetTarget( e );
|
|
if ( u == node )
|
|
continue;
|
|
neighbours.push_back( u );
|
|
}
|
|
//eliminate duplicate entries ( forward + backward edges )
|
|
std::sort( neighbours.begin(), neighbours.end() );
|
|
neighbours.resize( std::unique( neighbours.begin(), neighbours.end() ) - neighbours.begin() );
|
|
|
|
for ( int i = 0, e = ( int ) neighbours.size(); i < e; ++i ) {
|
|
const NodeID u = neighbours[i];
|
|
_graph->DeleteEdgesTo( u, node );
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool _UpdateNeighbours( std::vector< double >* priorities, std::vector< _PriorityData >* nodeData, _ThreadData* data, NodeID node ) {
|
|
std::vector < NodeID > neighbours;
|
|
|
|
//find all neighbours
|
|
for ( _DynamicGraph::EdgeIterator e = _graph->BeginEdges( node ) ; e < _graph->EndEdges( node ) ; ++e ) {
|
|
const NodeID u = _graph->GetTarget( e );
|
|
if ( u == node )
|
|
continue;
|
|
neighbours.push_back( u );
|
|
( *nodeData )[u].depth = (std::max)(( *nodeData )[node].depth + 1, ( *nodeData )[u].depth );
|
|
}
|
|
//eliminate duplicate entries ( forward + backward edges )
|
|
std::sort( neighbours.begin(), neighbours.end() );
|
|
neighbours.resize( std::unique( neighbours.begin(), neighbours.end() ) - neighbours.begin() );
|
|
|
|
for ( int i = 0, e = ( int ) neighbours.size(); i < e; ++i ) {
|
|
const NodeID u = neighbours[i];
|
|
( *priorities )[u] = _Evaluate( data, &( *nodeData )[u], u );
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool _IsIndependent( const _DynamicGraph* _graph, const std::vector< double >& priorities, const std::vector< _PriorityData >& nodeData, NodeID node ) {
|
|
const double priority = priorities[node];
|
|
|
|
std::vector< NodeID > neighbours;
|
|
|
|
for ( _DynamicGraph::EdgeIterator e = _graph->BeginEdges( node ) ; e < _graph->EndEdges( node ) ; ++e ) {
|
|
const NodeID target = _graph->GetTarget( e );
|
|
const double targetPriority = priorities[target];
|
|
assert( targetPriority >= 0 );
|
|
//found a neighbour with lower priority?
|
|
if ( priority > targetPriority )
|
|
return false;
|
|
//tie breaking
|
|
if ( priority == targetPriority && nodeData[node].bias < nodeData[target].bias )
|
|
return false;
|
|
neighbours.push_back( target );
|
|
}
|
|
|
|
std::sort( neighbours.begin(), neighbours.end() );
|
|
neighbours.resize( std::unique( neighbours.begin(), neighbours.end() ) - neighbours.begin() );
|
|
|
|
//examine all neighbours that are at most 2 hops away
|
|
for ( std::vector< NodeID >::const_iterator i = neighbours.begin(), lastNode = neighbours.end(); i != lastNode; ++i ) {
|
|
const NodeID u = *i;
|
|
|
|
for ( _DynamicGraph::EdgeIterator e = _graph->BeginEdges( u ) ; e < _graph->EndEdges( u ) ; ++e ) {
|
|
const NodeID target = _graph->GetTarget( e );
|
|
|
|
const double targetPriority = priorities[target];
|
|
assert( targetPriority >= 0 );
|
|
//found a neighbour with lower priority?
|
|
if ( priority > targetPriority )
|
|
return false;
|
|
//tie breaking
|
|
if ( priority == targetPriority && nodeData[node].bias < nodeData[target].bias )
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
LevelInformation * _levelInformation;
|
|
_DynamicGraph* _graph;
|
|
unsigned edgeQuotionFactor;
|
|
unsigned originalQuotientFactor;
|
|
unsigned depthFactor;
|
|
int maxDepth;
|
|
};
|
|
|
|
#endif // CONTRACTOR_H_INCLUDED
|