/// <summary>
/// Not used
/// </summary>
/// <param name="plan"></param>
/// <param name="agentIndex"></param>
/// <param name="agentNum"></param>
public SinglePlan(Plan plan, int agentIndex, int agentNum)
{
this.agentNum = agentNum;
this.locationAtTimes = new List <Move>();
foreach (List <Move> movesAtTimestep in plan.GetLocations())
{
this.locationAtTimes.Add(movesAtTimestep.ElementAt <Move>(agentIndex));
}
}
/// <summary>
/// Solve given instance with a list of algorithms
/// </summary>
/// <param name="instance">The instance to solve</param>
public bool SolveGivenProblem(ProblemInstance instance, bool toExecute = false)
{
if (toExecute)
{
instanceId += 1;
}
bool success = true;
//return; // add for generator
// Preparing a list of agent indices (not agent nums) for the heuristics' Init() method
List <uint> agentList = Enumerable.Range(0, instance.m_vAgents.Length).Select <int, uint>(x => (uint)x).ToList <uint>(); // FIXME: Must the heuristics really receive a list of uints?
// Solve using the different algorithms
Debug.WriteLine("Solving " + instance);
//this.PrintProblemStatistics(instance);
//double cr0 = instance.getConflictRation(0);
//double cr1 = instance.getConflictRation(1);
//Debug.WriteLine("Conflict ratio (first order): " + cr0);
// Initializing all heuristics, whereever they're used
for (int i = 0; i < heuristics.Count; i++)
{
heuristics[i].init(instance, agentList);
}
solutionCost = -1;
int firstSolverToSolveIndex = -1;
for (int i = 0; i < solvers.Count; i++)
{
//CbsNode.PRobustBound = 0.4;
//CbsNode.PRobustBound = PRobustBound[i];
if (outOfTimeCounters[i] < Constants.MAX_FAIL_COUNT) // After "MAX_FAIL_COUNT" consecutive failures of a given algorithm we stop running it.
// Assuming problem difficulties are non-decreasing, if it consistently failed on several problems it won't suddenly succeed in solving the next problem.
{
GC.Collect();
GC.WaitForPendingFinalizers();
if (solvers[i].GetType() == typeof(CBS_LocalConflicts) || solvers[i].GetType() == typeof(CBS_GlobalConflicts))
{
if (((CBS_LocalConflicts)solvers[i]).mergeThreshold == 314159) // MAGIC NUMBER WHICH MAKES US ADJUST B according to map
{
((CBS_LocalConflicts)solvers[i]).mergeThreshold = 0;
}
}
if (
(solvers[i].GetType() == typeof(IndependenceDetection) &&
((IndependenceDetection)solvers[i]).groupSolver.GetType() == typeof(CBS_LocalConflicts)) ||
(solvers[i].GetType() == typeof(IndependenceDetection) &&
((IndependenceDetection)solvers[i]).groupSolver.GetType() == typeof(CBS_GlobalConflicts))
)
{
if (((CBS_LocalConflicts)((IndependenceDetection)solvers[i]).groupSolver).mergeThreshold == 314159) // MAGIC NUMBER SEE ABOVE
{
((CBS_LocalConflicts)((IndependenceDetection)solvers[i]).groupSolver).mergeThreshold = 0;
}
}
int solverSolutionCost;
Stopwatch planningStopwatch = new Stopwatch();;
planningStopwatch.Start();
this.run(solvers[i], instance);
solverSolutionCost = solvers[i].GetSolutionCost();
if (solverSolutionCost < 0)
{
Console.WriteLine("TIMEOUT!!!!!!!!!!!!2");
solverSolutionCost = -1;
solutionCost = -1;
planningStopwatch.Stop();
success = false;
continue;
}
if (toPrint)
{
Console.WriteLine();
printLinkedList(solvers[i].GetPlan().GetLocations());
Console.WriteLine();
}
success = true;
if (solverSolutionCost >= 0) // Solved successfully
{
plan = solvers[i].GetPlan();
int j = 0;
for (LinkedListNode <List <Move> > node = plan.GetLocations().First; node != null; node = node.Next)
{
foreach (Move mv in node.Value)
{
((TimedMove)mv).time = j;
}
j++;
}
outOfTimeCounters[i] = 0;
// Validate solution:
if (solutionCost == -1) // Record solution cost
{
solutionCost = solverSolutionCost;
firstSolverToSolveIndex = i;
}
solutionCost = solverSolutionCost;
Console.WriteLine("+SUCCESS+ (:");
}
else
{
outOfTimeCounters[i]++;
Console.WriteLine("-FAILURE- ):");
success = false;
}
int originalCost = solutionCost;
planningStopwatch.Stop();
planningTime = planningStopwatch.Elapsed.TotalMilliseconds;
TimedMove[] lastMove = new TimedMove[instance.m_vAgents.Length];
for (int ass = 0; ass < instance.m_vAgents.Length; ass++)
{
lastMove[ass] = new TimedMove(instance.m_vAgents[ass].lastMove, 0);
}
WriteGivenProblem(instance, solvers[i], plan.GetLocations());
}
else if (toPrint)
{
PrintNullStatistics(solvers[i]);
}
Console.WriteLine();
}
return(success);
}
