public long solve(CFMAStar.CostFunction costFunction)
{
// Independence Detection
List <List <TimedMove> > nonConflictsPaths = null;
IndependentDetection id = new IndependentDetection(this.problemInstance, this.goalState);
MAM_AgentState[] newStartPositions = id.Detect(out nonConflictsPaths);
if (newStartPositions.Length != 0)
{
this.problemInstance = problemInstance.ReplanProblem(newStartPositions);
this.reducer = new CFMAM_MCMF_Reducer(this.problemInstance, this.goalState);
reducer.reduce(costFunction);
if (reducer.outputProblem == null)
{
return(-1);
}
MinCostMaxFlow mcmfSolver = new MinCostMaxFlow(reducer.outputProblem);
timer = Stopwatch.StartNew();
solution = mcmfSolver.SolveMinCostFlow();
List <TimedMove>[] partialPlan = this.reducer.GetCFMAMSolution(this.solution, this.mcmfTime, true);
if (costFunction == CFMAStar.CostFunction.MakeSpan)
{
while (!isPathForEachAgent(partialPlan))
{
this.reducer.addNetworkLayer();
mcmfSolver = new MinCostMaxFlow(reducer.outputProblem);
solution = mcmfSolver.SolveMinCostFlow();
partialPlan = this.reducer.GetCFMAMSolution(this.solution, this.mcmfTime, true);
}
}
timer.Stop();
this.plan = mergePlans(partialPlan, nonConflictsPaths);
this.mcmfTime = timer.ElapsedMilliseconds;
this.solutionCost = calculateCost(this.plan, costFunction);
}
else
{
this.plan = nonConflictsPaths;
this.solutionCost = calculateCost(this.plan, costFunction);
}
return(this.solutionCost);
}
/// <summary>
/// Generates a problem instance based on a DAO map file.
/// TODO: Fix code dup with GenerateProblemInstance and Import later.
/// </summary>
/// <param name="agentsNum"></param>
/// <returns></returns>
public ProblemInstance GenerateDragonAgeProblemInstance
(
string mapFileName,
int agentsNum
)
{
m_mapFileName = mapFileName;
m_agentNum = agentsNum;
TextReader input = new StreamReader(mapFileName);
string[] lineParts;
string line;
line = input.ReadLine();
Debug.Assert(line.StartsWith("type octile"));
// Read grid dimensions
line = input.ReadLine();
lineParts = line.Split(' ');
Debug.Assert(lineParts[0].StartsWith("height"));
int maxX = int.Parse(lineParts[1]);
line = input.ReadLine();
lineParts = line.Split(' ');
Debug.Assert(lineParts[0].StartsWith("width"));
int maxY = int.Parse(lineParts[1]);
line = input.ReadLine();
Debug.Assert(line.StartsWith("map"));
bool[][] grid = new bool[maxX][];
char cell;
for (int i = 0; i < maxX; i++)
{
grid[i] = new bool[maxY];
line = input.ReadLine();
for (int j = 0; j < maxY; j++)
{
cell = line.ElementAt(j);
if (cell == '@' || cell == 'O' || cell == 'T' || cell == 'W' /* Water isn't traversable from land */)
{
grid[i][j] = true;
}
else
{
grid[i][j] = false;
}
}
}
int x;
int y;
MAM_AgentState[] aStart = new MAM_AgentState[agentsNum];
bool[][] starts = new bool[maxX][];
for (int i = 0; i < maxX; i++)
{
starts[i] = new bool[maxY];
}
// Choose random valid unclaimed goal locations
for (int i = 0; i < agentsNum; i++)
{
x = rand.Next(maxX);
y = rand.Next(maxY);
if (starts[x][y] || grid[x][y])
{
i--;
}
else
{
starts[x][y] = true;
aStart[i] = new MAM_AgentState(x, y, i, 0);
}
}
ProblemInstance problem = new ProblemInstance();
problem.parameters[ProblemInstance.GRID_NAME_KEY] = Path.GetFileNameWithoutExtension(mapFileName);
problem.Init(aStart, grid);
IndependentDetection id = new IndependentDetection(problem, problem.m_vAgents[0].lastMove);
List <List <TimedMove> > connectionCheck = new List <List <TimedMove> >();
if (id.bfsToStartPositions(problem.m_vAgents[0].lastMove).Count != problem.m_vAgents.Length)
{
problem = GenerateDragonAgeProblemInstance(mapFileName, agentsNum);
}
return(problem);
}
/// <summary>
/// Generates a problem instance, including a board, start and goal locations of desired number of agents
/// and desired precentage of obstacles
/// TODO: Refactor to use operators.
/// </summary>
/// <param name="gridSize"></param>
/// <param name="agentsNum"></param>
/// <param name="obstaclesNum"></param>
/// <returns></returns>
public ProblemInstance GenerateProblemInstance
(
int gridSize,
int agentsNum,
int obstaclesNum
)
{
m_mapFileName = "GRID" + gridSize + "X" + gridSize;
m_agentNum = agentsNum;
if (agentsNum + obstaclesNum > gridSize * gridSize)
{
throw new Exception("Not enough room for " + agentsNum + ", " + obstaclesNum + " and one empty space in a " + gridSize + "x" + gridSize + "map.");
}
int x;
int y;
MAM_AgentState[] aStart = new MAM_AgentState[agentsNum];
bool[][] grid = new bool[gridSize][];
bool[][] starts = new bool[gridSize][];
// Generate a random grid
for (int i = 0; i < gridSize; i++)
{
grid[i] = new bool[gridSize];
starts[i] = new bool[gridSize];
}
for (int i = 0; i < obstaclesNum; i++)
{
x = rand.Next(gridSize);
y = rand.Next(gridSize);
if (grid[x][y]) // Already an obstacle
{
i--;
}
grid[x][y] = true;
}
// Choose random start locations
for (int i = 0; i < agentsNum; i++)
{
x = rand.Next(gridSize);
y = rand.Next(gridSize);
if (starts[x][y] || grid[x][y])
{
i--;
}
else
{
starts[x][y] = true;
aStart[i] = new MAM_AgentState(x, y, i, 0);
}
}
ProblemInstance problem = new ProblemInstance();
problem = new ProblemInstance();
problem.Init(aStart, grid);
IndependentDetection id = new IndependentDetection(problem, problem.m_vAgents[0].lastMove);
List <List <TimedMove> > connectionCheck = new List <List <TimedMove> >();
if (id.bfsToStartPositions(problem.m_vAgents[0].lastMove).Count != problem.m_vAgents.Length)
{
problem = GenerateProblemInstance(gridSize, agentsNum, obstaclesNum);
}
return(problem);
}