Feature/listener

CMakeLists.txt

@@ -9,11 +9,14 @@ set_property(GLOBAL PROPERTY WARTHOG_warthog-core ON)
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
 
+option(WARTHOG_POSTHOC "Compile trace support generation for posthoc" OFF)
 option(WARTHOG_INT128 "Enable support for __int128 on gcc and clang" OFF)
 option(WARTHOG_BMI "Enable support cpu BMI for WARTHOG_INTRIN_HAS(BMI)" OFF)
 option(WARTHOG_BMI2 "Enable support cpu BMI2 for WARTHOG_INTRIN_HAS(BMI2), use for Zen 3+" OFF)
 option(WARTHOG_INTRIN_ALL "Enable march=native and support x86 intrinsics if able (based on system), supersedes all manual instruction sets" OFF)
 
+find_package(Threads REQUIRED)
+
 include(cmake/warthog.cmake)
 
 add_library(warthog_compile INTERFACE)
@@ -30,7 +33,7 @@ target_include_directories(warthog_core PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
   $<INSTALL_INTERFACE:include>
 )
-target_link_libraries(warthog_core PUBLIC warthog::compile)
+target_link_libraries(warthog_core PUBLIC warthog::compile Threads::Threads)
 include(cmake/headers.cmake)
 
 add_executable(warthog_app)

CONTRIB.md

@@ -0,0 +1,18 @@
+Contributors to the Warthog Pathfinding Library
+===============================================
+
+Maintainers
+-----------
+
+Daniel Harabor @dharabor <Daniel.Harabor@monash.edu>
+Ryan Hechenberger @heavenfall <Ryan.Hechenberger@monash.edu>
+
+Contributors
+------------
+
+Arthur Maheo
+Shizhe Zhao
+Saman Ahmadi
+Mark Carlson <Mark.Carlson@monash.edu>
+Thomas Nobes <thomas.nobes@monash.edu>
+Massimo Bono

apps/cfg.cpp

@@ -39,7 +39,7 @@ warthog::util::cfg::parse_args(
 std::string
 warthog::util::cfg::get_param_value(std::string param_name)
 {
-	std::string ret("");
+	std::string ret;
 	std::map<std::string, std::vector<std::string>>::iterator it
 	    = params_.find(param_name);
 	if(it != params_.end())

apps/cfg.h

@@ -1,7 +1,7 @@
 #ifndef WARTHOG_APP_CFG_H
 #define WARTHOG_APP_CFG_H
 
-#include "getopt.h"
+#include <getopt.h>
 
 #include <cstdint>
 #include <iostream>

apps/warthog.cpp

@@ -20,6 +20,9 @@
 #include <warthog/util/pqueue.h>
 #include <warthog/util/scenario_manager.h>
 #include <warthog/util/timer.h>
+#ifdef WARTHOG_POSTHOC
+#include <warthog/io/grid_trace.h>
+#endif
 
 #include "cfg.h"
 #include <getopt.h>
@@ -30,6 +33,7 @@
 #include <fstream>
 #include <functional>
 #include <iomanip>
+#include <iostream>
 #include <memory>
 #include <sstream>
 #include <unordered_map>
@@ -44,6 +48,16 @@ int checkopt = 0;
 int verbose = 0;
 // display program help on startup
 int print_help = 0;
+// run only this query, or -1 for all
+int filter_id = -1;
+#ifdef WARTHOG_POSTHOC
+// write trace to file, empty string to disable
+std::string trace_file;
+using listener_grid = ::warthog::io::grid_trace;
+using listener_type = std::tuple<listener_grid>;
+#else
+using listener_type = std::tuple<>;
+#endif
 
 void
 help(std::ostream& out)
@@ -66,6 +80,11 @@ help(std::ostream& out)
 	       "values in the scen file)\n"
 	    << "\t--verbose (optional; prints debugging info when compiled "
 	       "with debug symbols)\n"
+	    << "\t--filter [id] (optional; run only query [id])\n"
+#ifdef WARTHOG_POSTHOC
+	    << "\t--trace [.trace.yaml file] (optional; write posthoc trace for "
+	       "first query to [file])\n"
+#endif
 	    << "Invoking the program this way solves all instances in [scen "
 	       "file] with algorithm [alg]\n"
 	    << "Currently recognised values for [alg]:\n"
@@ -104,21 +123,49 @@ check_optimality(
 	return true;
 }
 
+#ifdef WARTHOG_POSTHOC
+#define WARTHOG_POSTHOC_DO(f) f
+#else
+#define WARTHOG_POSTHOC_DO(f)
+#endif
+
 template<typename Search>
 int
 run_experiments(
     Search& algo, std::string alg_name,
     warthog::util::scenario_manager& scenmgr, bool verbose, bool checkopt,
     std::ostream& out)
 {
+	WARTHOG_GINFO_FMT("start search with algorithm {}", alg_name);
 	warthog::search::search_parameters par;
 	warthog::search::solution sol;
 	auto* expander = algo.get_expander();
 	if(expander == nullptr) return 1;
+
 	out << "id\talg\texpanded\tgenerated\treopen\tsurplus\theapops"
 	    << "\tnanos\tplen\tpcost\tscost\tmap\n";
-	for(unsigned int i = 0; i < scenmgr.num_experiments(); i++)
+	for(uint32_t i  = filter_id >= 0 ? static_cast<uint32_t>(filter_id) : 0,
+	             ie = filter_id >= 0
+	        ? i + 1
+	        : static_cast<uint32_t>(scenmgr.num_experiments());
+	    i < ie; i++)
 	{
+#ifdef WARTHOG_POSTHOC
+		std::optional<std::ofstream>
+		    trace_stream; // open and pass to trace if used
+		if constexpr(std::same_as<
+		                 listener_type,
+		                 std::remove_cvref_t<decltype(algo.get_listeners())>>)
+		{
+			if(i == filter_id && !trace_file.empty())
+			{
+				listener_grid& l
+				    = std::get<listener_grid>(algo.get_listeners());
+				trace_stream.emplace(trace_file);
+				l.open(*trace_stream);
+			}
+		}
+#endif
 		warthog::util::experiment* exp = scenmgr.get_experiment(i);
 
 		warthog::pack_id startid
@@ -130,21 +177,40 @@ run_experiments(
 
 		algo.get_path(&pi, &par, &sol);
 
+#ifdef WARTHOG_POSTHOC
+		if constexpr(std::same_as<
+		                 listener_type,
+		                 std::remove_cvref_t<decltype(algo.get_listeners())>>)
+		{
+			if(trace_stream.has_value())
+			{
+				// close
+				std::get<listener_grid>(algo.get_listeners()).close();
+			}
+		}
+#endif
+
 		out << i << "\t" << alg_name << "\t" << sol.met_.nodes_expanded_
 		    << "\t" << sol.met_.nodes_generated_ << "\t"
 		    << sol.met_.nodes_reopen_ << "\t" << sol.met_.nodes_surplus_
 		    << "\t" << sol.met_.heap_ops_ << "\t"
 		    << sol.met_.time_elapsed_nano_.count() << "\t"
-		    << (sol.path_.size() - 1) << "\t" << sol.sum_of_edge_costs_ << "\t"
-		    << exp->distance() << "\t" << scenmgr.last_file_loaded()
-		    << std::endl;
+		    << (!sol.path_.empty() ? sol.path_.size() - 1 : 0) << "\t"
+		    << sol.sum_of_edge_costs_ << "\t" << exp->distance() << "\t"
+		    << scenmgr.last_file_loaded() << std::endl;
 
 		if(checkopt)
 		{
-			if(!check_optimality(sol, exp)) return 4;
+			if(!check_optimality(sol, exp))
+			{
+				WARTHOG_GCRIT("search error: failed suboptimal 4");
+				return 4;
+			}
 		}
 	}
 
+	WARTHOG_GINFO_FMT(
+	    "search complete; total memory: {}", algo.mem() + scenmgr.mem());
 	return 0;
 }
 
@@ -158,17 +224,12 @@ run_astar(
 	warthog::heuristic::octile_heuristic heuristic(map.width(), map.height());
 	warthog::util::pqueue_min open;
 
-	warthog::search::unidirectional_search astar(&heuristic, &expander, &open);
+	warthog::search::unidirectional_search astar(
+	    &heuristic, &expander, &open, listener_type(WARTHOG_POSTHOC_DO(&map)));
 
 	int ret = run_experiments(
 	    astar, alg_name, scenmgr, verbose, checkopt, std::cout);
-	if(ret != 0)
-	{
-		std::cerr << "run_experiments error code " << ret << std::endl;
-		return ret;
-	}
-	std::cerr << "done. total memory: " << astar.mem() + scenmgr.mem() << "\n";
-	return 0;
+	return ret;
 }
 
 int
@@ -182,17 +243,12 @@ run_astar4c(
 	    map.width(), map.height());
 	warthog::util::pqueue_min open;
 
-	warthog::search::unidirectional_search astar(&heuristic, &expander, &open);
+	warthog::search::unidirectional_search astar(
+	    &heuristic, &expander, &open, listener_type(WARTHOG_POSTHOC_DO(&map)));
 
 	int ret = run_experiments(
 	    astar, alg_name, scenmgr, verbose, checkopt, std::cout);
-	if(ret != 0)
-	{
-		std::cerr << "run_experiments error code " << ret << std::endl;
-		return ret;
-	}
-	std::cerr << "done. total memory: " << astar.mem() + scenmgr.mem() << "\n";
-	return 0;
+	return ret;
 }
 
 int
@@ -205,17 +261,12 @@ run_dijkstra(
 	warthog::heuristic::zero_heuristic heuristic;
 	warthog::util::pqueue_min open;
 
-	warthog::search::unidirectional_search astar(&heuristic, &expander, &open);
+	warthog::search::unidirectional_search astar(
+	    &heuristic, &expander, &open, listener_type(WARTHOG_POSTHOC_DO(&map)));
 
 	int ret = run_experiments(
 	    astar, alg_name, scenmgr, verbose, checkopt, std::cout);
-	if(ret != 0)
-	{
-		std::cerr << "run_experiments error code " << ret << std::endl;
-		return ret;
-	}
-	std::cerr << "done. total memory: " << astar.mem() + scenmgr.mem() << "\n";
-	return 0;
+	return ret;
 }
 
 int
@@ -242,13 +293,7 @@ run_wgm_astar(
 
 	int ret = run_experiments(
 	    astar, alg_name, scenmgr, verbose, checkopt, std::cout);
-	if(ret != 0)
-	{
-		std::cerr << "run_experiments error code " << ret << std::endl;
-		return ret;
-	}
-	std::cerr << "done. total memory: " << astar.mem() + scenmgr.mem() << "\n";
-	return 0;
+	return ret;
 }
 
 } // namespace
@@ -258,13 +303,17 @@ main(int argc, char** argv)
 {
 	// parse arguments
 	warthog::util::param valid_args[]
-	    = {{"alg", required_argument, 0, 1},
+	    = {{"alg", required_argument, 0, 0},
 	       {"scen", required_argument, 0, 0},
-	       {"map", required_argument, 0, 1},
+	       {"map", required_argument, 0, 0},
 	       // {"gen", required_argument, 0, 3},
 	       {"help", no_argument, &print_help, 1},
 	       {"checkopt", no_argument, &checkopt, 1},
 	       {"verbose", no_argument, &verbose, 1},
+	       {"filter", required_argument, &filter_id, 1},
+#ifdef WARTHOG_POSTHOC
+	       {"trace", required_argument, 0, 0},
+#endif
 	       {"costs", required_argument, 0, 1},
 	       {0, 0, 0, 0}};
 
@@ -283,6 +332,14 @@ main(int argc, char** argv)
 	std::string mapfile  = cfg.get_param_value("map");
 	std::string costfile = cfg.get_param_value("costs");
 
+	if(filter_id == 1)
+	{
+		filter_id = std::stoi(cfg.get_param_value("filter"));
+	}
+#ifdef WARTHOG_POSTHOC
+	trace_file = cfg.get_param_value("trace");
+#endif
+
 	// if(gen != "")
 	// {
 	// 	warthog::util::scenario_manager sm;

cmake/config.h.in

@@ -5,6 +5,7 @@
 #define WARTHOG_VERSION_MINOR @CMAKE_PROJECT_VERSION_MINOR@
 #define WARTHOG_VERSION_REVISON @CMAKE_PROJECT_VERSION_PATCH@
 
+#cmakedefine WARTHOG_POSTHOC
 #cmakedefine WARTHOG_INT128
 #cmakedefine WARTHOG_INTRIN_ALL
 #cmakedefine WARTHOG_BMI

cmake/headers.cmake

@@ -27,6 +27,7 @@ include/warthog/heuristic/octile_heuristic.h
 include/warthog/heuristic/zero_heuristic.h
 
 include/warthog/io/grid.h
+include/warthog/io/log.h
 
 include/warthog/memory/arraylist.h
 include/warthog/memory/bittable.h
@@ -56,7 +57,6 @@ include/warthog/util/file_utils.h
 include/warthog/util/gm_parser.h
 include/warthog/util/helpers.h
 include/warthog/util/intrin.h
-include/warthog/util/log.h
 include/warthog/util/macros.h
 include/warthog/util/pqueue.h
 include/warthog/util/scenario_manager.h