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/* This file is part of the Spring engine (GPL v2 or later), see LICENSE.html */
#include "System/Platform/Win/win32.h"
#include "lib/gml/gml.h" // FIXME: linux for some reason does not compile without this
#include "PathEstimator.h"
#include <fstream>
#include <boost/bind.hpp>
#include <boost/version.hpp>
#include <boost/version.hpp>
#include "minizip/zip.h"
#include "System/mmgr.h"
#include "PathAllocator.h"
#include "PathCache.h"
#include "PathFinder.h"
#include "PathFinderDef.h"
#include "PathLog.h"
#include "Map/ReadMap.h"
#include "Game/LoadScreen.h"
#include "Sim/MoveTypes/MoveInfo.h"
#include "Sim/MoveTypes/MoveMath/MoveMath.h"
#include "Sim/Units/Unit.h"
#include "Sim/Units/UnitDef.h"
#include "System/FileSystem/IArchive.h"
#include "System/FileSystem/ArchiveLoader.h"
#include "System/FileSystem/DataDirsAccess.h"
#include "System/FileSystem/FileSystem.h"
#include "System/FileSystem/FileQueryFlags.h"
#include "System/Config/ConfigHandler.h"
#include "System/NetProtocol.h"
CONFIG(int, MaxPathCostsMemoryFootPrint).defaultValue(512 * 1024 * 1024);
static const std::string PATH_CACHE_DIR = "cache/paths/";
static size_t GetNumThreads() {
size_t numThreads = std::max(0, configHandler->GetInt("HardwareThreadCount"));
if (numThreads == 0) {
// auto-detect
#if (BOOST_VERSION >= 103500)
numThreads = boost::thread::hardware_concurrency();
#elif defined(USE_GML)
numThreads = gmlCPUCount();
#else
numThreads = 1;
#endif
}
return numThreads;
}
#if !defined(USE_MMGR)
void* CPathEstimator::operator new(size_t size) { return PathAllocator::Alloc(size); }
void CPathEstimator::operator delete(void* p, size_t size) { PathAllocator::Free(p, size); }
#endif
CPathEstimator::CPathEstimator(CPathFinder* pf, unsigned int BSIZE, const std::string& cacheFileName, const std::string& map):
BLOCK_SIZE(BSIZE),
BLOCK_PIXEL_SIZE(BSIZE * SQUARE_SIZE),
BLOCKS_TO_UPDATE(SQUARES_TO_UPDATE / (BLOCK_SIZE * BLOCK_SIZE) + 1),
nbrOfBlocksX(gs->mapx / BLOCK_SIZE),
nbrOfBlocksZ(gs->mapy / BLOCK_SIZE),
blockStates(int2(nbrOfBlocksX, nbrOfBlocksZ), int2(gs->mapx, gs->mapy)),
pathFinder(pf),
pathChecksum(0),
offsetBlockNum(nbrOfBlocksX * nbrOfBlocksZ),
costBlockNum(nbrOfBlocksX * nbrOfBlocksZ),
nextOffsetMessage(-1),
nextCostMessage(-1)
{
// these give the changes in (x, z) coors
// when moving one step in given direction
directionVector[PATHDIR_LEFT ].x = 1;
directionVector[PATHDIR_LEFT ].y = 0;
directionVector[PATHDIR_LEFT_UP ].x = 1;
directionVector[PATHDIR_LEFT_UP ].y = 1;
directionVector[PATHDIR_UP ].x = 0;
directionVector[PATHDIR_UP ].y = 1;
directionVector[PATHDIR_RIGHT_UP ].x = -1;
directionVector[PATHDIR_RIGHT_UP ].y = 1;
directionVector[PATHDIR_RIGHT ].x = -1;
directionVector[PATHDIR_RIGHT ].y = 0;
directionVector[PATHDIR_RIGHT_DOWN].x = -1;
directionVector[PATHDIR_RIGHT_DOWN].y = -1;
directionVector[PATHDIR_DOWN ].x = 0;
directionVector[PATHDIR_DOWN ].y = -1;
directionVector[PATHDIR_LEFT_DOWN ].x = 1;
directionVector[PATHDIR_LEFT_DOWN ].y = -1;
goalSqrOffset.x = BLOCK_SIZE / 2;
goalSqrOffset.y = BLOCK_SIZE / 2;
vertices.resize(moveinfo->moveData.size() * blockStates.GetSize() * PATH_DIRECTION_VERTICES, 0.0f);
// load precalculated data if it exists
InitEstimator(cacheFileName, map);
// As all vertexes are bidirectional and have equal values
// in both directions, only one value needs to be stored.
// This vector helps getting the right vertex. (Needs to
// be inited after pre-calculations.)
directionVertex[PATHDIR_LEFT ] = PATHDIR_LEFT;
directionVertex[PATHDIR_LEFT_UP ] = PATHDIR_LEFT_UP;
directionVertex[PATHDIR_UP ] = PATHDIR_UP;
directionVertex[PATHDIR_RIGHT_UP ] = PATHDIR_RIGHT_UP;
directionVertex[PATHDIR_RIGHT ] = int(PATHDIR_LEFT ) - PATH_DIRECTION_VERTICES;
directionVertex[PATHDIR_RIGHT_DOWN] = int(PATHDIR_LEFT_UP ) - (nbrOfBlocksX * PATH_DIRECTION_VERTICES) - PATH_DIRECTION_VERTICES;
directionVertex[PATHDIR_DOWN ] = int(PATHDIR_UP ) - (nbrOfBlocksX * PATH_DIRECTION_VERTICES);
directionVertex[PATHDIR_LEFT_DOWN ] = int(PATHDIR_RIGHT_UP) - (nbrOfBlocksX * PATH_DIRECTION_VERTICES) + PATH_DIRECTION_VERTICES;
pathCache = new CPathCache(nbrOfBlocksX, nbrOfBlocksZ);
}
CPathEstimator::~CPathEstimator()
{
delete pathCache;
}
void CPathEstimator::InitEstimator(const std::string& cacheFileName, const std::string& map)
{
const unsigned int numThreads = GetNumThreads();
if (threads.size() != numThreads) {
threads.resize(numThreads);
pathFinders.resize(numThreads);
}
pathFinders[0] = pathFinder;
// Not much point in multithreading these...
InitVertices();
InitBlocks();
if (!ReadFile(cacheFileName, map)) {
// start extra threads if applicable, but always keep the total
// memory-footprint made by CPathFinder instances within bounds
const unsigned int minMemFootPrint = sizeof(CPathFinder) + pathFinder->GetMemFootPrint();
const unsigned int maxMemFootPrint = configHandler->GetInt("MaxPathCostsMemoryFootPrint");
const unsigned int numExtraThreads = std::min(int(numThreads - 1), std::max(0, int(maxMemFootPrint / minMemFootPrint) - 1));
const unsigned int reqMemFootPrint = minMemFootPrint * (numExtraThreads + 1);
{
char calcMsg[512];
const char* fmtString = (numExtraThreads > 0)?
"PathCosts: creating PE%u cache with %u PF threads (%u MB)":
"PathCosts: creating PE%u cache with %u PF thread (%u MB)";
sprintf(calcMsg, fmtString, BLOCK_SIZE, numExtraThreads + 1, reqMemFootPrint / (1024 * 1024));
loadscreen->SetLoadMessage(calcMsg);
}
// note: only really needed if numExtraThreads > 0
pathBarrier = new boost::barrier(numExtraThreads + 1);
for (unsigned int i = 1; i <= numExtraThreads; i++) {
pathFinders[i] = new CPathFinder();
threads[i] = new boost::thread(boost::bind(&CPathEstimator::CalcOffsetsAndPathCosts, this, i));
}
// Use the current thread as thread zero
CalcOffsetsAndPathCosts(0);
for (unsigned int i = 1; i <= numExtraThreads; i++) {
threads[i]->join();
delete threads[i];
delete pathFinders[i];
}
delete pathBarrier;
loadscreen->SetLoadMessage("PathCosts: writing", true);
WriteFile(cacheFileName, map);
loadscreen->SetLoadMessage("PathCosts: written", true);
}
}
void CPathEstimator::InitVertices() {
for (unsigned int i = 0; i < vertices.size(); i++)
vertices[i] = PATHCOST_INFINITY;
}
void CPathEstimator::InitBlocks() {
for (int idx = 0; idx < blockStates.GetSize(); idx++) {
const int x = idx % nbrOfBlocksX;
const int z = idx / nbrOfBlocksX;
const int blockNr = z * nbrOfBlocksX + x;
blockStates.peNodeOffsets[blockNr].resize(moveinfo->moveData.size());
}
}
void CPathEstimator::CalcOffsetsAndPathCosts(int thread) {
//! reset FPU state for synced computations
streflop_init<streflop::Simple>();
// NOTE: EstimatePathCosts() [B] is temporally dependent on CalculateBlockOffsets() [A],
// A must be completely finished before B_i can be safely called. This means we cannot
// let thread i execute (A_i, B_i), but instead have to split the work such that every
// thread finishes its part of A before any starts B_i.
const int nbr = blockStates.GetSize() - 1;
int i;
while ((i = --offsetBlockNum) >= 0)
CalculateBlockOffsets(nbr - i, thread);
pathBarrier->wait();
while ((i = --costBlockNum) >= 0)
EstimatePathCosts(nbr - i, thread);
}
void CPathEstimator::CalculateBlockOffsets(int idx, int thread)
{
const int x = idx % nbrOfBlocksX;
const int z = idx / nbrOfBlocksX;
if (thread == 0 && idx >= nextOffsetMessage) {
nextOffsetMessage = idx + blockStates.GetSize() / 16;
net->Send(CBaseNetProtocol::Get().SendCPUUsage(BLOCK_SIZE | (idx << 8)));
}
for (vector<MoveData*>::iterator mi = moveinfo->moveData.begin(); mi != moveinfo->moveData.end(); ++mi) {
if ((*mi)->unitDefRefCount > 0) {
FindOffset(**mi, x, z);
}
}
}
void CPathEstimator::EstimatePathCosts(int idx, int thread) {
const int x = idx % nbrOfBlocksX;
const int z = idx / nbrOfBlocksX;
if (thread == 0 && idx >= nextCostMessage) {
nextCostMessage = idx + blockStates.GetSize() / 16;
char calcMsg[128];
sprintf(calcMsg, "PathCosts: precached %d of %d", idx, blockStates.GetSize());
net->Send(CBaseNetProtocol::Get().SendCPUUsage(0x1 | BLOCK_SIZE | (idx << 8)));
loadscreen->SetLoadMessage(calcMsg, (idx != 0));
}
for (vector<MoveData*>::iterator mi = moveinfo->moveData.begin(); mi != moveinfo->moveData.end(); ++mi) {
if ((*mi)->unitDefRefCount > 0) {
CalculateVertices(**mi, x, z, thread);
}
}
}
/**
* Finds a square accessable by the given movedata within the given block
*/
void CPathEstimator::FindOffset(const MoveData& moveData, int blockX, int blockZ) {
//! lower corner position of block
const int lowerX = blockX * BLOCK_SIZE;
const int lowerZ = blockZ * BLOCK_SIZE;
const unsigned int blockArea = (BLOCK_SIZE * BLOCK_SIZE) / SQUARE_SIZE;
unsigned int bestPosX = BLOCK_SIZE >> 1;
unsigned int bestPosZ = BLOCK_SIZE >> 1;
float bestCost = std::numeric_limits<float>::max();
const CMoveMath& moveMath = *(moveData.moveMath);
float speedMod = moveMath.GetPosSpeedMod(moveData, lowerX, lowerZ);
bool curblock = (speedMod == 0.0f) || moveMath.IsBlockedStructure(moveData, lowerX, lowerZ);
// search for an accessible position
unsigned int z = 0;
while (true) {
bool zcurblock = curblock;
unsigned int x = 0;
while (true) {
if (!curblock) {
const float dx = x - (float)(BLOCK_SIZE - 1) / 2.0f;
const float dz = z - (float)(BLOCK_SIZE - 1) / 2.0f;
const float cost = (dx * dx + dz * dz) + (blockArea / (0.001f + speedMod));
if (cost < bestCost) {
bestCost = cost;
bestPosX = x;
bestPosZ = z;
}
}
if (++x >= BLOCK_SIZE)
break;
// if last position was not blocked, then we do not need to check the entire square
speedMod = moveMath.GetPosSpeedMod(moveData, lowerX + x, lowerZ + z);
curblock = (speedMod == 0.0f) || (curblock ? moveMath.IsBlockedStructure(moveData, lowerX + x, lowerZ + z) :
moveMath.IsBlockedStructureXmax(moveData, lowerX + x, lowerZ + z));
}
if (++z >= BLOCK_SIZE)
break;
speedMod = moveMath.GetPosSpeedMod(moveData, lowerX, lowerZ + z);
curblock = (speedMod == 0.0f) || (zcurblock ? moveMath.IsBlockedStructure(moveData, lowerX, lowerZ + z) :
moveMath.IsBlockedStructureZmax(moveData, lowerX, lowerZ + z));
}
// store the offset found
blockStates.peNodeOffsets[blockZ * nbrOfBlocksX + blockX][moveData.pathType] = int2(blockX * BLOCK_SIZE + bestPosX, blockZ * BLOCK_SIZE + bestPosZ);
}
/**
* Calculate all vertices connected from the given block
* (always 4 out of 8 vertices connected to the block)
*/
void CPathEstimator::CalculateVertices(const MoveData& moveData, int blockX, int blockZ, int thread) {
for (int dir = 0; dir < PATH_DIRECTION_VERTICES; dir++)
CalculateVertex(moveData, blockX, blockZ, dir, thread);
}
/**
* Calculate requested vertex
*/
void CPathEstimator::CalculateVertex(const MoveData& moveData, int parentBlockX, int parentBlockZ, unsigned int direction, int thread) {
// initial calculations
const int parentBlocknr = parentBlockZ * nbrOfBlocksX + parentBlockX;
const int childBlockX = parentBlockX + directionVector[direction].x;
const int childBlockZ = parentBlockZ + directionVector[direction].y;
const int vertexNbr = moveData.pathType * blockStates.GetSize() * PATH_DIRECTION_VERTICES + parentBlocknr * PATH_DIRECTION_VERTICES + direction;
// outside map?
if (childBlockX < 0 || childBlockZ < 0 ||
childBlockX >= nbrOfBlocksX || childBlockZ >= nbrOfBlocksZ) {
vertices[vertexNbr] = PATHCOST_INFINITY;
return;
}
// start position
const int2 parentSquare = blockStates.peNodeOffsets[parentBlocknr][moveData.pathType];
const float3 startPos = SquareToFloat3(parentSquare.x, parentSquare.y);
// goal position
const int childBlocknr = childBlockZ * nbrOfBlocksX + childBlockX;
const int2 childSquare = blockStates.peNodeOffsets[childBlocknr][moveData.pathType];
const float3 goalPos = SquareToFloat3(childSquare.x, childSquare.y);
// PathFinder definition
CRangedGoalWithCircularConstraint pfDef(startPos, goalPos, 0, 1.1f, 2);
// the path to find
IPath::Path path;
IPath::SearchResult result;
// since CPathFinder::GetPath() is not thread-safe,
// use this thread's "private" CPathFinder instance
// (rather than locking pathFinder->GetPath()) if we
// are in one
result = pathFinders[thread]->GetPath(moveData, startPos, pfDef, path, false, true, MAX_SEARCHED_NODES_PF >> 2, false, 0, true);
// store the result
if (result == IPath::Ok)
vertices[vertexNbr] = path.pathCost;
else
vertices[vertexNbr] = PATHCOST_INFINITY;
}
/**
* Mark affected blocks as obsolete
*/
void CPathEstimator::MapChanged(unsigned int x1, unsigned int z1, unsigned int x2, unsigned z2) {
// find the upper and lower corner of the rectangular area
int lowerX, upperX, lowerZ, upperZ;
if (x1 < x2) {
lowerX = x1 / BLOCK_SIZE - 1;
upperX = x2 / BLOCK_SIZE;
} else {
lowerX = x2 / BLOCK_SIZE - 1;
upperX = x1 / BLOCK_SIZE;
}
if (z1 < z2) {
lowerZ = z1 / BLOCK_SIZE - 1;
upperZ = z2 / BLOCK_SIZE;
} else {
lowerZ = z2 / BLOCK_SIZE - 1;
upperZ = z1 / BLOCK_SIZE;
}
// error-check
upperX = std::min(upperX, nbrOfBlocksX - 1);
upperZ = std::min(upperZ, nbrOfBlocksZ - 1);
lowerX = std::max(0, lowerX);
lowerZ = std::max(0, lowerZ);
// mark the blocks inside the rectangle, enqueue them
// from upper to lower because of the placement of the
// bi-directional vertices
for (int z = upperZ; z >= lowerZ; z--) {
for (int x = upperX; x >= lowerX; x--) {
if (!(blockStates.nodeMask[z * nbrOfBlocksX + x] & PATHOPT_OBSOLETE)) {
vector<MoveData*>::iterator mi;
for (mi = moveinfo->moveData.begin(); mi < moveinfo->moveData.end(); ++mi) {
if ((*mi)->unitDefRefCount > 0) {
SingleBlock sb;
sb.block.x = x;
sb.block.y = z;
sb.moveData = *mi;
needUpdate.push_back(sb);
blockStates.nodeMask[z * nbrOfBlocksX + x] |= PATHOPT_OBSOLETE;
}
}
}
}
}
}
/**
* Update some obsolete blocks using the FIFO-principle
*/
void CPathEstimator::Update() {
pathCache->Update();
for (unsigned int n = 0; !needUpdate.empty() && n < BLOCKS_TO_UPDATE; ) {
// copy the next block in line
const SingleBlock sb = needUpdate.front();
const unsigned int blockX = sb.block.x;
const unsigned int blockZ = sb.block.y;
const unsigned int blockN = blockZ * nbrOfBlocksX + blockX;
needUpdate.pop_front();
// check if it's not already updated
if (blockStates.nodeMask[blockN] & PATHOPT_OBSOLETE) {
const MoveData* currBlockMD = sb.moveData;
const MoveData* nextBlockMD = (needUpdate.empty())? NULL: (needUpdate.front()).moveData;
// no, update the block
FindOffset(*currBlockMD, blockX, blockZ);
CalculateVertices(*currBlockMD, blockX, blockZ);
// each MapChanged() call adds AT MOST <moveData.size()> SingleBlock's
// in ascending pathType order per (x, z) PE-block, therefore when the
// next SingleBlock's pathType is less or equal to the current we know
// that all have been processed (for one PE-block)
if (nextBlockMD == NULL || nextBlockMD->pathType <= currBlockMD->pathType) {
blockStates.nodeMask[blockN] &= ~PATHOPT_OBSOLETE;
}
// one stale SingleBlock consumed
n++;
}
}
}
/**
* Stores data and does some top-administration
*/
IPath::SearchResult CPathEstimator::GetPath(
const MoveData& moveData,
float3 start,
const CPathFinderDef& peDef,
IPath::Path& path,
unsigned int maxSearchedBlocks,
bool synced
) {
start.ClampInBounds();
// clear the path
path.path.clear();
path.pathCost = PATHCOST_INFINITY;
// initial calculations
maxBlocksToBeSearched = std::min(maxSearchedBlocks, MAX_SEARCHED_NODES_PE - 8U);
startBlock.x = (int)(start.x / BLOCK_PIXEL_SIZE);
startBlock.y = (int)(start.z / BLOCK_PIXEL_SIZE);
startBlocknr = startBlock.y * nbrOfBlocksX + startBlock.x;
int2 goalBlock;
goalBlock.x = peDef.goalSquareX / BLOCK_SIZE;
goalBlock.y = peDef.goalSquareZ / BLOCK_SIZE;
if (synced) {
CPathCache::CacheItem* ci = pathCache->GetCachedPath(startBlock, goalBlock, peDef.sqGoalRadius, moveData.pathType);
if (ci) {
// use a cached path if we have one (NOTE: only when in synced context)
path = ci->path;
return ci->result;
}
}
// oterhwise search
IPath::SearchResult result = InitSearch(moveData, peDef, synced);
// if search successful, generate new path
if (result == IPath::Ok || result == IPath::GoalOutOfRange) {
FinishSearch(moveData, path);
if (synced && result == IPath::Ok) {
// add succesful paths to the cache (NOTE: only when in synced context)
pathCache->AddPath(&path, result, startBlock, goalBlock, peDef.sqGoalRadius, moveData.pathType);
}
if (LOG_IS_ENABLED(L_DEBUG)) {
LOG_L(L_DEBUG, "PE: Search completed.");
LOG_L(L_DEBUG, "Tested blocks: %u", testedBlocks);
LOG_L(L_DEBUG, "Open blocks: %u", openBlockBuffer.GetSize());
LOG_L(L_DEBUG, "Path length: "_STPF_, path.path.size());
LOG_L(L_DEBUG, "Path cost: %f", path.pathCost);
}
} else {
if (LOG_IS_ENABLED(L_DEBUG)) {
LOG_L(L_DEBUG, "PE: Search failed!");
LOG_L(L_DEBUG, "Tested blocks: %u", testedBlocks);
LOG_L(L_DEBUG, "Open blocks: %u", openBlockBuffer.GetSize());
}
}
return result;
}
// set up the starting point of the search
IPath::SearchResult CPathEstimator::InitSearch(const MoveData& moveData, const CPathFinderDef& peDef, bool synced) {
// is starting square inside goal area?
const int2 square = blockStates.peNodeOffsets[startBlocknr][moveData.pathType];
const bool isStartGoal = peDef.IsGoal(square.x, square.y);
// although our starting square may be inside the goal radius, the starting coordinate may be outside.
// in this case we do not want to return CantGetCloser, but instead a path to our starting square.
if (isStartGoal && peDef.startInGoalRadius)
return IPath::CantGetCloser;
// no, clean the system from last search
ResetSearch();
// mark and store the start-block
blockStates.nodeMask[startBlocknr] |= PATHOPT_OPEN;
blockStates.fCost[startBlocknr] = 0.0f;
blockStates.gCost[startBlocknr] = 0.0f;
blockStates.SetMaxFCost(0.0f);
blockStates.SetMaxGCost(0.0f);
dirtyBlocks.push_back(startBlocknr);
openBlockBuffer.SetSize(0);
// add the starting block to the open-blocks-queue
PathNode* ob = openBlockBuffer.GetNode(openBlockBuffer.GetSize());
ob->fCost = 0.0f;
ob->gCost = 0.0f;
ob->nodePos = startBlock;
ob->nodeNum = startBlocknr;
openBlocks.push(ob);
// mark starting point as best found position
goalBlock = startBlock;
goalHeuristic = peDef.Heuristic(square.x, square.y);
// get the goal square offset
goalSqrOffset = peDef.GoalSquareOffset(BLOCK_SIZE);
// perform the search
IPath::SearchResult result = DoSearch(moveData, peDef, synced);
// if no improvements are found, then return CantGetCloser instead
if (goalBlock.x == startBlock.x && goalBlock.y == startBlock.y && (!isStartGoal || peDef.startInGoalRadius)) {
return IPath::CantGetCloser;
}
return result;
}
/**
* Performs the actual search.
*/
IPath::SearchResult CPathEstimator::DoSearch(const MoveData& moveData, const CPathFinderDef& peDef, bool synced) {
bool foundGoal = false;
while (!openBlocks.empty() && (openBlockBuffer.GetSize() < maxBlocksToBeSearched)) {
// get the open block with lowest cost
PathNode* ob = const_cast<PathNode*>(openBlocks.top());
openBlocks.pop();
// check if the block has been marked as unaccessible during its time in the queue
if (blockStates.nodeMask[ob->nodeNum] & (PATHOPT_BLOCKED | PATHOPT_CLOSED | PATHOPT_FORBIDDEN))
continue;
// no, check if the goal is already reached
const int xBSquare = blockStates.peNodeOffsets[ob->nodeNum][moveData.pathType].x;
const int zBSquare = blockStates.peNodeOffsets[ob->nodeNum][moveData.pathType].y;
const int xGSquare = ob->nodePos.x * BLOCK_SIZE + goalSqrOffset.x;
const int zGSquare = ob->nodePos.y * BLOCK_SIZE + goalSqrOffset.y;
if (peDef.IsGoal(xBSquare, zBSquare) || peDef.IsGoal(xGSquare, zGSquare)) {
goalBlock = ob->nodePos;
goalHeuristic = 0;
foundGoal = true;
break;
}
// no, test the 8 surrounding blocks
// NOTE: each of these calls increments openBlockBuffer.idx by 1, so
// maxBlocksToBeSearched is always less than <MAX_SEARCHED_NODES_PE - 8>
TestBlock(moveData, peDef, *ob, PATHDIR_LEFT, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_LEFT_UP, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_UP, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_RIGHT_UP, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_RIGHT, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_RIGHT_DOWN, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_DOWN, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_LEFT_DOWN, synced);
// mark this block as closed
blockStates.nodeMask[ob->nodeNum] |= PATHOPT_CLOSED;
}
// we found our goal
if (foundGoal)
return IPath::Ok;
// we could not reach the goal
if (openBlockBuffer.GetSize() >= maxBlocksToBeSearched)
return IPath::GoalOutOfRange;
// search could not reach the goal due to the unit being locked in
if (openBlocks.empty())
return IPath::GoalOutOfRange;
// should never happen
LOG_L(L_ERROR, "%s - Unhandled end of search!", __FUNCTION__);
return IPath::Error;
}
/**
* Test the accessability of a block and its value,
* possibly also add it to the open-blocks pqueue.
*/
void CPathEstimator::TestBlock(
const MoveData& moveData,
const CPathFinderDef& peDef,
PathNode& parentOpenBlock,
unsigned int direction,
bool synced
) {
testedBlocks++;
// initial calculations of the new block
int2 block;
block.x = parentOpenBlock.nodePos.x + directionVector[direction].x;
block.y = parentOpenBlock.nodePos.y + directionVector[direction].y;
const int vertexIdx =
moveData.pathType * blockStates.GetSize() * PATH_DIRECTION_VERTICES +
parentOpenBlock.nodeNum * PATH_DIRECTION_VERTICES +
directionVertex[direction];
const int blockIdx = block.y * nbrOfBlocksX + block.x;
if (block.x < 0 || block.x >= nbrOfBlocksX || block.y < 0 || block.y >= nbrOfBlocksZ) {
// blocks should never be able to lie outside map to the infinite vertices at the edges
return;
}
if (vertexIdx < 0 || (unsigned int)vertexIdx >= vertices.size())
return;
if (vertices[vertexIdx] >= PATHCOST_INFINITY)
return;
// check if the block is unavailable
if (blockStates.nodeMask[blockIdx] & (PATHOPT_FORBIDDEN | PATHOPT_BLOCKED | PATHOPT_CLOSED))
return;
const int2 square = blockStates.peNodeOffsets[blockIdx][moveData.pathType];
// check if the block is blocked or out of constraints
if (!peDef.WithinConstraints(square.x, square.y)) {
blockStates.nodeMask[blockIdx] |= PATHOPT_BLOCKED;
dirtyBlocks.push_back(blockIdx);
return;
}
// evaluate this node (NOTE the max-res. indexing for extraCost)
const float extraCost = blockStates.GetNodeExtraCost(square.x, square.y, synced);
const float nodeCost = vertices[vertexIdx] + extraCost;
const float gCost = parentOpenBlock.gCost + nodeCost; // g
const float hCost = peDef.Heuristic(square.x, square.y); // h
const float fCost = gCost + hCost; // f
if (blockStates.nodeMask[blockIdx] & PATHOPT_OPEN) {
// already in the open set
if (blockStates.fCost[blockIdx] <= fCost)
return;
blockStates.nodeMask[blockIdx] &= ~PATHOPT_DIRECTION;
}
// look for improvements
if (hCost < goalHeuristic) {
goalBlock = block;
goalHeuristic = hCost;
}
// store this block as open.
openBlockBuffer.SetSize(openBlockBuffer.GetSize() + 1);
assert(openBlockBuffer.GetSize() < MAX_SEARCHED_NODES_PE);
PathNode* ob = openBlockBuffer.GetNode(openBlockBuffer.GetSize());
ob->fCost = fCost;
ob->gCost = gCost;
ob->nodePos = block;
ob->nodeNum = blockIdx;
openBlocks.push(ob);
blockStates.SetMaxFCost(std::max(blockStates.GetMaxFCost(), fCost));
blockStates.SetMaxGCost(std::max(blockStates.GetMaxGCost(), gCost));
// mark this block as open
blockStates.fCost[blockIdx] = fCost;
blockStates.gCost[blockIdx] = gCost;
blockStates.nodeMask[blockIdx] |= (direction | PATHOPT_OPEN);
blockStates.peParentNodePos[blockIdx] = parentOpenBlock.nodePos;
dirtyBlocks.push_back(blockIdx);
}
/**
* Recreate the path taken to the goal
*/
void CPathEstimator::FinishSearch(const MoveData& moveData, IPath::Path& foundPath) {
int2 block = goalBlock;
while (block.x != startBlock.x || block.y != startBlock.y) {
const int blockIdx = block.y * nbrOfBlocksX + block.x;
{
// use offset defined by the block
const int xBSquare = blockStates.peNodeOffsets[blockIdx][moveData.pathType].x;
const int zBSquare = blockStates.peNodeOffsets[blockIdx][moveData.pathType].y;
const float3& pos = SquareToFloat3(xBSquare, zBSquare);
foundPath.path.push_back(pos);
}
// next step backwards
block = blockStates.peParentNodePos[blockIdx];
}
if (!foundPath.path.empty()) {
foundPath.pathGoal = foundPath.path.front();
}
// set some additional information
foundPath.pathCost = blockStates.fCost[goalBlock.y * nbrOfBlocksX + goalBlock.x] - goalHeuristic;
}
/**
* Clean lists from last search
*/
void CPathEstimator::ResetSearch() {
openBlocks.Clear();
while (!dirtyBlocks.empty()) {
blockStates.ClearSquare(dirtyBlocks.back());
dirtyBlocks.pop_back();
}
testedBlocks = 0;
}
/**
* Try to read offset and vertices data from file, return false on failure
* TODO: Read-error-check.
*/
bool CPathEstimator::ReadFile(const std::string& cacheFileName, const std::string& map)
{
const unsigned int hash = Hash();
char hashString[50];
sprintf(hashString, "%u", hash);
std::string filename = std::string(PATH_CACHE_DIR) + map + hashString + "." + cacheFileName + ".zip";
if (!FileSystem::FileExists(filename))
return false;
// open file for reading from a suitable location (where the file exists)
IArchive* pfile = archiveLoader.OpenArchive(dataDirsAccess.LocateFile(filename), "sdz");
if (!pfile || !pfile->IsOpen()) {
delete pfile;
return false;
}
char calcMsg[512];
sprintf(calcMsg, "Reading Estimate PathCosts [%d]", BLOCK_SIZE);
loadscreen->SetLoadMessage(calcMsg);
std::auto_ptr<IArchive> auto_pfile(pfile);
IArchive& file(*pfile);
const unsigned fid = file.FindFile("pathinfo");
if (fid < file.NumFiles()) {
pathChecksum = file.GetCrc32(fid);
std::vector<boost::uint8_t> buffer;
file.GetFile(fid, buffer);
if (buffer.size() < 4)
return false;
unsigned filehash = *((unsigned*)&buffer[0]);
if (filehash != hash)
return false;
unsigned pos = sizeof(unsigned);
// Read block-center-offset data.
const unsigned blockSize = moveinfo->moveData.size() * sizeof(int2);
if (buffer.size() < pos + blockSize * blockStates.GetSize())
return false;
for (int blocknr = 0; blocknr < blockStates.GetSize(); blocknr++) {
std::memcpy(&blockStates.peNodeOffsets[blocknr][0], &buffer[pos], blockSize);
pos += blockSize;
}
// Read vertices data.
if (buffer.size() < pos + vertices.size() * sizeof(float))
return false;
std::memcpy(&vertices[0], &buffer[pos], vertices.size() * sizeof(float));
// File read successful.
return true;
} else {
return false;
}
}
/**
* Try to write offset and vertex data to file.
*/
void CPathEstimator::WriteFile(const std::string& cacheFileName, const std::string& map)
{
// We need this directory to exist
if (!FileSystem::CreateDirectory(PATH_CACHE_DIR))
return;
const unsigned int hash = Hash();
char hashString[64] = {0};
sprintf(hashString, "%u", hash);
const std::string filename = std::string(PATH_CACHE_DIR) + map + hashString + "." + cacheFileName + ".zip";
zipFile file;
// open file for writing in a suitable location
file = zipOpen(dataDirsAccess.LocateFile(filename, FileQueryFlags::WRITE).c_str(), APPEND_STATUS_CREATE);
if (file) {
zipOpenNewFileInZip(file, "pathinfo", NULL, NULL, 0, NULL, 0, NULL, Z_DEFLATED, Z_BEST_COMPRESSION);
// Write hash.
zipWriteInFileInZip(file, (void*) &hash, 4);
// Write block-center-offsets.
for (int blocknr = 0; blocknr < blockStates.GetSize(); blocknr++)
zipWriteInFileInZip(file, (void*) &blockStates.peNodeOffsets[blocknr][0], moveinfo->moveData.size() * sizeof(int2));
// Write vertices.
zipWriteInFileInZip(file, &vertices[0], vertices.size() * sizeof(float));
zipCloseFileInZip(file);
zipClose(file, NULL);
// get the CRC over the written path data
IArchive* pfile = archiveLoader.OpenArchive(dataDirsAccess.LocateFile(filename), "sdz");
if (!pfile || !pfile->IsOpen()) {
delete pfile;
return;
}
std::auto_ptr<IArchive> auto_pfile(pfile);
IArchive& file(*pfile);
const unsigned fid = file.FindFile("pathinfo");
assert(fid < file.NumFiles());
pathChecksum = file.GetCrc32(fid);
}
}
/**
* Returns a hash-code identifying the dataset of this estimator.
*/
unsigned int CPathEstimator::Hash() const
{
return (readmap->mapChecksum + moveinfo->moveInfoChecksum + BLOCK_SIZE + PATHESTIMATOR_VERSION);
}
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