IndexDecoderData(std::string const & rfilename)
: filename(rfilename),
numentries(0), posbits(0), kbits(0), kacc(0), vbits(0), vacc(0), indexvectorpos(0)
// , posadpt(this), kadpt(this), vadpt(this)
{
uint64_t const indexpos = getIndexPos(filename);
std::ifstream indexistr(filename.c_str(),std::ios::binary);
if ( ! indexistr.is_open() )
{
::libmaus2::exception::LibMausException se;
se.getStream() << "IndexDecoderData::IndexDecoderData(): Failed to open file " << filename << std::endl;
se.finish();
throw se;
}
// seek to index position
indexistr.clear();
indexistr.seekg(indexpos,std::ios::beg);
if ( static_cast<int64_t>(indexistr.tellg()) != static_cast<int64_t>(indexpos) )
{
::libmaus2::exception::LibMausException se;
se.getStream() << "Failed to seek to position " << indexpos << " of index in file " << filename << " of size "
<< ::libmaus2::util::GetFileSize::getFileSize(filename) << std::endl;
se.finish();
throw se;
}
::libmaus2::bitio::StreamBitInputStream SBIS(indexistr);
// read size of index
numentries = ::libmaus2::bitio::readElias2(SBIS);
// pos bits
posbits = ::libmaus2::bitio::readElias2(SBIS);
// k bits
kbits = ::libmaus2::bitio::readElias2(SBIS);
// k acc
kacc = ::libmaus2::bitio::readElias2(SBIS);
// v bits
vbits = ::libmaus2::bitio::readElias2(SBIS);
// v acc
vacc = ::libmaus2::bitio::readElias2(SBIS);
// align
SBIS.flush();
assert ( SBIS.getBitsRead() % 8 == 0 );
indexvectorpos = indexpos + SBIS.getBitsRead() / 8;
}
/*
* load index for one file
*/
static IndexEntryContainer::unique_ptr_type
loadAccIndex(std::string const & filename)
{
uint64_t const indexpos = getIndexPos(filename);
::libmaus::aio::CheckedInputStream indexistr(filename);
// seek to index position
indexistr.seekg(indexpos,std::ios::beg);
//
::libmaus::bitio::StreamBitInputStream SBIS(indexistr);
// read size of index
uint64_t const numentries = ::libmaus::bitio::readElias2(SBIS);
// pos bits
unsigned int const posbits = ::libmaus::bitio::readElias2(SBIS);
// k bits
unsigned int const kbits = ::libmaus::bitio::readElias2(SBIS);
// k acc
/* uint64_t const symacc = */ ::libmaus::bitio::readElias2(SBIS);
// v bits
unsigned int const vbits = ::libmaus::bitio::readElias2(SBIS);
// v acc
/* uint64_t const symacc = */ ::libmaus::bitio::readElias2(SBIS);
// align
SBIS.flush();
SBIS.getBitsRead();
// std::cerr << "numentries " << numentries << std::endl;
// read index
libmaus::autoarray::AutoArray< IndexEntry > index(numentries+1,false);
for ( uint64_t i = 0; i < numentries+1; ++i )
{
uint64_t const pos = SBIS.read(posbits);
uint64_t const kcnt = SBIS.read(kbits);
uint64_t const vcnt = SBIS.read(vbits);
index[i] = IndexEntry(pos,kcnt,vcnt);
}
IndexEntryContainer::unique_ptr_type IEC(new IndexEntryContainer(index));
return UNIQUE_PTR_MOVE(IEC);
}
IndexLoaderSequential(std::string const & filename)
: indexistr(filename), SBIS(indexistr)
{
uint64_t const indexpos = getIndexPos(filename);
indexistr.seekg(indexpos,std::ios::beg);
// read size of index
numentries = ::libmaus::bitio::readElias2(SBIS);
// pos bits
posbits = ::libmaus::bitio::readElias2(SBIS);
// k bits
kbits = ::libmaus::bitio::readElias2(SBIS);
// k acc
/* uint64_t const symacc = */ ::libmaus::bitio::readElias2(SBIS);
// v bits
vbits = ::libmaus::bitio::readElias2(SBIS);
// v acc
/* uint64_t const symacc = */ ::libmaus::bitio::readElias2(SBIS);
// align
SBIS.flush();
}
/*
* load index for one file
*/
static libmaus::autoarray::AutoArray< IndexEntry > loadIndex(std::string const & filename)
{
uint64_t const indexpos = getIndexPos(filename);
std::ifstream indexistr(filename.c_str(),std::ios::binary);
if ( ! indexistr.is_open() )
{
::libmaus::exception::LibMausException se;
se.getStream() << "RLDecoder::loadIndex(): Failed to open file " << filename << std::endl;
se.finish();
throw se;
}
// seek to index position
indexistr.seekg(indexpos,std::ios::beg);
if ( static_cast<int64_t>(indexistr.tellg()) != static_cast<int64_t>(indexpos) )
{
::libmaus::exception::LibMausException se;
se.getStream() << "Failed to seek to index position " << indexpos << " in file " << filename << " of size "
<< ::libmaus::util::GetFileSize::getFileSize(filename) << std::endl;
se.finish();
throw se;
}
::libmaus::bitio::StreamBitInputStream SBIS(indexistr);
// read size of index
uint64_t const numentries = ::libmaus::bitio::readElias2(SBIS);
// pos bits
unsigned int const posbits = ::libmaus::bitio::readElias2(SBIS);
// k bits
unsigned int const kbits = ::libmaus::bitio::readElias2(SBIS);
// k acc
/* uint64_t const symacc = */ ::libmaus::bitio::readElias2(SBIS);
// v bits
unsigned int const vbits = ::libmaus::bitio::readElias2(SBIS);
// v acc
/* uint64_t const symacc = */ ::libmaus::bitio::readElias2(SBIS);
// align
SBIS.flush();
SBIS.getBitsRead();
// std::cerr << "numentries " << numentries << std::endl;
// read index
libmaus::autoarray::AutoArray< IndexEntry > index(numentries,false);
// #define INDEXLOADERDEBUG
#if defined(INDEXLOADERDEBUG)
libmaus::autoarray::AutoArray< IndexEntry > tindex(numentries+1);
#endif
for ( uint64_t i = 0; i < numentries; ++i )
{
uint64_t const pos = SBIS.read(posbits);
uint64_t const kcnt = SBIS.read(kbits);
uint64_t const vcnt = SBIS.read(vbits);
index[i] = IndexEntry(pos,kcnt,vcnt);
#if defined(INDEXLOADERDEBUG)
tindex[i] = index[i];
#endif
}
if ( numentries )
{
assert ( index[0].kcnt == 0 );
assert ( index[0].vcnt == 0 );
for ( uint64_t i = 1; i < numentries; ++i )
{
index[i-1].kcnt = index[i].kcnt;
index[i-1].vcnt = index[i].vcnt;
}
/* uint64_t const pos = */ SBIS.read(posbits);
index[numentries-1].kcnt = SBIS.read(kbits);
index[numentries-1].vcnt = SBIS.read(vbits);
#if defined(INDEXLOADERDEBUG)
tindex[numentries].kcnt = index[numentries-1].kcnt;
tindex[numentries].vcnt = index[numentries-1].vcnt;
#endif
}
for ( uint64_t i = numentries-1; i >= 1; --i )
{
index[i].kcnt -= index[i-1].kcnt;
index[i].vcnt -= index[i-1].vcnt;
}
#if defined(INDEXLOADERDEBUG)
for ( uint64_t i = 0; i < numentries; ++i )
{
assert ( index[i].kcnt == tindex[i+1].kcnt-tindex[i].kcnt );
assert ( index[i].vcnt == tindex[i+1].vcnt-tindex[i].vcnt );
}
#endif
#if defined(INDEXLOADERDEBUG)
IndexDecoderData IDD(filename);
assert ( IDD.numentries == numentries );
assert ( IDD.posbits == posbits );
assert ( IDD.kbits == kbits );
assert ( IDD.vbits == vbits );
// assert ( IDD.symacc == symacc );
std::cerr << "((**++CHECKING " << numentries << "...";
uint64_t tkacc = 0;
uint64_t tvacc = 0;
for ( uint64_t i = 0; i < numentries; ++i )
{
IndexEntry const P = IDD.readEntry(i);
assert ( P.pos == index[i].pos );
assert ( P.kcnt == tkacc );
assert ( P.vcnt == tvacc );
tkacc += index[i].kcnt;
tvacc += index[i].vcnt;
}
assert ( tkacc == IDD.readEntry(numentries).kcnt );
assert ( tvacc == IDD.readEntry(numentries).vcnt );
std::cerr << "**++))" << std::endl;
#endif
// std::cerr << "loaded index of size " << numentries << std::endl;
return index;
}
std::vector<v3s16> Pathfinder::getPath(ServerEnvironment *env,
v3s16 source,
v3s16 destination,
unsigned int searchdistance,
unsigned int max_jump,
unsigned int max_drop,
PathAlgorithm algo)
{
#ifdef PATHFINDER_CALC_TIME
timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
#endif
std::vector<v3s16> retval;
//check parameters
if (env == 0) {
ERROR_TARGET << "missing environment pointer" << std::endl;
return retval;
}
m_searchdistance = searchdistance;
m_env = env;
m_maxjump = max_jump;
m_maxdrop = max_drop;
m_start = source;
m_destination = destination;
m_min_target_distance = -1;
m_prefetch = true;
if (algo == PA_PLAIN_NP) {
m_prefetch = false;
}
int min_x = MYMIN(source.X, destination.X);
int max_x = MYMAX(source.X, destination.X);
int min_y = MYMIN(source.Y, destination.Y);
int max_y = MYMAX(source.Y, destination.Y);
int min_z = MYMIN(source.Z, destination.Z);
int max_z = MYMAX(source.Z, destination.Z);
m_limits.MinEdge.X = min_x - searchdistance;
m_limits.MinEdge.Y = min_y - searchdistance;
m_limits.MinEdge.Z = min_z - searchdistance;
m_limits.MaxEdge.X = max_x + searchdistance;
m_limits.MaxEdge.Y = max_y + searchdistance;
m_limits.MaxEdge.Z = max_z + searchdistance;
v3s16 diff = m_limits.MaxEdge - m_limits.MinEdge;
m_max_index_x = diff.X;
m_max_index_y = diff.Y;
m_max_index_z = diff.Z;
delete m_nodes_container;
if (diff.getLength() > 5) {
m_nodes_container = new MapGridNodeContainer(this);
} else {
m_nodes_container = new ArrayGridNodeContainer(this, diff);
}
#ifdef PATHFINDER_DEBUG
printType();
printCost();
printYdir();
#endif
//validate and mark start and end pos
v3s16 StartIndex = getIndexPos(source);
v3s16 EndIndex = getIndexPos(destination);
PathGridnode &startpos = getIndexElement(StartIndex);
PathGridnode &endpos = getIndexElement(EndIndex);
if (!startpos.valid) {
VERBOSE_TARGET << "invalid startpos" <<
"Index: " << PP(StartIndex) <<
"Realpos: " << PP(getRealPos(StartIndex)) << std::endl;
return retval;
}
if (!endpos.valid) {
VERBOSE_TARGET << "invalid stoppos" <<
"Index: " << PP(EndIndex) <<
"Realpos: " << PP(getRealPos(EndIndex)) << std::endl;
return retval;
}
endpos.target = true;
startpos.source = true;
startpos.totalcost = 0;
bool update_cost_retval = false;
switch (algo) {
case PA_DIJKSTRA:
update_cost_retval = updateAllCosts(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
case PA_PLAIN_NP:
case PA_PLAIN:
update_cost_retval = updateCostHeuristic(StartIndex, v3s16(0, 0, 0), 0, 0);
break;
default:
ERROR_TARGET << "missing PathAlgorithm"<< std::endl;
break;
}
if (update_cost_retval) {
#ifdef PATHFINDER_DEBUG
std::cout << "Path to target found!" << std::endl;
printPathLen();
#endif
//find path
std::vector<v3s16> path;
buildPath(path, EndIndex, 0);
#ifdef PATHFINDER_DEBUG
std::cout << "Full index path:" << std::endl;
printPath(path);
#endif
//finalize path
std::vector<v3s16> full_path;
for (std::vector<v3s16>::iterator i = path.begin();
i != path.end(); ++i) {
full_path.push_back(getIndexElement(*i).pos);
}
#ifdef PATHFINDER_DEBUG
std::cout << "full path:" << std::endl;
printPath(full_path);
#endif
#ifdef PATHFINDER_CALC_TIME
timespec ts2;
clock_gettime(CLOCK_REALTIME, &ts2);
int ms = (ts2.tv_nsec - ts.tv_nsec)/(1000*1000);
int us = ((ts2.tv_nsec - ts.tv_nsec) - (ms*1000*1000))/1000;
int ns = ((ts2.tv_nsec - ts.tv_nsec) - ( (ms*1000*1000) + (us*1000)));
std::cout << "Calculating path took: " << (ts2.tv_sec - ts.tv_sec) <<
"s " << ms << "ms " << us << "us " << ns << "ns " << std::endl;
#endif
return full_path;
}
else {
#ifdef PATHFINDER_DEBUG
printPathLen();
#endif
ERROR_TARGET << "failed to update cost map"<< std::endl;
}
//return
return retval;
}