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speedup of "solution01 solver mode"
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We store as KnownStates the positions of the other (non-goal) robots, in order to avoid searching their positions multiple times. The goal robot can still drift on its sub-optimal path which it has to take, because we don't store its positions in KnownStates.
fixes issue #12
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@smack42
smack42 committed Sep 16, 2018
1 parent 052a164 commit a879934
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Showing 5 changed files with 104 additions and 23 deletions.
5 changes: 3 additions & 2 deletions src/driftingdroids/model/KeyDepthMapTrieSpecial.java
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Original file line number Diff line number Diff line change
Expand Up @@ -104,8 +104,9 @@ private KeyDepthMapTrieSpecial(final Board board) {
this.elementLookup[i] = Integer.MIN_VALUE;
}
}
this.nodeNumber = board.getNumRobots() - 1;
this.nodeNumberUnCompr = (board.getNumRobots()*board.sizeNumBits + 8 - 31 + (board.sizeNumBits - 1)) / board.sizeNumBits;
final int numRobots = board.getNumRobots() - (board.isSolution01() ? 1 : 0);
this.nodeNumber = numRobots - 1;
this.nodeNumberUnCompr = (numRobots*board.sizeNumBits + 8 - 31 + (board.sizeNumBits - 1)) / board.sizeNumBits;
this.nodeShift = board.sizeNumBits;
this.nodeMask = (1 << board.sizeNumBits) - 1;

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42 changes: 34 additions & 8 deletions src/driftingdroids/model/KeyMakerInt.java
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Original file line number Diff line number Diff line change
Expand Up @@ -46,14 +46,38 @@ public static KeyMakerInt createInstance(int boardNumRobots, int boardSizeNumBit
switch (boardNumRobots) {
case 1: keyMaker = new KeyMakerInt11(); break;
case 2: keyMaker = (isBoardGoalWildcard ? new KeyMakerInt22(boardSizeNumBits) : new KeyMakerInt21(boardSizeNumBits)); break;
case 3: keyMaker = (isBoardGoalWildcard ? new KeyMakerInt33(boardSizeNumBits) : new KeyMakerInt32(boardSizeNumBits)); break;
case 4: keyMaker = (isBoardGoalWildcard ? new KeyMakerInt44(boardSizeNumBits) : new KeyMakerInt43(boardSizeNumBits)); break;
case 3: keyMaker = (isBoardGoalWildcard ? new KeyMakerInt33(boardSizeNumBits, 3) : new KeyMakerInt32(boardSizeNumBits)); break;
case 4: keyMaker = (isBoardGoalWildcard ? new KeyMakerInt44(boardSizeNumBits, 4) : new KeyMakerInt43(boardSizeNumBits)); break;
default: keyMaker = new KeyMakerIntAll(boardNumRobots, boardSizeNumBits, isBoardGoalWildcard);
}
return keyMaker;
}


/**
* Creates an instance of <tt>KeyMakerInt</tt> that is tailored to the given parameters.
*
* @param boardNumRobots number of robots on the board (length of parameter <tt>state</tt> of method <tt>run</tt>)
* @param boardSizeNumBits number of bits required to store the size of the board (the 16x16 board need 8 bits)
* @param isBoardGoalWildcard true if the current goal is a wildcard goal (can be reached by any robot)
* @param isSolution01 true if the active robot can reach the goal in one move
* @return the instance of KeyMakerInt created
*/
public static KeyMakerInt createInstance(int boardNumRobots, int boardSizeNumBits, boolean isBoardGoalWildcard, boolean isSolution01) {
final KeyMakerInt keyMaker;
if (isSolution01) {
switch (boardNumRobots) {
case 4: keyMaker = new KeyMakerInt33(boardSizeNumBits, 4); break;
case 5: keyMaker = new KeyMakerInt44(boardSizeNumBits, 5); break;
default: keyMaker = null; // other numbers of robots are not supported!
}
} else {
keyMaker = createInstance(boardNumRobots, boardSizeNumBits, isBoardGoalWildcard);
}
return keyMaker;
}


private static final class KeyMakerIntAll extends KeyMakerInt {
private final int[] tmpState;
private final int idxSort, idxLen1, idxLen2;
Expand Down Expand Up @@ -143,14 +167,15 @@ public final int run(final int[] state) {


private static final class KeyMakerInt33 extends KeyMakerInt { //sort 3 of 3 elements
private final int s1, s2;
private KeyMakerInt33(int boardSizeNumBits) {
private final int s1, s2, len;
private KeyMakerInt33(int boardSizeNumBits, int len) {
this.len = len;
this.s1 = boardSizeNumBits;
this.s2 = boardSizeNumBits * 2;
}
@Override
public final int run(final int[] state) {
assert 3 == state.length : state.length;
assert this.len == state.length : state.length;
final int a = state[0], b = state[1], c = state[2];
final int result;
if (a < b) {
Expand Down Expand Up @@ -198,15 +223,16 @@ public final int run(final int[] state) {


private static final class KeyMakerInt44 extends KeyMakerInt { //sort 4 of 4 elements
private final int s1, s2, s3;
private KeyMakerInt44(int boardSizeNumBits) {
private final int s1, s2, s3, len;
private KeyMakerInt44(int boardSizeNumBits, int len) {
this.len = len;
this.s1 = boardSizeNumBits;
this.s2 = boardSizeNumBits * 2;
this.s3 = boardSizeNumBits * 3;
}
@Override
public final int run(final int[] state) {
assert 4 == state.length : state.length;
assert this.len == state.length : state.length;
final int a = state[0], b = state[1], c = state[2], d = state[3];
final int result;
if (a <= b) {
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61 changes: 57 additions & 4 deletions src/driftingdroids/model/KeyMakerLong.java
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Original file line number Diff line number Diff line change
Expand Up @@ -44,14 +44,38 @@ public abstract class KeyMakerLong {
public static KeyMakerLong createInstance(int boardNumRobots, int boardSizeNumBits, boolean isBoardGoalWildcard) {
final KeyMakerLong keyMaker;
switch (boardNumRobots) {
case 4: keyMaker = (isBoardGoalWildcard ? new KeyMakerLong44(boardSizeNumBits) : new KeyMakerLong43(boardSizeNumBits)); break;
case 4: keyMaker = (isBoardGoalWildcard ? new KeyMakerLong44(boardSizeNumBits, 4) : new KeyMakerLong43(boardSizeNumBits)); break;
case 5: keyMaker = (isBoardGoalWildcard ? new KeyMakerLongAll(boardNumRobots, boardSizeNumBits, isBoardGoalWildcard) : new KeyMakerLong54(boardSizeNumBits)); break;
default: keyMaker = new KeyMakerLongAll(boardNumRobots, boardSizeNumBits, isBoardGoalWildcard);
}
return keyMaker;
}


/**
* Creates an instance of <tt>KeyMakerLong</tt> that is tailored to the given parameters.
*
* @param boardNumRobots number of robots on the board (length of parameter <tt>state</tt> of method <tt>run</tt>)
* @param boardSizeNumBits number of bits required to store the size of the board (the 16x16 board need 8 bits)
* @param isBoardGoalWildcard true if the current goal is a wildcard goal (can be reached by any robot)
* @param isSolution01 true if the active robot can reach the goal in one move
* @return the instance of KeyMakerLong created
*/
public static KeyMakerLong createInstance(int boardNumRobots, int boardSizeNumBits, boolean isBoardGoalWildcard, boolean isSolution01) {
final KeyMakerLong keyMaker;
if (isSolution01) {
switch (boardNumRobots) {
case 4: keyMaker = new KeyMakerLong33(boardSizeNumBits, 4); break;
case 5: keyMaker = new KeyMakerLong44(boardSizeNumBits, 5); break;
default: keyMaker = null; // other numbers of robots are not supported!
}
} else {
keyMaker = createInstance(boardNumRobots, boardSizeNumBits, isBoardGoalWildcard);
}
return keyMaker;
}


private static final class KeyMakerLongAll extends KeyMakerLong {
private final int[] tmpState;
private final int idxSort, idxLen1, idxLen2;
Expand Down Expand Up @@ -79,6 +103,34 @@ public final long run(final int[] state) {
}


private static final class KeyMakerLong33 extends KeyMakerLong { //sort 3 of 3 elements
private final int s1, s2, len;
private KeyMakerLong33(int boardSizeNumBits, int len) {
this.len = len;
this.s1 = boardSizeNumBits;
this.s2 = boardSizeNumBits * 2;
}
@Override
public final long run(final int[] state) {
assert this.len == state.length : state.length;
final int a = state[0], b = state[1], c = state[2];
final long result;
if (a < b) {
if (a < c) {
if (b < c) { result = (a | (b << this.s1)) | ((long)c << this.s2);
} else { result = (a | (c << this.s1)) | ((long)b << this.s2); }
} else { result = (c | (a << this.s1)) | ((long)b << this.s2); }
} else {
if (b < c) {
if (a < c) { result = (b | (a << this.s1)) | ((long)c << this.s2);
} else { result = (b | (c << this.s1)) | ((long)a << this.s2); }
} else { result = (c | (b << this.s1)) | ((long)a << this.s2); }
}
return result;
}
}


private static final class KeyMakerLong43 extends KeyMakerLong { //sort 3 of 4 elements
private final int s1, s2, s3;
private KeyMakerLong43(int boardSizeNumBits) {
Expand Down Expand Up @@ -108,15 +160,16 @@ public final long run(final int[] state) {


private static final class KeyMakerLong44 extends KeyMakerLong { //sort 4 of 4 elements
private final int s1, s2, s3;
private KeyMakerLong44(int boardSizeNumBits) {
private final int s1, s2, s3, len;
private KeyMakerLong44(int boardSizeNumBits, int len) {
this.len = len;
this.s1 = boardSizeNumBits;
this.s2 = boardSizeNumBits * 2;
this.s3 = boardSizeNumBits * 3;
}
@Override
public final long run(final int[] state) {
assert 4 == state.length : state.length;
assert this.len == state.length : state.length;
final int a = state[0], b = state[1], c = state[2], d = state[3];
final long result;
if (a <= b) {
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17 changes: 9 additions & 8 deletions src/driftingdroids/model/SolverIDDFS.java
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ public class SolverIDDFS extends Solver {
private final int goalPosition;
private final int minRobotLast;
private final int goalRobot;
private final boolean isSolution01;
private final boolean isSolution01, isSolution01NoSpeedup;
private final int[] minimumMovesToGoal;
private final int[] directionIncrement;

Expand All @@ -52,6 +52,7 @@ protected SolverIDDFS(final Board board) {
this.minRobotLast = (this.isBoardGoalWildcard ? 0 : this.states[0].length - 1); //swapGoalLast
this.goalRobot = (this.isBoardGoalWildcard ? (null == this.board.getGoal() ? 0 : this.board.getGoal().robotNumber) : this.minRobotLast); //swapGoalLast
this.isSolution01 = this.board.isSolution01();
this.isSolution01NoSpeedup = (true == this.isSolution01) && ((true == this.isBoardGoalWildcard) || (4 > this.board.getNumRobots()));
this.minimumMovesToGoal = new int[board.size];
this.directionIncrement = this.board.directionIncrement;
}
Expand Down Expand Up @@ -92,7 +93,7 @@ public List<Solution> execute() throws InterruptedException {
this.knownStates = new KnownStates();

System.out.println("startState=" + this.stateString(this.states[0]));
System.out.println("solution01=" + this.isSolution01);
System.out.println("solution01=" + this.isSolution01 + " isSolution01NoSpeedup=" + this.isSolution01NoSpeedup);
System.out.println("goalWildcard=" + this.isBoardGoalWildcard);
System.out.println(this.knownStates.getInfo());

Expand Down Expand Up @@ -220,7 +221,7 @@ private void dfsRecursion(final int depth, final int prevRobo, final int prevDir
newState[robo] = newRoboPos;
//special case (isSolution01): we must be able to visit states more than once, so we don't add them to knownStates
//the new state is not already known (i.e. stored in knownStates)
if ((true == this.isSolution01) || (true == this.knownStates.add(newState, height))) {
if (this.isSolution01NoSpeedup || (this.isSolution01 && isGoalRobot) || (this.knownStates.add(newState, height))) {
final int[] newDirs = this.directions[depth];
System.arraycopy(oldDirs, 0, newDirs, 0, oldDirs.length);
newDirs[robo] = dir;
Expand Down Expand Up @@ -414,7 +415,7 @@ private class KnownStates {
private final AllKeys allKeys;

public KnownStates() {
this.allKeys = ((true == isBoardStateInt32) ? new AllKeysInt() : new AllKeysLong());
this.allKeys = (board.sizeNumBits * (board.getNumRobots() - (isSolution01 ? 1 : 0)) <= 32) ? new AllKeysInt() : new AllKeysLong();
}

//store the unique keys of all known states
Expand All @@ -436,7 +437,7 @@ public long getBytesAllocated() {
//store the unique keys of all known states in 32-bit ints
//supports up to 4 robots with a board size of 256 (16*16)
private final class AllKeysInt extends AllKeys {
private final KeyMakerInt keyMaker = KeyMakerInt.createInstance(board.getNumRobots(), board.sizeNumBits, isBoardGoalWildcard);
private final KeyMakerInt keyMaker = KeyMakerInt.createInstance(board.getNumRobots(), board.sizeNumBits, isBoardGoalWildcard, isSolution01);
public AllKeysInt() {
super();
}
Expand All @@ -447,13 +448,13 @@ public final boolean add(final int[] state, final int depth) {
}
@Override
public String getInfo() {
return this.getClass().getSimpleName() + "," + this.theMap.getClass().getSimpleName() + "," + this.keyMaker.getClass().getSimpleName();
return this.getClass().getSimpleName() + "," + this.theMap.getClass().getSimpleName() + "," + (null == this.keyMaker ? "n/a" : this.keyMaker.getClass().getSimpleName());
}
}
//store the unique keys of all known states in 64-bit longs
//supports more than 4 robots and/or board sizes larger than 256
private final class AllKeysLong extends AllKeys {
private final KeyMakerLong keyMaker = KeyMakerLong.createInstance(board.getNumRobots(), board.sizeNumBits, isBoardGoalWildcard);
private final KeyMakerLong keyMaker = KeyMakerLong.createInstance(board.getNumRobots(), board.sizeNumBits, isBoardGoalWildcard, isSolution01);
public AllKeysLong() {
super();
}
Expand All @@ -464,7 +465,7 @@ public final boolean add(final int[] state, final int depth) {
}
@Override
public String getInfo() {
return this.getClass().getSimpleName() + "," + this.theMap.getClass().getSimpleName() + "," + this.keyMaker.getClass().getSimpleName();
return this.getClass().getSimpleName() + "," + this.theMap.getClass().getSimpleName() + "," + (null == this.keyMaker ? "n/a" : this.keyMaker.getClass().getSimpleName());
}
}

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2 changes: 1 addition & 1 deletion src/driftingdroids/ui/Starter.java
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@
public class Starter {

public static void main(String[] args) throws InterruptedException, InvocationTargetException {
new SwingGUI("DriftingDroids 1.3.6 (2018-04-29)");
new SwingGUI("DriftingDroids 1.3.7 __DEV__ (2018-09-16)");
// runTestRandom1000();
// runTestKeyDepthMap();
// runTestKeyInt();
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