routing: implement build_routers() (with RoomRouter caching)
This commit is contained in:
Laura Klünder
parent
55cac31bbe
commit
3269394c42
4 changed files with 117 additions and 27 deletions
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@ -1,22 +1,26 @@
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import os
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import pickle
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from collections import OrderedDict
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from collections import OrderedDict, namedtuple
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import numpy as np
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from django.conf import settings
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from scipy.sparse.csgraph._shortest_path import shortest_path
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from scipy.sparse.csgraph._tools import csgraph_from_dense
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from c3nav.mapdata.models import Level
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from c3nav.mapdata.models.geometry import LevelConnector
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from c3nav.mapdata.models.locations import AreaLocation, Location, LocationGroup, PointLocation
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from c3nav.routing.level import GraphLevel
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from c3nav.routing.point import GraphPoint
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class Graph:
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graph_cached = None
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graph_cached_date = None
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graph_cached_mtime = None
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default_filename = os.path.join(settings.DATA_DIR, 'graph.pickle')
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def __init__(self):
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def __init__(self, mtime=None):
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self.mtime = mtime
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self.levels = OrderedDict()
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for level in Level.objects.all():
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self.levels[level.name] = GraphLevel(self, level)
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@ -49,7 +53,7 @@ class Graph:
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for i, point in enumerate(self.points):
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point.i = i
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self.level_transfer_points = np.array(tuple(point.i for point in self._built_level_transfer_points))
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self.level_transfer_points = tuple(point.i for point in self._built_level_transfer_points)
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for level in self.levels.values():
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level.finish_build()
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@ -117,10 +121,10 @@ class Graph:
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pickle.dump(self.serialize(), f)
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@classmethod
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def unserialize(cls, data):
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def unserialize(cls, data, mtime):
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levels, points, level_transfer_points = data
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graph = cls()
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graph = cls(mtime=mtime)
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for name, level in levels.items():
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graph.levels[name].unserialize(level)
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@ -130,6 +134,12 @@ class Graph:
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graph.points = tuple(GraphPoint(x, y, None if room is None else rooms[room]) for x, y, room in points)
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graph.level_transfer_points = level_transfer_points
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for i, room in enumerate(rooms):
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room.i = i
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for i, point in enumerate(graph.points):
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point.i = i
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return graph
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@classmethod
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@ -143,16 +153,15 @@ class Graph:
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if do_cache:
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graph_mtime = os.path.getmtime(filename)
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if cls.graph_cached is not None:
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if cls.graph_cached_date == graph_mtime:
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if cls.graph_cached_mtime == graph_mtime:
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return cls.graph_cached
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with open(filename, 'rb') as f:
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graph = cls.unserialize(pickle.load(f))
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graph = cls.unserialize(pickle.load(f), graph_mtime)
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if do_cache:
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cls.graph_cached_date = graph_mtime
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cls.graph_cached_mtime = graph_mtime
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cls.graph_cached = graph
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print(cls.graph_cached, cls.graph_cached_date)
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graph.print_stats()
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return graph
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@ -163,6 +172,38 @@ class Graph:
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level.draw_png(points, lines)
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# Router
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def build_router(self):
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for level in self.levels.values():
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level.build_router()
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def build_routers(self):
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level_routers = {}
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room_routers = {}
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empty_distances = np.empty(shape=(len(self.level_transfer_points),) * 2, dtype=np.float16)
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empty_distances[:] = np.inf
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sparse_distances = empty_distances.copy()
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sparse_levels = np.zeros(shape=(len(self.level_transfer_points),) * 2, dtype=np.int16)
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sparse_levels[:] = -1
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for i, level in enumerate(self.levels.values()):
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router, add_room_routers = level.build_routers()
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level_routers[level] = router
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room_routers.update(add_room_routers)
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level_distances = empty_distances.copy()
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in_level_i = np.array(tuple(level.room_transfer_points.index(point)
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for point in level.level_transfer_points))
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in_graph_i = np.array(tuple(self.level_transfer_points.index(point)
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for point in level.level_transfer_points))
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level_distances[in_graph_i[:, None], in_graph_i] = router.shortest_paths[in_level_i[:, None], in_level_i]
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better = level_distances < sparse_distances
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sparse_distances[better.transpose()] = level_distances[better.transpose()]
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sparse_levels[better.transpose()] = i
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g_sparse = csgraph_from_dense(sparse_distances, null_value=np.inf)
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shortest_paths, predecessors = shortest_path(g_sparse, return_predecessors=True)
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return GraphRouter(shortest_paths, predecessors), level_routers, room_routers
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GraphRouter = namedtuple('GraphRouter', ('shortest_paths', 'predecessors', ))
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@ -1,8 +1,11 @@
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import os
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from collections import namedtuple
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import numpy as np
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from django.conf import settings
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from PIL import Image, ImageDraw
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from scipy.sparse.csgraph._shortest_path import shortest_path
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from scipy.sparse.csgraph._tools import csgraph_from_dense
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from shapely.geometry import JOIN_STYLE
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from c3nav.mapdata.utils.geometry import assert_multipolygon
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@ -134,9 +137,9 @@ class GraphLevel():
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def finish_build(self):
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self.rooms = tuple(self.rooms)
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self.points = np.array(tuple(point.i for point in self._built_points))
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self.room_transfer_points = np.array(tuple(point.i for point in self._built_room_transfer_points))
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self.level_transfer_points = np.array(tuple(i for i in self.points if i in self.graph.level_transfer_points))
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self.points = tuple(point.i for point in self._built_points)
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self.room_transfer_points = tuple(point.i for point in self._built_room_transfer_points)
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self.level_transfer_points = tuple(i for i in self.points if i in self.graph.level_transfer_points)
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self.collect_arealocation_points()
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@ -148,9 +151,9 @@ class GraphLevel():
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for name, mpl_arealocation in self._built_arealocations.items():
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rooms = [room for room in self.rooms
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if room.mpl_clear.intersects_path(mpl_arealocation.exterior, filled=True)]
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possible_points = set(sum((room._built_points for room in rooms), []))
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self.arealocation_points[name] = np.array(tuple(point.i for point in possible_points
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if mpl_arealocation.contains_point(point.xy)))
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possible_points = tuple(point for point in sum((room._built_points for room in rooms), []) if point.room)
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self.arealocation_points[name] = tuple(point.i for point in possible_points
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if mpl_arealocation.contains_point(point.xy))
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# Drawing
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def draw_png(self, points=True, lines=True):
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@ -191,6 +194,35 @@ class GraphLevel():
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im.save(graph_filename)
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# Routing
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def build_router(self):
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for room in self.rooms:
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room.build_router()
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def build_routers(self):
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room_routers = {}
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empty_distances = np.empty(shape=(len(self.room_transfer_points),) * 2, dtype=np.float16)
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empty_distances[:] = np.inf
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sparse_distances = empty_distances.copy()
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room_transfers = np.zeros(shape=(len(self.room_transfer_points),) * 2, dtype=np.int16)
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room_transfers[:] = -1
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for i, room in enumerate(self.rooms):
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router = room.build_router()
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room_routers[room] = router
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room_distances = empty_distances.copy()
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in_room_i = np.array(tuple(room.points.index(point) for point in room.room_transfer_points))
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in_level_i = np.array(tuple(self.room_transfer_points.index(point)
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for point in room.room_transfer_points))
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room_distances[in_level_i[:, None], in_level_i] = router.shortest_paths[in_room_i[:, None], in_room_i]
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better = room_distances < sparse_distances
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sparse_distances[better.transpose()] = room_distances[better.transpose()]
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room_transfers[better.transpose()] = i
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g_sparse = csgraph_from_dense(sparse_distances, null_value=np.inf)
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shortest_paths, predecessors = shortest_path(g_sparse, return_predecessors=True)
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return LevelRouter(shortest_paths, predecessors, room_transfers), room_routers
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LevelRouter = namedtuple('LevelRouter', ('shortest_paths', 'predecessors', 'rooms_transfers', ))
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@ -14,5 +14,9 @@ class Command(BaseCommand):
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print('Graph loaded in %.4fs' % (time.time() - start))
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start = time.time()
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graph.build_router()
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graph.build_routers()
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print('Routers built in %.4fs' % (time.time() - start))
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start = time.time()
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graph.build_routers()
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print('Routers built (2nd time, cached) in %.4fs' % (time.time() - start))
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@ -1,4 +1,7 @@
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from collections import namedtuple
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import numpy as np
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from django.core.cache import cache
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from matplotlib.path import Path
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from scipy.sparse.csgraph._shortest_path import shortest_path
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from scipy.sparse.csgraph._tools import csgraph_from_dense
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@ -187,8 +190,8 @@ class GraphRoom():
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def finish_build(self):
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self.areas = tuple(self.areas)
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self.points = np.array(tuple(point.i for point in self._built_points))
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self.room_transfer_points = np.array(tuple(i for i in self.points if i in self.level.room_transfer_points))
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self.points = tuple(point.i for point in self._built_points)
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self.room_transfer_points = tuple(i for i in self.points if i in self.level.room_transfer_points)
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mapping = {point.i: i for i, point in enumerate(self._built_points)}
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self.distances = np.empty(shape=(len(self._built_points), len(self._built_points)), dtype=np.float16)
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@ -203,7 +206,17 @@ class GraphRoom():
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# Routing
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def build_router(self):
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# noinspection PyTypeChecker
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cache_key = 'c3nav__graph__roomrouter__%s__%s' % (self.graph.mtime, self.i)
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roomrouter = cache.get(cache_key)
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if not roomrouter:
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roomrouter = self._build_router()
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cache.set(cache_key, roomrouter, 600)
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return roomrouter
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def _build_router(self):
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g_sparse = csgraph_from_dense(self.distances, null_value=np.inf)
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shortest_paths, predecessors = shortest_path(g_sparse, return_predecessors=True)
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return shortest_paths, predecessors
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return RoomRouter(shortest_paths, predecessors)
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RoomRouter = namedtuple('RoomRouter', ('shortest_paths', 'predecessors', ))
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