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Changed trips_fws_dists to aug_..
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@Shushman
Shushman committed Sep 28, 2019
1 parent 7babc11 commit 53883ed
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Showing 10 changed files with 61 additions and 39 deletions.
4 changes: 2 additions & 2 deletions scripts/benchmark_mult_agents.jl
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Expand Up @@ -79,7 +79,7 @@ function main()
# Off transit preprocessing
otg = OffTransitGraph(depots = depots, sites = sites)

trips_fws_dists = augmented_trip_meta_graph_fws_dists(tg, MultiAgentAllocationTransit.distance_lat_lon_euclidean,
aug_trips_fws_dists = augmented_trip_meta_graph_fws_dists(tg, MultiAgentAllocationTransit.distance_lat_lon_euclidean,
length(depots), length(sites),
vcat(depots, sites),
drone_params)
Expand All @@ -91,7 +91,7 @@ function main()
# Set up the shadow env to do task allocation with
env = MAPFTransitEnv(off_transit_graph = otg, transit_graph = tg, state_graph = state_graph,
agent_states = AgentState[], depot_sites_to_vtx = depot_sites_to_vtx, trip_to_vtx_range = trip_to_vtx_range,
stop_idx_to_trips = stop_idx_to_trips, trips_fws_dists = trips_fws_dists,
stop_idx_to_trips = stop_idx_to_trips, aug_trips_fws_dists = aug_trips_fws_dists,
drone_params = drone_params, dist_fn = MultiAgentAllocationTransit.distance_lat_lon_euclidean,
curr_site_points = [], threshold_global_conflicts = 10)

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4 changes: 2 additions & 2 deletions scripts/benchmark_mult_agents_light.jl
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Expand Up @@ -66,7 +66,7 @@ function main()
# Off transit preprocessing
otg = OffTransitGraph(depots = depots, sites = sites)

trips_fws_dists = augmented_trip_meta_graph_fws_dists(tg, MultiAgentAllocationTransit.distance_lat_lon_euclidean,
aug_trips_fws_dists = augmented_trip_meta_graph_fws_dists(tg, MultiAgentAllocationTransit.distance_lat_lon_euclidean,
length(depots), length(sites),
vcat(depots, sites),
drone_params)
Expand All @@ -78,7 +78,7 @@ function main()
# Set up the shadow env to do task allocation with
env = MAPFTransitEnv(off_transit_graph = otg, transit_graph = tg, state_graph = state_graph,
agent_states = AgentState[], depot_sites_to_vtx = depot_sites_to_vtx, trip_to_vtx_range = trip_to_vtx_range,
stop_idx_to_trips = stop_idx_to_trips, trips_fws_dists = trips_fws_dists,
stop_idx_to_trips = stop_idx_to_trips, aug_trips_fws_dists = aug_trips_fws_dists,
drone_params = drone_params, dist_fn = MultiAgentAllocationTransit.distance_lat_lon_euclidean,
curr_site_points = [], threshold_global_conflicts = 5)

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4 changes: 2 additions & 2 deletions scripts/benchmark_replanning.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ function main()

# Off transit preprocessing
otg = OffTransitGraph(depots = depots, sites = sites)
trips_fws_dists = augmented_trip_meta_graph_fws_dists(tg, MultiAgentAllocationTransit.distance_lat_lon_euclidean,
aug_trips_fws_dists = augmented_trip_meta_graph_fws_dists(tg, MultiAgentAllocationTransit.distance_lat_lon_euclidean,
length(depots), length(sites),
vcat(depots, sites),
drone_params)
Expand All @@ -83,7 +83,7 @@ function main()
# Set up the shadow env to do task allocation with
env = MAPFTransitEnv(off_transit_graph = otg, transit_graph = tg, state_graph = state_graph,
agent_states = AgentState[], depot_sites_to_vtx = depot_sites_to_vtx, trip_to_vtx_range = trip_to_vtx_range,
stop_idx_to_trips = stop_idx_to_trips, trips_fws_dists = trips_fws_dists,
stop_idx_to_trips = stop_idx_to_trips, aug_trips_fws_dists = aug_trips_fws_dists,
drone_params = drone_params, dist_fn = MultiAgentAllocationTransit.distance_lat_lon_euclidean,
curr_site_points = [], threshold_global_conflicts = 10)

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4 changes: 2 additions & 2 deletions scripts/preprocess_travel_time_estimates.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ function main()
drone_params = parse_drone_params(drone_params_file)

tg = load_transit_graph_latlong(stop_coords_file, trips_file, TRANSIT_CAP_RANGE, rng)
tg, stop_idx_to_trips, trips_fws_dists, stops_nn_tree, nn_idx_to_stop =
tg, stop_idx_to_trips, aug_trips_fws_dists, stops_nn_tree, nn_idx_to_stop =
transit_graph_preprocessing(tg, MultiAgentAllocationTransit.distance_lat_lon_euclidean, drone_params)


Expand All @@ -56,7 +56,7 @@ function main()
env = MAPFTransitEnv(off_transit_graph = dummy_otg, transit_graph = tg, state_graph = state_graph,
agent_states = AgentState[], depot_sites_to_vtx = depot_sites_to_vtx, trip_to_vtx_range = trip_to_vtx_range,
stops_nn_tree = stops_nn_tree, nn_idx_to_stop = nn_idx_to_stop, stop_idx_to_trips = stop_idx_to_trips,
trips_fws_dists = trips_fws_dists, depot_to_sites_dists = Matrix{Float64}(undef, 0, 0),
aug_trips_fws_dists = aug_trips_fws_dists, depot_to_sites_dists = Matrix{Float64}(undef, 0, 0),
drone_params = drone_params, dist_fn = MultiAgentAllocationTransit.distance_lat_lon_euclidean,
curr_site_points = [], threshold_global_conflicts = 0)

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6 changes: 3 additions & 3 deletions scripts/test_replanning_heuristics.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ lon_dist = Uniform(bb_params.lon_start, bb_params.lon_end)

# Transit Graph Preprocessing
tg = load_transit_graph_latlong(stop_coords_file, trips_file, TRANSIT_CAP_RANGE, rng)
tg, stop_idx_to_trips, trips_fws_dists, stops_nn_tree, nn_idx_to_stop =
tg, stop_idx_to_trips, aug_trips_fws_dists, stops_nn_tree, nn_idx_to_stop =
transit_graph_preprocessing(tg, MultiAgentAllocationTransit.distance_lat_lon_euclidean, drone_params)

sites = [LatLonCoords((lat = rand(rng, lat_dist), lon = rand(rng, lon_dist))) for i = 1:N_SITES]
Expand All @@ -52,15 +52,15 @@ depot_sites = vcat(depots, sites)
# Load OTG stuff
otg = OffTransitGraph(depots = depots, sites = sites)
depot_to_sites_dists = generate_depot_to_sites_dists(otg, tg, stops_nn_tree, nn_idx_to_stop, stop_idx_to_trips,
trips_fws_dists, MultiAgentAllocationTransit.distance_lat_lon_euclidean)
aug_trips_fws_dists, MultiAgentAllocationTransit.distance_lat_lon_euclidean)
state_graph, depot_sites_to_vtx, trip_to_vtx_range = setup_state_graph(tg, otg)


# Set the cost function using the wrapper
env = MAPFTransitEnv(off_transit_graph = otg, transit_graph = tg, state_graph = state_graph,
agent_states = AgentState[], depot_sites_to_vtx = depot_sites_to_vtx, trip_to_vtx_range = trip_to_vtx_range,
stops_nn_tree = stops_nn_tree, nn_idx_to_stop = nn_idx_to_stop, stop_idx_to_trips = stop_idx_to_trips,
trips_fws_dists = trips_fws_dists, depot_to_sites_dists = depot_to_sites_dists,
aug_trips_fws_dists = aug_trips_fws_dists, depot_to_sites_dists = depot_to_sites_dists,
drone_params = drone_params, dist_fn = MultiAgentAllocationTransit.distance_lat_lon_euclidean,
curr_site_points = [])

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6 changes: 3 additions & 3 deletions scripts/test_sf_mult_agents.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ tg = load_transit_graph_latlong(stop_coords_file, trips_file, TRANSIT_CAP_RANGE,

tg, stop_idx_to_trips = transit_graph_preprocessing(tg, MultiAgentAllocationTransit.distance_lat_lon_euclidean, drone_params)

trips_fws_dists = augmented_trip_meta_graph_fws_dists(tg, MultiAgentAllocationTransit.distance_lat_lon_euclidean,
aug_trips_fws_dists = augmented_trip_meta_graph_fws_dists(tg, MultiAgentAllocationTransit.distance_lat_lon_euclidean,
length(depots), length(sites),
vcat(depots, sites),
drone_params)
Expand All @@ -59,7 +59,7 @@ agent_states = [AgentState(task=agt_task) for agt_task in agent_tasks]

env = MAPFTransitEnv(off_transit_graph = otg, transit_graph = tg, state_graph = state_graph,
agent_states = agent_states, depot_sites_to_vtx = depot_sites_to_vtx, trip_to_vtx_range = trip_to_vtx_range,
stop_idx_to_trips = stop_idx_to_trips, trips_fws_dists = trips_fws_dists,
stop_idx_to_trips = stop_idx_to_trips, aug_trips_fws_dists = aug_trips_fws_dists,
plan_ref_times = zeros(length(agent_tasks)),
drone_params = drone_params, dist_fn = MultiAgentAllocationTransit.distance_lat_lon_euclidean,
curr_site_points = [0 for _ = 1:length(agent_tasks)])
Expand All @@ -80,7 +80,7 @@ agent_states = [AgentState(task=agt_task) for agt_task in agent_tasks]

env = MAPFTransitEnv(off_transit_graph = otg, transit_graph = tg, state_graph = state_graph,
agent_states = agent_states, depot_sites_to_vtx = depot_sites_to_vtx, trip_to_vtx_range = trip_to_vtx_range,
stop_idx_to_trips = stop_idx_to_trips, trips_fws_dists = trips_fws_dists,
stop_idx_to_trips = stop_idx_to_trips, aug_trips_fws_dists = aug_trips_fws_dists,
plan_ref_times = zeros(length(agent_tasks)), valid_transit_options = zeros(length(agent_tasks)),
drone_params = drone_params, dist_fn = MultiAgentAllocationTransit.distance_lat_lon_euclidean,
curr_site_points = [0 for _ = 1:length(agent_tasks)])
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20 changes: 15 additions & 5 deletions src/gtfs_parser.jl
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@@ -1,3 +1,10 @@
"""
generate_stop_file(stop_txt::String, params::CityParams, out_file::String)
Convert the stops.txt GTFS file for a transit network to a dict that maps
integer stop ID to lat-long coordinates, and saves it to an output JSON file.
The CityParams is used to filter out trips outside the bounding box.
"""
function generate_stop_file(stop_txt::String, params::CityParams, out_file::String)

stop_file = CSV.File(stop_txt)
Expand Down Expand Up @@ -38,11 +45,14 @@ function generate_stop_file(stop_txt::String, params::CityParams, out_file::Stri

end

## Loop through route IDs
## Choose any one trip randomly with that route ID - note TRIP ID
## Go to stop_times, look up stop sequence and STOP IDs for the trip, note TIMES
## Ignore trips with any stops outside bounding box
## Save trips with zero-relative time in another file
"""
generate_trip_file(route_txt::String, trip_txt::String,
stop_time_txt::String, stop_coords::Dict{Int64,LatLonCoords},
out_file::String, rng::RNG) where {RNG <: AbstractRNG}
Parse the GTFS trips.txt file. Takes the routes.txt file, chooses any trip from that
route type, and generates the corresponding sequence of stop IDs from the stop_coords Dict.
"""
function generate_trip_file(route_txt::String, trip_txt::String,
stop_time_txt::String, stop_coords::Dict{Int64,LatLonCoords},
out_file::String, rng::RNG) where {RNG <: AbstractRNG}
Expand Down
4 changes: 2 additions & 2 deletions src/mapf_transit.jl
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Expand Up @@ -276,13 +276,13 @@ function distance_heuristic(env::MAPFTransitEnv, s::MAPFTransitVertexState)

mindist = Inf
for tid in env.stop_idx_to_trips[stop_id]
trip_to_ds = env.trips_fws_dists[n_depots + n_sites + tid, depot_site_idx]
trip_to_ds = env.aug_trips_fws_dists[n_depots + n_sites + tid, depot_site_idx]
mindist = (trip_to_ds < mindist) ? trip_to_ds : mindist
end

return mindist
else
return env.trips_fws_dists[s.idx, depot_site_idx]
return env.aug_trips_fws_dists[s.idx, depot_site_idx]
end
end

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11 changes: 8 additions & 3 deletions src/preprocessing.jl
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Original file line number Diff line number Diff line change
@@ -1,6 +1,11 @@
## Create augmented trip metagraph with trip vertices AND depot-sites
## Then run FWS on them to get min flight distance
## Index: 1....n_depots....n_depots+n_sites.....n_deps+n_sites+n_trips
"""
augmented_trip_meta_graph_fws_dists(tg::TG, dist_fn::Function,
n_depots::Int64, n_sites::Int64,
depot_sites::Vector{LOC}, drone_params::DroneParams) where {LOC, TG <: TransitGraph}
Get distance matrix from Floyd-Warshall Shortest Paths alg on the augmented
trip metagraph. See Appendix II-B for details.
"""
function augmented_trip_meta_graph_fws_dists(tg::TG, dist_fn::Function,
n_depots::Int64, n_sites::Int64,
depot_sites::Vector{LOC}, drone_params::DroneParams) where {LOC, TG <: TransitGraph}
Expand Down
37 changes: 22 additions & 15 deletions src/types.jl
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Expand Up @@ -169,28 +169,35 @@ Tracks the current state of the agent; current task; whether it has delivered it
dist_flown::Float64 = 0.0
end

"""
MAPFTransitEnv{OTG <: OffTransitGraph, TG <: TransitGraph, MVTS <: MAPFTransitVertexState} <: MAPFEnvironment
The overarching structure to track the MAPF-TN contextual information.
N.B. - There are some hacks here to track drone state with time for the replanning. The MAPF library
is typically not well-suited to receding-horizon execution. Email me if you need to figure that out.
"""
@with_kw mutable struct MAPFTransitEnv{OTG <: OffTransitGraph,
TG <: TransitGraph, MVTS <: MAPFTransitVertexState} <: MAPFEnvironment
off_transit_graph::OTG
transit_graph::TG
state_graph::SimpleVListGraph{MVTS} # Vertex IDs are d-1 etc, s-1 etc, r-1-1 etc.
state_graph::SimpleVListGraph{MVTS} # Vertex IDs are d-1 etc, s-1 etc, r-1-1 etc.
agent_states::Vector{AgentState}
depot_sites_to_vtx::Dict{String,Int64} # Maps depot and site IDs to their vertex ID in graph - needed for start-goal IDXs
trip_to_vtx_range::Vector{Tuple{Int64,Int64}}# Maps the ID from NNTree to stop id
stop_idx_to_trips::Dict{Int64,Set{Int64}} # Maps the stop ID to trips passing through them
trips_fws_dists::Matrix{Float64}
depot_sites_to_vtx::Dict{String,Int64} # Maps depot and site IDs to their vertex ID in graph - needed for start-goal IDXs
trip_to_vtx_range::Vector{Tuple{Int64,Int64}} # Maps the ID from NNTree to stop id
stop_idx_to_trips::Dict{Int64,Set{Int64}} # Maps the stop ID to trips passing through them
aug_trips_fws_dists::Matrix{Float64} # The distance matrix from the augmented trip metagraph
drone_params::DroneParams
dist_fn::Function
curr_site_points::Vector{Int64}
curr_goal_idx::Int64 = 0
plan_ref_times::Vector{Float64} = Float64[]
# Diagnostics
valid_transit_options::Vector{Int64} = Int64[]
any_invalid_path::Bool = false
valid_path_dists::Vector{Float64} = Float64[]
num_global_conflicts::Int64 = 0
threshold_global_conflicts::Int64 = 10
dist_fn::Function # Implements the distance metric between coordinates (lat-long/grid point)
curr_site_points::Vector{Int64} # For each agent, which point on its solution vector is the intermediate goal, i.e. p
curr_goal_idx::Int64 = 0 # Tracks the current goal index for each low-level single-agent search
plan_ref_times::Vector{Float64} = Float64[] # Tracks the system time from which each agent is being planned for
# Solution Diagnostics
valid_transit_options::Vector{Int64} = Int64[] # The number of transit options used by each agent
any_invalid_path::Bool = false # Is either subpath of an agent an invalid one, i.e. no weight-constrained path found
valid_path_dists::Vector{Float64} = Float64[] # For the valid agent subpaths, what is the effective distance covered
num_global_conflicts::Int64 = 0 # The number of high-level ECBS conflicts
threshold_global_conflicts::Int64 = 10 # The threshold for high-level conflicts after which an error is thrown. TODO: Need to diagnose better
end


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