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radical speedup and simplification to driving state: only store SimQueues for active lanes/turns

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This commit is contained in:
Dustin Carlino 2018-11-26 15:04:14 -08:00
parent cb4c5079a6
commit cd8d9adec4
5 changed files with 96 additions and 131 deletions
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2
editor/src/plugins/road_editor.rs
View File

@ -103,7 +103,7 @@ impl Plugin for RoadEditor {
for i in &intersections {
for t in &map.get_i(*i).turns {
draw_map.edit_add_turn(*t, map);
sim.edit_add_turn(map.get_t(*t), map);
sim.edit_add_turn(map.get_t(*t));
}
}
}

2
map_model/src/traversable.rs
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@ -5,7 +5,7 @@ use {LaneID, Map, TurnID};
// TODO this probably doesn't belong in map model after all.
// TODO also building paths?
#[derive(Clone, Copy, Debug, Eq, Hash, PartialEq, Serialize, Deserialize)]
#[derive(Clone, Copy, Debug, Eq, Hash, PartialEq, PartialOrd, Ord, Serialize, Deserialize)]
pub enum Traversable {
Lane(LaneID),
Turn(TurnID),

182
sim/src/driving.rs
View File

@ -351,73 +351,60 @@ impl Car {
#[derive(Serialize, Deserialize, Clone, PartialEq)]
pub struct SimQueue {
id: Traversable,
// First element is farthest along the queue; they have the greatest dist_along.
// Caching the current dist_along vastly simplifies the API of SimQueue.
cars_queue: Vec<(Distance, CarID)>,
capacity: usize,
}
impl SimQueue {
fn new(id: Traversable, map: &Map) -> SimQueue {
SimQueue {
id,
cars_queue: Vec::new(),
capacity: ((id.length(map) / Vehicle::best_case_following_dist()).ceil() as usize)
.max(1),
}
}
// TODO it'd be cool to contribute tooltips (like number of cars currently here, capacity) to
// tooltip
fn reset(&mut self, ids: &Vec<CarID>, cars: &BTreeMap<CarID, Car>) -> Result<(), Error> {
let old_queue = self.cars_queue.clone();
let new_queue: Vec<(Distance, CarID)> =
ids.iter().map(|id| (cars[id].dist_along, *id)).collect();
if new_queue.len() > self.capacity {
fn new(
id: Traversable,
map: &Map,
ids: Vec<CarID>,
cars: &BTreeMap<CarID, Car>,
) -> Result<SimQueue, Error> {
let capacity =
((id.length(map) / Vehicle::best_case_following_dist()).ceil() as usize).max(1);
let mut cars_queue: Vec<(Distance, CarID)> = ids
.into_iter()
.map(|id| (cars[&id].dist_along, id))
.collect();
if cars_queue.len() > capacity {
return Err(Error::new(format!(
"on {:?}, reset to {:?} broke, because capacity is just {}.",
self.id, new_queue, self.capacity
id, cars_queue, capacity
)));
}
self.cars_queue.clear();
self.cars_queue.extend(new_queue);
// Sort descending.
self.cars_queue
.sort_by_key(|(dist, _)| -NotNaN::new(dist.value_unsafe).unwrap());
cars_queue.sort_by_key(|(dist, _)| -NotNaN::new(dist.value_unsafe).unwrap());
// assert here we're not squished together too much
for slice in self.cars_queue.windows(2) {
for slice in cars_queue.windows(2) {
let ((dist1, c1), (dist2, c2)) = (slice[0], slice[1]);
let following_dist = cars[&c1].vehicle.following_dist();
if dist1 - dist2 < following_dist {
let mut err = format!(
"On {:?}, {} and {} are {} apart -- that's {} too close\n",
self.id,
id,
c1,
c2,
dist1 - dist2,
following_dist - (dist1 - dist2),
);
err.push_str(&format!("Old queue ({}):\n", old_queue.len()));
for (dist, id) in old_queue {
err.push_str(&format!("- {} at {}\n", id, dist));
}
err.push_str(&format!("New queue ({}):\n", self.cars_queue.len()));
for (dist, id) in &self.cars_queue {
// TODO We used to have old_queue and could print more debug info. Meh.
err.push_str(&format!("Queue ({}):\n", cars_queue.len()));
for (dist, id) in &cars_queue {
err.push_str(&format!("- {} at {}\n", id, dist));
}
return Err(Error::new(err));
}
}
Ok(())
Ok(SimQueue { cars_queue })
}
fn is_empty(&self) -> bool {
self.cars_queue.is_empty()
}
// TODO it'd be cool to contribute tooltips (like number of cars currently here, capacity) to
// tooltip
// TODO this starts cars with their front aligned with the end of the lane, sticking their back
// into the intersection. :(
@ -465,37 +452,24 @@ pub struct DrivingSimState {
cars: BTreeMap<CarID, Car>,
// Separate from cars so we can have different mutability in react()
routers: BTreeMap<CarID, Router>,
lanes: Vec<SimQueue>,
// If there's no SimQueue for a Traversable, then there are currently no agents on it.
#[serde(
serialize_with = "serialize_btreemap",
deserialize_with = "deserialize_btreemap"
)]
turns: BTreeMap<TurnID, SimQueue>,
queues: BTreeMap<Traversable, SimQueue>,
debug: Option<CarID>,
}
impl DrivingSimState {
pub fn new(map: &Map) -> DrivingSimState {
let mut s = DrivingSimState {
pub fn new() -> DrivingSimState {
DrivingSimState {
cars: BTreeMap::new(),
routers: BTreeMap::new(),
// TODO only driving ones
lanes: map
.all_lanes()
.iter()
.map(|l| SimQueue::new(Traversable::Lane(l.id), map))
.collect(),
turns: BTreeMap::new(),
queues: BTreeMap::new(),
debug: None,
};
for t in map.all_turns().values() {
if !t.between_sidewalks() {
s.turns
.insert(t.id, SimQueue::new(Traversable::Turn(t.id), map));
}
}
s
}
pub fn get_active_and_waiting_count(&self) -> (usize, usize) {
let waiting = self
@ -550,24 +524,16 @@ impl DrivingSimState {
}
pub fn edit_remove_lane(&mut self, id: LaneID) {
assert!(self.lanes[id.0].is_empty());
assert!(!self.queues.contains_key(&Traversable::Lane(id)));
}
pub fn edit_add_lane(&mut self, id: LaneID) {
assert!(self.lanes[id.0].is_empty());
}
pub fn edit_add_lane(&mut self, _id: LaneID) {}
pub fn edit_remove_turn(&mut self, id: TurnID) {
if let Some(queue) = self.turns.get(&id) {
assert!(queue.is_empty());
}
self.turns.remove(&id);
assert!(!self.queues.contains_key(&Traversable::Turn(id)));
}
pub fn edit_add_turn(&mut self, id: TurnID, map: &Map) {
self.turns
.insert(id, SimQueue::new(Traversable::Turn(id), map));
}
pub fn edit_add_turn(&mut self, _id: TurnID) {}
// Note that this populates the view BEFORE the step is applied.
// Returns
@ -587,6 +553,8 @@ impl DrivingSimState {
rng: &mut XorShiftRng,
current_agent: &mut Option<AgentID>,
) -> Result<(Vec<ParkedCar>, Vec<CarID>, Vec<(CarID, LaneID, Distance)>), Error> {
// We don't need the queues at all during this function, so just move them to the view.
std::mem::swap(&mut view.queues, &mut self.queues);
self.populate_view(view);
// Could be concurrent, since this is deterministic -- EXCEPT for the rng, used to
@ -685,12 +653,8 @@ impl DrivingSimState {
}
*current_agent = None;
// TODO could simplify this by only adjusting the SimQueues we need above
// Group cars by lane and turn
// TODO ideally, just hash Traversable
let mut cars_per_lane = MultiMap::new();
let mut cars_per_turn = MultiMap::new();
let mut cars_per_traversable = MultiMap::new();
for c in self.cars.values() {
// Also do some sanity checks.
if c.dist_along < 0.0 * si::M {
@ -699,27 +663,13 @@ impl DrivingSimState {
c.id, c.dist_along, c.on
)));
}
match c.on {
Traversable::Lane(id) => cars_per_lane.insert(id, c.id),
Traversable::Turn(id) => cars_per_turn.insert(id, c.id),
};
cars_per_traversable.insert(c.on, c.id);
}
// Reset all queues
for l in &mut self.lanes {
if let Some(v) = cars_per_lane.get_vec(&l.id.as_lane()) {
l.reset(v, &self.cars)?;
} else {
l.reset(&Vec::new(), &self.cars)?;
}
}
for t in self.turns.values_mut() {
if let Some(v) = cars_per_turn.get_vec(&t.id.as_turn()) {
t.reset(v, &self.cars)?;
} else {
t.reset(&Vec::new(), &self.cars)?;
}
// Reset all queues -- only store ones with some agents present.
for (on, cars) in cars_per_traversable.into_iter() {
self.queues
.insert(on, SimQueue::new(on, map, cars, &self.cars)?);
}
Ok((finished_parking, vanished_at_border, done_biking))
@ -744,9 +694,12 @@ impl DrivingSimState {
// Is it safe to enter the lane right now? Start scanning ahead of where we'll enter, so we
// don't hit somebody's back
if let Some(other) = self.lanes[params.start.0]
.first_car_behind(params.dist_along + Vehicle::worst_case_following_dist())
{
if let Some(other) = self
.queues
.get(&Traversable::Lane(params.start))
.and_then(|q| {
q.first_car_behind(params.dist_along + Vehicle::worst_case_following_dist())
}) {
let other_dist = self.cars[&other].dist_along;
if other_dist >= params.dist_along {
/*debug!(
@ -798,7 +751,24 @@ impl DrivingSimState {
},
);
self.routers.insert(params.car, params.router);
self.lanes[params.start.0].insert_at(params.car, params.dist_along);
let start_on = Traversable::Lane(params.start);
// TODO stupid lack of NLL
let queue_exists = self.queues.contains_key(&start_on);
if queue_exists {
self.queues
.get_mut(&start_on)
.unwrap()
.insert_at(params.car, params.dist_along);
} else {
// Just directly construct the SimQueue, since it only has one car
self.queues.insert(
start_on,
SimQueue {
cars_queue: vec![(params.dist_along, params.car)],
},
);
}
events.push(Event::AgentEntersTraversable(
AgentID::Car(params.car),
Traversable::Lane(params.start),
@ -848,21 +818,21 @@ impl DrivingSimState {
})
}
pub fn get_draw_cars_on_lane(&self, lane: LaneID, time: Tick, map: &Map) -> Vec<DrawCarInput> {
self.lanes[lane.0].get_draw_cars(self, map, time)
}
pub fn get_draw_cars_on_turn(&self, turn: TurnID, time: Tick, map: &Map) -> Vec<DrawCarInput> {
if let Some(queue) = self.turns.get(&turn) {
pub fn get_draw_cars_on_lane(&self, id: LaneID, time: Tick, map: &Map) -> Vec<DrawCarInput> {
if let Some(queue) = self.queues.get(&Traversable::Lane(id)) {
return queue.get_draw_cars(self, map, time);
}
return Vec::new();
}
fn populate_view(&self, view: &mut WorldView) {
view.lanes = self.lanes.clone();
view.turns = self.turns.clone();
pub fn get_draw_cars_on_turn(&self, id: TurnID, time: Tick, map: &Map) -> Vec<DrawCarInput> {
if let Some(queue) = self.queues.get(&Traversable::Turn(id)) {
return queue.get_draw_cars(self, map, time);
}
return Vec::new();
}
fn populate_view(&mut self, view: &mut WorldView) {
for c in self.cars.values() {
view.agents.insert(
AgentID::Car(c.id),
@ -904,7 +874,8 @@ impl DrivingSimState {
let mut buses = 0;
for l in lanes {
for (_, car) in &self.lanes[l.0].cars_queue {
if let Some(queue) = self.queues.get(&Traversable::Lane(*l)) {
for (_, car) in &queue.cars_queue {
let c = &self.cars[car];
if c.speed <= kinematics::EPSILON_SPEED {
stuck_cars += 1;
@ -916,6 +887,7 @@ impl DrivingSimState {
}
}
}
}
(moving_cars, stuck_cars, buses)
}

6
sim/src/sim.rs
View File

@ -67,7 +67,7 @@ impl Sim {
Sim {
rng,
driving_state: DrivingSimState::new(map),
driving_state: DrivingSimState::new(),
spawner: Spawner::empty(),
scheduler: Scheduler::new(),
trips_state: TripManager::new(),
@ -118,11 +118,11 @@ impl Sim {
}
}
pub fn edit_add_turn(&mut self, t: &Turn, map: &Map) {
pub fn edit_add_turn(&mut self, t: &Turn) {
if t.between_sidewalks() {
self.walking_state.edit_add_turn(t.id);
} else {
self.driving_state.edit_add_turn(t.id, map);
self.driving_state.edit_add_turn(t.id);
}
}

19
sim/src/view.rs
View File

@ -1,6 +1,6 @@
use driving::SimQueue;
use kinematics::Vehicle;
use map_model::{Traversable, TurnID};
use map_model::Traversable;
use std::collections::{BTreeMap, HashMap};
use {AgentID, CarID, Distance, Speed};
@ -22,28 +22,21 @@ pub struct WorldView {
// need a macro; there's just three methods)
// - make WalkingSimState also use SimQueues; they're overpowered for the current use, but
// might be useful for understanding crowded sidewalks
// TODO I want to borrow the SimQueues, not clone, but then react() still doesnt work to
// mutably borrow router and immutably borrow the queues for the view. :(
pub lanes: Vec<SimQueue>,
pub turns: BTreeMap<TurnID, SimQueue>,
pub queues: BTreeMap<Traversable, SimQueue>,
}
impl WorldView {
pub fn new() -> WorldView {
WorldView {
agents: HashMap::new(),
lanes: Vec::new(),
turns: BTreeMap::new(),
queues: BTreeMap::new(),
}
}
pub fn next_car_in_front_of(&self, on: Traversable, dist: Distance) -> Option<&AgentView> {
let maybe_id = match on {
Traversable::Lane(id) => self.lanes[id.0].next_car_in_front_of(dist),
Traversable::Turn(id) => self.turns[&id].next_car_in_front_of(dist),
};
maybe_id.map(|id| &self.agents[&AgentID::Car(id)])
let queue = self.queues.get(&on)?;
let id = queue.next_car_in_front_of(dist)?;
Some(&self.agents[&AgentID::Car(id)])
}
pub fn is_leader(&self, id: AgentID) -> bool {