/* -*- tab-width: 4 -*-
*
* Electric(tm) VLSI Design System
*
* File: AStarMachineFast.java
* Written by: Christian Harnisch, Ingo Besenfelder, Michael Neumann (Team 3)
*
* Copyright (c) 2010, Oracle and/or its affiliates. All rights reserved.
*
* Electric(tm) is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* Electric(tm) is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Electric(tm); see the file COPYING. If not, write to
* the Free Software Foundation, Inc., 59 Temple Place, Suite 330,
* Boston, Mass 02111-1307, USA.
*/
package com.sun.electric.tool.routing.experimentalAStar2.machine;
import java.util.List;
import com.sun.electric.tool.routing.experimentalAStar2.algorithm.AStar;
import com.sun.electric.tool.routing.experimentalAStar2.algorithm.AStarGoalBase;
import com.sun.electric.tool.routing.experimentalAStar2.algorithm.AStarMapBase;
import com.sun.electric.tool.routing.experimentalAStar2.algorithm.AStarMapVisitorBase;
import com.sun.electric.tool.routing.experimentalAStar2.algorithm.AStarNode;
import com.sun.electric.tool.routing.experimentalAStar2.memorymanager.ObjectPool;
import com.sun.electric.tool.routing.experimentalAStar2.storage.AStarClosedListReferencing;
import com.sun.electric.tool.routing.experimentalAStar2.storage.AStarOpenListCheapList;
public class AStarMachineFast implements AStarMachine<AStarNode>, AStarMapVisitorBase<AStarNode>
{
private ObjectPool<AStarNode> nodePool;
private AStarOpenListCheapList<AStarNode> openList;
// private AStarOpenListPriorityQueue2 openList;
private AStarClosedListReferencing<AStarNode> closedList;
private AStarMapBase<AStarNode> map = null;
private AStarGoalBase<AStarNode> goal = null;
public AStarMachineFast(ObjectPool<AStarNode> nodePool)
{
this.nodePool = nodePool;
this.openList = new AStarOpenListCheapList<AStarNode>();
// this.openList = new AStarOpenListPriorityQueue2();
this.closedList = new AStarClosedListReferencing<AStarNode>();
}
/*
* (non-Javadoc)
*
* @see machine.AStarMachine#findPath()
*/
public List<AStarNode> findPath(int startX, int startY, int startZ, int endX, int endY, int endZ)
{
if (map == null)
throw new IllegalStateException("The searched map must be specified before path search can be done.");
if (this.goal == null)
throw new IllegalStateException("The goal object must be specified before path search can be done.");
AStarNode goalNode = map.nodeAt(endX, endY, endZ);
int goalDistance = this.goal.getNodeCost(goalNode, startX, startY, startZ);
goalNode.initialize(null, goalDistance, 0, goalDistance, endX, endY, endZ);
this.goal.setGoalNode(goalNode);
AStarNode startNode = map.nodeAt(startX, startY, startZ);
startNode.initialize(null, 0, goalDistance, goalDistance, startX, startY, startZ);
openList.addNodeToOpenList(startNode);
return AStar.findPath(openList, closedList, map, this.goal, nodePool, this);
}
/*
* (non-Javadoc)
*
* @see machine.AStarMachine#setUpSearchSpace(algorithm.AStarMapBase,
* algorithm.AStarGoalBase)
*/
public void setUpSearchSpace(AStarMapBase<AStarNode> newMap, AStarGoalBase<AStarNode> newGoal)
{
if (newMap == null)
throw new IllegalArgumentException("The map to search may not be null.");
if (newGoal == null)
throw new IllegalArgumentException("The goal object may not be null.");
map = newMap;
openList.setMap(map);
closedList.setMap(map);
goal = newGoal;
goal.setNodeStorage(openList);
}
public void visitNeighbour(AStarNode origin, int x, int y, int z)
{
int costFromStart = origin.getCostFromStart() + goal.getNodeCost(origin, x, y, z);
int costToGoal = goal.distanceToGoal(x, y, z);
int totalCost = costFromStart + costToGoal;
// Check if on open/closed list
// If yes, check if new path is more efficient (lower f value)
// and update path if so.
AStarNode foundNode = openList.findOpenNode(x, y, z);
boolean foundCheaperPath = false;
if (foundNode != null)
{
if (totalCost < foundNode.getTotalCost())
{
foundCheaperPath = true;
openList.removeNodeFromOpenList(foundNode);
}
}
else
{
foundNode = closedList.findClosedNode(x, y, z);
if (foundNode != null)
{
if (totalCost < foundNode.getTotalCost())
{
foundCheaperPath = true;
closedList.removeNodeFromClosedList(foundNode);
}
}
else
{
// Node not found in open and closed list, thus put a
// new one on the open list.
foundNode = map.nodeAt(x, y, z);
foundCheaperPath = true;
}
}
if (foundCheaperPath)
{
foundNode.initialize(origin, costFromStart, costToGoal, totalCost, x, y, z);
openList.addNodeToOpenList(foundNode);
}
}
}