def main_algorithm(problem):
logger = logging.getLogger('main_logger')
logger.critical('Problem %i' % problem.question_number)
# pb = problems[no]
graph = Graph(problem)
graph.sort_edges()
solution_edges = set()
logger.info('Generating Dijkstra Routes')
pb_robots = copy.deepcopy(problem.robots)
sol_robots = list()
print(len(pb_robots))
# Special for the first robot
r_f = pb_robots.pop(0)
r_f.awaken = True
pb_robots = sorted(
pb_robots,
key=lambda robot: Edge(r_f.vertices, robot.vertices, None).weight)
v = list()
v.append(pb_robots[0].vertices)
edges = dijkstra_path(v_1=r_f.vertices,
v_2=pb_robots[0].vertices,
vertices=graph.vertices,
edges=graph.edges)
r_f.track.extend(edges)
sol_robots.append(r_f)
solution_edges = solution_edges.union(set(edges))
r_p = r_f # Previous Robot
pb_robots[0].awaken = True
awake = 2
while len(pb_robots) > 0:
logger.info('Generating Dijkstra, remaining: %i' % len(pb_robots))
r_i = pb_robots.pop(0)
dist, prev = find_path(v_1=r_i.vertices,
vertices=graph.vertices,
edges=graph.edges)
pb_robots = sorted(pb_robots, key=lambda robot: dist[robot.vertices])
robots = list()
# Select Destination robots that have not been reached. They should not be a destination.
for i in range(0, len(pb_robots)):
if pb_robots[i].awaken:
continue
robots.append(pb_robots[i])
if len(robots) is 2:
break
for r in robots:
edges = set(
dijkstra_path(r_i.vertices, r.vertices, graph.vertices,
graph.edges, dist,
prev)) # Generated by Dijkstra
found = False
for edge in edges:
for sol_edge in solution_edges:
if edge.start == sol_edge.start and edge.end == sol_edge.end:
found = True
break
if edge.start == sol_edge.end and edge.end == sol_edge.start:
found = True
break
if found:
r.awaken = False
continue
if r_i not in sol_robots:
sol_robots.append(r_i)
r_i.track.extend(edges)
else: # Second Path
r_p.track.extend(edges)
solution_edges = solution_edges.union(edges)
r.awaken = True
awake += 1
r_p = r_i # Previous Robot
# logger.info('Generating Dijkstra Routes Complete')
# logger.info('Visualizing the solution')
for robot in sol_robots:
robot.sort_track()
# print("Robot: %s" % (robot.vertices,))
# for t in robot.track:
# print('%s -> %s' % (t.start, t.end))
solution = Solution(question_number=problem.question_number,
robots=sol_robots)
logger.critical('Finished Writing Solution for %i')
logger.info('%i Robots Awake' % awake)
writer.write_solution([solution])
print(solution.list_of_coordinates)
# Visualize is using process (non blocking)
Process(target=visualization.draw(
problem, mst_edges=list(solution_edges), edges=graph.edges)).start()
