def astar(graph, start, goal):
# Fringe. Nodes not visited yet
openList = PriorityQueue()
# Visited Nodes. Each one will store it's parent position
closedList = {}
node = Node(start)
openList.push(node)
while openList:
node, _ = openList.pop()
position, cost = node.position, node.cost
if position in closedList:
# Oops. Already expanded.
continue
# Save the node in the closed list, and keep track of its parent
closedList[position] = node.parent
if position == goal:
break
for childPosition, actionCost in graph.getChildren(position):
# Only add to the open list if it's not expanded yet
if not childPosition in closedList:
childNode = Node(childPosition, cost + actionCost, position)
openList.push(
childNode,
childNode.cost + graph.getHCost(childPosition, goal))
path = []
if position == goal:
# Ensure a path has been found
path.insert(0, position)
while position and position != start:
position = closedList[position]
path.insert(0, position)
return path
class WaitingQueue:
def __init__(self):
self.queue = PriorityQueue()
self.log = []
def push(self, current_time, p):
self.queue.push([p.healthy, current_time], p)
self.log.append((Log.ENTER, p.healthy, current_time))
def empty(self):
return self.queue.empty()
def pop(self, current_time):
p = self.queue.pop()[-1]
self.log.append((Log.EXIT, p.healthy, current_time))
return p
def remove(self, current_time, p):
self.queue.remove(p)
self.log.append((Log.EXIT, p.healthy, current_time))
def size(self):
return self.queue.size()
def astar(graph, start, goal):
# Fringe. Nodes not visited yet
openList = PriorityQueue()
# Visited Nodes. Each one will store it's parent position
closedList = {}
node = Node(start)
openList.push(node)
while openList:
node, _ = openList.pop()
position, cost = node.position, node.cost
if position in closedList:
# Oops. Already expanded.
continue
# Save the node in the closed list, and keep track of its parent
closedList[position] = node.parent
if position == goal:
break
for childPosition, actionCost in graph.getChildren(position):
# Only add to the open list if it's not expanded yet
if not childPosition in closedList:
childNode = Node(childPosition, cost + actionCost, position)
openList.push(childNode, childNode.cost + graph.getHCost(childPosition, goal))
path = []
if position == goal:
# Ensure a path has been found
path.insert(0, position)
while position and position != start:
position = closedList[position]
path.insert(0, position)
return path
def astarItemsMultiPath(graph, start, goal, itemsAvailable, initialRaftState,
illegalEdges):
#itemsAvailable = intialItems.copy()
#print("initial state") print(itemsAvailable)
# Fringe. Nodes not visited yet
openList = PriorityQueue()
# Visited Nodes. Each one will store it's parent position
closedList = {}
nodeTable = {}
# assign some start and goal points
# and push start point as a node to openList.
start_tuple = tuple(start)
goal_tuple = tuple(goal)
node = PathNode(start_tuple, itemsAvailable.copy())
node.setRaftState(initialRaftState)
openList.push(node)
while openList:
# if openList does not contain any node
# we will break.
curr_node, _ = openList.pop()
if not curr_node:
break
position, cost = curr_node.position, curr_node.cost
if position in closedList:
# Oops. Already expanded.
continue
# Save the node in the closed list, and keep track of its parent
if curr_node.parent != None:
closedList[position] = curr_node.parent.position
else:
closedList[position] = curr_node.position
#track of its items remainings
nodeTable[position] = curr_node
# arrived to goal so save it as goal node.
if position == goal_tuple:
goalNode = curr_node
break
# copy some parent properties
curr_available = curr_node.getItemAvailable()
raftState = curr_node.getRaftState()
parentStonePlace = curr_node.getStonePlaced().copy()
# for each legal child for current parent,
for childPosition, actionCost, itemRequired, element in graph.getChildren(
position, curr_available, raftState, parentStonePlace):
copyStonePlaced = parentStonePlace.copy()
# if illegal edges were given
# and current one is illegal, ignore current child.
pos1 = list(position).copy()
pos2 = childPosition
if illegalEdges and ([pos1, pos2] in illegalEdges
or [pos2, pos1] in illegalEdges):
continue
# Only add to the open list if it's not expanded yet
if not tuple(childPosition) in closedList:
# copyAvailableItem
copy_available_item = curr_available.copy()
# deduct from item list if it was required
if itemRequired:
copy_available_item = deductItem(copy_available_item,
itemRequired)
childRaftSate = raftState
# updating child raftstate based on where current child is
# and the item required to get to the child.
if itemRequired == 'r':
childRaftSate = 1
elif childRaftSate == 1 and element != '~':
childRaftSate = 0
# updating the stone coordinate that was used for child.
# append to the parent ones.
stoneCoord = []
if itemRequired == 'o':
stoneCoord = [childPosition]
#print(stoneCoord)
copyStonePlaced += stoneCoord
# creating new child node and push to the openlist
childNode = PathNode(tuple(childPosition), copy_available_item,
cost + actionCost, curr_node,
childRaftSate)
childNode.addStonePlaced(copyStonePlaced)
openList.push(
childNode,
childNode.cost + graph.getHCost(childPosition, goal))
# intialize the returning variables
path = []
totalItemUsed = []
totalNewItemCollected = []
itemUsedState = False
finalItemList = itemsAvailable
finalRaftState = 1
finalStonePlace = []
# if we arrive goal, we are updating those variables.
if position == goal_tuple:
finalItemList = goalNode.getItemAvailable()
itemUsedState = confirmItemUsed(finalItemList, itemsAvailable)
finalRaftState = goalNode.getRaftState()
finalStonePlace = goalNode.getStonePlaced()
# Ensure a path has been found
position_list = list(position)
path.insert(0, position_list)
while position and position != start_tuple:
position = closedList[position]
position_list = list(position)
path.insert(0, position_list)
return [
path, itemUsedState, finalItemList, finalRaftState, finalStonePlace,
nodeTable
] #finalItemList, ]
def get_ready_queue(job_list, pattern, time_quantum): # obtain job key function as key for priority queue comparison job_key = job_keys[pattern] if job_key == round_robin: job_list.sort(key=first_come_first_serve) i = 0 while i < len(job_list): job = job_list[i] job.instance_id = i if job.duration > time_quantum: split_job = Job(job.arrival + time_quantum, job.duration - time_quantum, job.priority, job.id, True) job.terminate = False job.duration = time_quantum job_list.append(split_job) i += 1 global last_index last_index.clear() # prepare job queue job_queue = PriorityQueue(job_list, key=job_key) # prepare the ready queue ready_queue = [] global time_elapsed time_elapsed = 0 global idd idd = 0 def schedule(job): # schedule a job to the ready queue if ready_queue and ready_queue[-1].id == job.id: # merge with the previous job because same ID # this happens when pre-emptive ready_queue[-1].duration += job.duration ready_queue[-1].terminate = job.terminate else: # append new job ready_queue.append(job) # update time elapsed after scheduling global time_elapsed time_elapsed = ready_queue[-1].end() global last_index, idd last_index[job.id] = idd idd += 1 # simulate scheduling algorithm while job_queue: # get the next job job = job_queue.pop() global last_index if job.idd != (last_index[job.id] if job.id in last_index else -1): job.idd = (last_index[job.id] if job.id in last_index else -1) job_queue.push(job) elif job.arrival < time_elapsed: # this job will arrive later, repush to the queue job.arrival = time_elapsed #job.instance_id = Job.instance_id #Job.instance_id += 1 job_queue.push(job) elif job_key == round_robin and job.duration > time_quantum: # split job into two for round robin part_two = Job( arrival = job.arrival + time_quantum, duration = job.duration - time_quantum, priority = job.priority, job_id = job.id, terminate = job.terminate ) # part_two.instance_id = job.instance_id + len(job_list) job_queue.push(part_two) # repush part 2 # process part 1 job.duration = time_quantum job.terminate = False job_queue.push(job) # schedule(job) elif not pre_emptive(job_key): # schedule immediately schedule(job) else: # pre_emptive # special case: find possible jobs that can interrupt put_back = [] interrupted = False while job_queue and job_queue.top().arrival < job.end(): # check if the next job is better than having the other end of the current job interrupt = job_queue.top() split_job = Job( arrival = interrupt.arrival, duration = job.end() - interrupt.arrival, priority = job.priority, job_id = job.id, terminate = job.terminate ) # print interrupt, 'wants to interrupt', split_job # print job_key(interrupt), job_key(split_job) if job_key(interrupt) < job_key(split_job): # job has been interrupted! split then repush into the queue job.duration -= split_job.duration job.terminate = False # push new parts of the job job_queue.push(job) job_queue.push(split_job) interrupted = True break put_back.append(job_queue.pop()) # return tested jobs back into queue for tested_job in put_back: job_queue.push(tested_job) if not interrupted: # finalize job schedule schedule(job) return ready_queue
def is_bounded(x):
return x[0] >= 0 and x[0] <= 100 and x[1] >= 0 and x[1] <= 100
path = []
start = (0,50)
while in_circle(start):
start = (0,np.random.randint(101))
frontier = PriorityQueue()
frontier.insert(start,0)
visited = set()
while frontier.heap:
dist,node = frontier.pop()
path.append(node)
if node[0] == 100:
break
visited.add(node)
up = (node[0], node[1] + d)
up_right = (node[0] + d, node[1] + d)
right = (node[0] + d + 1, node[1])
down_right = (node[0] + d, node[1] - d)
down = (node[0], node[1] - d)
for n in [up,up_right,right,down_right,down]:
if n not in visited and not in_circle(n) and is_bounded(n):
def get_ready_queue(job_list, pattern, time_quantum):
# obtain job key function as key for priority queue comparison
job_key = job_keys[pattern]
if job_key == round_robin:
job_list.sort(key=first_come_first_serve)
i = 0
while i < len(job_list):
job = job_list[i]
job.instance_id = i
if job.duration > time_quantum:
split_job = Job(job.arrival + time_quantum,
job.duration - time_quantum, job.priority,
job.id, True)
job.terminate = False
job.duration = time_quantum
job_list.append(split_job)
i += 1
global last_index
last_index.clear()
# prepare job queue
job_queue = PriorityQueue(job_list, key=job_key)
# prepare the ready queue
ready_queue = []
global time_elapsed
time_elapsed = 0
global idd
idd = 0
def schedule(job):
# schedule a job to the ready queue
if ready_queue and ready_queue[-1].id == job.id:
# merge with the previous job because same ID
# this happens when pre-emptive
ready_queue[-1].duration += job.duration
ready_queue[-1].terminate = job.terminate
else:
# append new job
ready_queue.append(job)
# update time elapsed after scheduling
global time_elapsed
time_elapsed = ready_queue[-1].end()
global last_index, idd
last_index[job.id] = idd
idd += 1
# simulate scheduling algorithm
while job_queue:
# get the next job
job = job_queue.pop()
global last_index
if job.idd != (last_index[job.id] if job.id in last_index else -1):
job.idd = (last_index[job.id] if job.id in last_index else -1)
job_queue.push(job)
elif job.arrival < time_elapsed: # this job will arrive later, repush to the queue
job.arrival = time_elapsed
#job.instance_id = Job.instance_id
#Job.instance_id += 1
job_queue.push(job)
elif job_key == round_robin and job.duration > time_quantum:
# split job into two for round robin
part_two = Job(arrival=job.arrival + time_quantum,
duration=job.duration - time_quantum,
priority=job.priority,
job_id=job.id,
terminate=job.terminate)
# part_two.instance_id = job.instance_id + len(job_list)
job_queue.push(part_two) # repush part 2
# process part 1
job.duration = time_quantum
job.terminate = False
job_queue.push(job)
# schedule(job)
elif not pre_emptive(job_key):
# schedule immediately
schedule(job)
else: # pre_emptive
# special case: find possible jobs that can interrupt
put_back = []
interrupted = False
while job_queue and job_queue.top().arrival < job.end():
# check if the next job is better than having the other end of the current job
interrupt = job_queue.top()
split_job = Job(arrival=interrupt.arrival,
duration=job.end() - interrupt.arrival,
priority=job.priority,
job_id=job.id,
terminate=job.terminate)
# print interrupt, 'wants to interrupt', split_job
# print job_key(interrupt), job_key(split_job)
if job_key(interrupt) < job_key(split_job):
# job has been interrupted! split then repush into the queue
job.duration -= split_job.duration
job.terminate = False
# push new parts of the job
job_queue.push(job)
job_queue.push(split_job)
interrupted = True
break
put_back.append(job_queue.pop())
# return tested jobs back into queue
for tested_job in put_back:
job_queue.push(tested_job)
if not interrupted:
# finalize job schedule
schedule(job)
return ready_queue
