diff --git a/astar/__init__.py b/astar/__init__.py index 59a0911..ccf7469 100644 --- a/astar/__init__.py +++ b/astar/__init__.py @@ -1,43 +1,141 @@ # -*- coding: utf-8 -*- """ generic A-Star path searching algorithm """ +import logging from abc import ABC, abstractmethod -from heapq import heappush, heappop -from typing import Iterable, Union, TypeVar, Generic - -# infinity as a constant -Infinite = float("inf") +from heapq import heapify, heappush, heappop +from typing import Type, Callable, Dict, Iterable, Union, TypeVar, Generic +from math import inf as infinity # introduce generic type T = TypeVar("T") -class AStar(ABC, Generic[T]): - __slots__ = () +################################################################################ +class SearchNode(Generic[T]): + """Representation of a search node""" + + __slots__ = ("data", "gscore", "fscore", "closed", "came_from", "in_openset") + + def __init__( + self, data: T, gscore: float = infinity, fscore: float = infinity + ) -> None: + self.data = data + self.gscore = gscore + self.fscore = fscore + self.closed = False + self.in_openset = False + self.came_from: Union[None, SearchNode[T]] = None + + def __lt__(self, b: "SearchNode[T]") -> bool: + """Natural order is based on the fscore value & is used by heapq operations""" + return self.fscore < b.fscore + + +################################################################################ +class SearchNodeDict(Dict[T, SearchNode[T]]): + """A dict that returns a new SearchNode when a key is missing""" - class SearchNode: - """Representation of a search node""" + def __missing__(self, k) -> SearchNode[T]: + v = SearchNode(k) + self.__setitem__(k, v) + return v - __slots__ = ("data", "gscore", "fscore", "closed", "came_from", "out_openset") - def __init__( - self, data: T, gscore: float = Infinite, fscore: float = Infinite - ) -> None: - self.data = data - self.gscore = gscore - self.fscore = fscore - self.closed = False - self.out_openset = True - self.came_from = None +################################################################################ +SNType = TypeVar("SNType", bound=SearchNode) - def __lt__(self, b: "AStar.SearchNode") -> bool: - return self.fscore < b.fscore - class SearchNodeDict(dict): - def __missing__(self, k): - v = AStar.SearchNode(k) - self.__setitem__(k, v) - return v +class OpenSet(ABC, Generic[SNType]): + """As we may have performance issues with the heapq module when an item is + re-inserted, we may use other implementations for this feature. + + - By default the HeapQOpenSet class just relies on the heapq module, it does not need any external dependency. + + - The SortedContainersOpenSet class uses the sortedcointainers module. As + this module is optional, it will be used only if your own project + depends on it. + + """ + + @abstractmethod + def push(self, item: SNType) -> None: + """Add an item to the queue""" + raise NotImplementedError + + @abstractmethod + def pop(self) -> SNType: + """Remove and return the smallest item from the queue""" + raise NotImplementedError + + @abstractmethod + def remove(self, item: SNType) -> None: + """remove an item from the queue, ensuring that the queue is still valid afterwards""" + raise NotImplementedError + + +################################################################################ +class HeapQOpenSet(OpenSet[SNType], Generic[SNType]): + """just a wrapper around heapq operations""" + + def __init__(self): + self.heap = [] + heapify(self.heap) + + def push(self, item: SNType) -> None: + """Add an item to the queue""" + item.in_openset = True + heappush(self.heap, item) + + def pop(self) -> SNType: + """Remove and return the smallest item from the queue""" + item = heappop(self.heap) + item.in_openset = False + return item + + def remove(self, item: SNType): + self.heap.remove(item) + heapify( + self.heap + ) # costly operation but necessary as remove operation destroy the structure of the heap + item.in_openset = False + + +################################################################################ +OpenSetImpl: Type[OpenSet] = HeapQOpenSet + +try: + import sortedcontainers + + class SortedContainersOpenSet(OpenSet[SNType], Generic[SNType]): + def __init__(self): + self.sortedlist = sortedcontainers.SortedList(key=lambda x: x.fscore) + + def push(self, item: SNType) -> None: + item.in_openset = True + self.sortedlist.add(item) + + def pop(self) -> SNType: + item = self.sortedlist.pop(0) + item.in_openset = False + return item + + def remove(self, item: SNType): + self.sortedlist.remove(item) + item.in_openset = False + + OpenSetImpl = SortedContainersOpenSet + logging.info("using sortedcontainers for heap operations") + +except Exception as e: + logging.info("sortedcontainers module not loaded, using the default heapq module") + + +################################################################################* + + +class AStar(ABC, Generic[T]): + __slots__ = () @abstractmethod def heuristic_cost_estimate(self, current: T, goal: T) -> float: @@ -90,64 +188,78 @@ def astar( ) -> Union[Iterable[T], None]: if self.is_goal_reached(start, goal): return [start] - searchNodes = AStar.SearchNodeDict() - startNode = searchNodes[start] = AStar.SearchNode( + + openSet: OpenSet[SearchNode[T]] = OpenSetImpl() + searchNodes: SearchNodeDict[T] = SearchNodeDict() + startNode = searchNodes[start] = SearchNode( start, gscore=0.0, fscore=self.heuristic_cost_estimate(start, goal) ) - openSet: list = [] - heappush(openSet, startNode) + openSet.push(startNode) + while openSet: - current = heappop(openSet) + current = openSet.pop() + if self.is_goal_reached(current.data, goal): return self.reconstruct_path(current, reversePath) - current.out_openset = True + current.closed = True + for neighbor in map(lambda n: searchNodes[n], self.neighbors(current.data)): if neighbor.closed: continue + tentative_gscore = current.gscore + self.distance_between( current.data, neighbor.data ) + if tentative_gscore >= neighbor.gscore: continue + + neighbor_from_openset = neighbor.in_openset + + if neighbor_from_openset: + # we have to remove the item from the heap, as its score has changed + openSet.remove(neighbor) + + # update the node neighbor.came_from = current neighbor.gscore = tentative_gscore neighbor.fscore = tentative_gscore + self.heuristic_cost_estimate( neighbor.data, goal ) - if neighbor.out_openset: - neighbor.out_openset = False - heappush(openSet, neighbor) - else: - # re-add the node in order to re-sort the heap - openSet.remove(neighbor) - heappush(openSet, neighbor) + + openSet.push(neighbor) + return None +################################################################################ +U = TypeVar("U") + + def find_path( - start: T, - goal: T, - neighbors_fnct, + start: U, + goal: U, + neighbors_fnct: Callable[[U], Iterable[U]], reversePath=False, - heuristic_cost_estimate_fnct=lambda a, b: Infinite, - distance_between_fnct=lambda a, b: 1.0, - is_goal_reached_fnct=lambda a, b: a == b, -) -> Union[Iterable[T], None]: + heuristic_cost_estimate_fnct: Callable[[U, U], float] = lambda a, b: infinity, + distance_between_fnct: Callable[[U, U], float] = lambda a, b: 1.0, + is_goal_reached_fnct: Callable[[U, U], bool] = lambda a, b: a == b, +) -> Union[Iterable[U], None]: """A non-class version of the path finding algorithm""" class FindPath(AStar): - def heuristic_cost_estimate(self, current, goal): - return heuristic_cost_estimate_fnct(current, goal) + def heuristic_cost_estimate(self, current: U, goal: U) -> float: + return heuristic_cost_estimate_fnct(current, goal) # type: ignore - def distance_between(self, n1, n2): + def distance_between(self, n1: U, n2: U) -> float: return distance_between_fnct(n1, n2) - def neighbors(self, node): - return neighbors_fnct(node) + def neighbors(self, node) -> Iterable[U]: + return neighbors_fnct(node) # type: ignore - def is_goal_reached(self, current, goal): - return is_goal_reached_fnct(current, goal) + def is_goal_reached(self, current, goal) -> bool: + return is_goal_reached_fnct(current, goal) # type: ignore return FindPath().astar(start, goal, reversePath) diff --git a/poetry.lock b/poetry.lock index cd99005..9529877 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry and should not be changed by hand. +# This file is automatically @generated by Poetry 1.4.2 and should not be changed by hand. 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