Optimize path finding

src/main.rs

@@ -11,6 +11,7 @@ use std::f32;
 use std::hash::{Hash, Hasher};
 use std::process::exit;
 use std::sync::RwLock;
+use std::time::{self, Instant};
 
 mod display;
 mod input;
@@ -26,7 +27,7 @@ type Polygon = geo::Polygon<f32>;
 struct Opt {
 	/// Debug-Modus aktivieren
 	#[structopt(short = "d", long = "debug")]
-	_debug: bool,
+	debug: bool,
 	/// Zwischenlösungen speichern
 	#[structopt(short = "s", long = "save")]
 	_save_intermediates: bool,
@@ -131,10 +132,14 @@ fn main() {
 		calc_time(distance(meeting_point, house), meeting_point.y())
 	);
 	
-	let mut best = dijkstra(
-		&vec![start],
-		|state| {
-			let last = &state[0];
+	// Performanzmessung
+	let mut iterations = 0;
+	let mut time = time::Duration::from_secs(0);
+	
+	let best = dijkstra(
+		&start,
+		|last| {
+			let start = Instant::now();
 			// neue Zustände
 			let mut all = vec![];
 
@@ -142,24 +147,21 @@ fn main() {
 			for &next in points
 				.iter()
 				// Ecke sollte nicht schon in Route sein
-				.filter(|&&next| !state.iter().any(|p| p.pos == next))
+				//.filter(|&&next| !state.iter().any(|p| p.pos == next))
 				// Weg zu dieser Ecke sollte kein Polygon schneiden
 				.filter(|&&next| none_intersect(Line::new(last.pos, next)))
 			{
 				// Lisa könnte zu dieser Ecke rennen
 				let total_distance = last.total_distance + distance(last.pos, next);
 				let bus = best_bus_pos(&opt, total_distance, next);
-				let mut route = state.clone();
-				route.insert(
-					0,
-					RunState {
-						pos: next,
-						bus,
-						total_distance,
-					},
-				);
-				assert!(last.bus >= bus);
-				all.push((route, ((last.bus - bus) * 1000.0) as u32));
+				let new = RunState {
+					pos: next,
+					bus,
+					total_distance,
+				};
+				//eprintln!("{:?} -> {:?} {:?} {:?}", last.pos, new.pos, last.bus, bus);
+				debug_assert!((last.bus - bus) > -0.01);
+				all.push((new, ((last.bus - bus) * 1000.0) as u32));
 			}
 			// versuche, direkt zum Bus zu gehen
 			// Lisa trifft Bus in einem bestimmten Winkel (meist 60°)
@@ -173,26 +175,26 @@ fn main() {
 				let line_length = line.end_point().euclidean_distance(&line.start_point());
 				let total_distance = last.total_distance + line_length;
 				let bus = best_bus_pos(&opt, total_distance, line.end_point());
-				let mut route = state.clone();
-				route.insert(
-					0,
-					RunState {
-						pos: next,
-						bus,
-						total_distance,
-					},
-				);
-				all.push((route, 0));
+				let new = RunState {
+					pos: next,
+					bus,
+					total_distance,
+				};
+				all.push((new, 0));
 			}
+			iterations += 1;
+			time += Instant::now() - start;
 			// neu gefundene Routen speichern
 			all
 		},
-		|node| node[0].pos.x() == 0.0,
+		|node| node.pos.x() == 0.0,
 	)
-	.map(|x| (x.0).last().cloned())
-	.unwrap()
-	.unwrap();
-	best.reverse();
+	.unwrap().0;
+	//best.reverse();
+
+	if opt.debug {
+		eprintln!("{}us/iteration ({} iterations)", time.as_micros() / iterations, iterations)
+	}
 
 	// beste Lösung ausgeben
 	eprintln!("Finale Lösung:");