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Merge pull request Project-OSRM#5894 from xlaussel/avoid_samelookup_i…
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…n_heap_map

Avoid samelookup in heap map
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@akashihi
akashihi authored Dec 20, 2020
2 parents 6bf68fb + 89a9bc9 commit eb1d399
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Showing 7 changed files with 293 additions and 237 deletions.
55 changes: 28 additions & 27 deletions include/engine/routing_algorithms/routing_base_ch.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -24,21 +24,21 @@ namespace ch
// Stalling
template <bool DIRECTION, typename HeapT>
bool stallAtNode(const DataFacade<Algorithm> &facade,
const NodeID node,
const EdgeWeight weight,
const typename HeapT::HeapNode &heapNode,
const HeapT &query_heap)
{
for (auto edge : facade.GetAdjacentEdgeRange(node))
for (auto edge : facade.GetAdjacentEdgeRange(heapNode.node))
{
const auto &data = facade.GetEdgeData(edge);
if (DIRECTION == REVERSE_DIRECTION ? data.forward : data.backward)
{
const NodeID to = facade.GetTarget(edge);
const EdgeWeight edge_weight = data.weight;
BOOST_ASSERT_MSG(edge_weight > 0, "edge_weight invalid");
if (query_heap.WasInserted(to))
const auto toHeapNode = query_heap.GetHeapNodeIfWasInserted(to);
if (toHeapNode)
{
if (query_heap.GetKey(to) + edge_weight < weight)
if (toHeapNode->weight + edge_weight < heapNode.weight)
{
return true;
}
Expand All @@ -50,11 +50,10 @@ bool stallAtNode(const DataFacade<Algorithm> &facade,

template <bool DIRECTION>
void relaxOutgoingEdges(const DataFacade<Algorithm> &facade,
const NodeID node,
const EdgeWeight weight,
const SearchEngineData<Algorithm>::QueryHeap::HeapNode &heapNode,
SearchEngineData<Algorithm>::QueryHeap &heap)
{
for (const auto edge : facade.GetAdjacentEdgeRange(node))
for (const auto edge : facade.GetAdjacentEdgeRange(heapNode.node))
{
const auto &data = facade.GetEdgeData(edge);
if (DIRECTION == FORWARD_DIRECTION ? data.forward : data.backward)
Expand All @@ -63,19 +62,21 @@ void relaxOutgoingEdges(const DataFacade<Algorithm> &facade,
const EdgeWeight edge_weight = data.weight;

BOOST_ASSERT_MSG(edge_weight > 0, "edge_weight invalid");
const EdgeWeight to_weight = weight + edge_weight;
const EdgeWeight to_weight = heapNode.weight + edge_weight;

const auto toHeapNode = heap.GetHeapNodeIfWasInserted(to);
// New Node discovered -> Add to Heap + Node Info Storage
if (!heap.WasInserted(to))
if (!toHeapNode)
{
heap.Insert(to, to_weight, node);
heap.Insert(to, to_weight, heapNode.node);
}
// Found a shorter Path -> Update weight
else if (to_weight < heap.GetKey(to))
else if (to_weight < toHeapNode->weight)
{
// new parent
heap.GetData(to).parent = node;
heap.DecreaseKey(to, to_weight);
toHeapNode->data.parent = heapNode.node;
toHeapNode->weight = to_weight;
heap.DecreaseKey(*toHeapNode);
}
}
}
Expand Down Expand Up @@ -122,35 +123,35 @@ void routingStep(const DataFacade<Algorithm> &facade,
const bool force_loop_forward,
const bool force_loop_reverse)
{
const NodeID node = forward_heap.DeleteMin();
const EdgeWeight weight = forward_heap.GetKey(node);
auto heapNode = forward_heap.DeleteMinGetHeapNode();
const auto reverseHeapNode = reverse_heap.GetHeapNodeIfWasInserted(heapNode.node);

if (reverse_heap.WasInserted(node))
if (reverseHeapNode)
{
const EdgeWeight new_weight = reverse_heap.GetKey(node) + weight;
const EdgeWeight new_weight = reverseHeapNode->weight + heapNode.weight;
if (new_weight < upper_bound)
{
// if loops are forced, they are so at the source
if ((force_loop_forward && forward_heap.GetData(node).parent == node) ||
(force_loop_reverse && reverse_heap.GetData(node).parent == node) ||
if ((force_loop_forward && heapNode.data.parent == heapNode.node) ||
(force_loop_reverse && reverseHeapNode->data.parent == heapNode.node) ||
// in this case we are looking at a bi-directional way where the source
// and target phantom are on the same edge based node
new_weight < 0)
{
// check whether there is a loop present at the node
for (const auto edge : facade.GetAdjacentEdgeRange(node))
for (const auto edge : facade.GetAdjacentEdgeRange(heapNode.node))
{
const auto &data = facade.GetEdgeData(edge);
if (DIRECTION == FORWARD_DIRECTION ? data.forward : data.backward)
{
const NodeID to = facade.GetTarget(edge);
if (to == node)
if (to == heapNode.node)
{
const EdgeWeight edge_weight = data.weight;
const EdgeWeight loop_weight = new_weight + edge_weight;
if (loop_weight >= 0 && loop_weight < upper_bound)
{
middle_node_id = node;
middle_node_id = heapNode.node;
upper_bound = loop_weight;
}
}
Expand All @@ -161,7 +162,7 @@ void routingStep(const DataFacade<Algorithm> &facade,
{
BOOST_ASSERT(new_weight >= 0);

middle_node_id = node;
middle_node_id = heapNode.node;
upper_bound = new_weight;
}
}
Expand All @@ -170,19 +171,19 @@ void routingStep(const DataFacade<Algorithm> &facade,
// make sure we don't terminate too early if we initialize the weight
// for the nodes in the forward heap with the forward/reverse offset
BOOST_ASSERT(min_edge_offset <= 0);
if (weight + min_edge_offset > upper_bound)
if (heapNode.weight + min_edge_offset > upper_bound)
{
forward_heap.DeleteAll();
return;
}

// Stalling
if (STALLING && stallAtNode<DIRECTION>(facade, node, weight, forward_heap))
if (STALLING && stallAtNode<DIRECTION>(facade, heapNode, forward_heap))
{
return;
}

relaxOutgoingEdges<DIRECTION>(facade, node, weight, forward_heap);
relaxOutgoingEdges<DIRECTION>(facade, heapNode, forward_heap);
}

template <bool UseDuration>
Expand Down
90 changes: 49 additions & 41 deletions include/engine/routing_algorithms/routing_base_mld.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -228,40 +228,42 @@ retrievePackedPathFromHeap(const SearchEngineData<Algorithm>::QueryHeap &forward
template <bool DIRECTION, typename Algorithm, typename... Args>
void relaxOutgoingEdges(const DataFacade<Algorithm> &facade,
typename SearchEngineData<Algorithm>::QueryHeap &forward_heap,
const NodeID node,
const EdgeWeight weight,
const typename SearchEngineData<Algorithm>::QueryHeap::HeapNode &heapNode,
Args... args)
{
const auto &partition = facade.GetMultiLevelPartition();
const auto &cells = facade.GetCellStorage();
const auto &metric = facade.GetCellMetric();

const auto level = getNodeQueryLevel(partition, node, args...);
const auto level = getNodeQueryLevel(partition, heapNode.node, args...);

if (level >= 1 && !forward_heap.GetData(node).from_clique_arc)
if (level >= 1 && !heapNode.data.from_clique_arc)
{
if (DIRECTION == FORWARD_DIRECTION)
{
// Shortcuts in forward direction
const auto &cell = cells.GetCell(metric, level, partition.GetCell(level, node));
const auto &cell =
cells.GetCell(metric, level, partition.GetCell(level, heapNode.node));
auto destination = cell.GetDestinationNodes().begin();
for (auto shortcut_weight : cell.GetOutWeight(node))
for (auto shortcut_weight : cell.GetOutWeight(heapNode.node))
{
BOOST_ASSERT(destination != cell.GetDestinationNodes().end());
const NodeID to = *destination;

if (shortcut_weight != INVALID_EDGE_WEIGHT && node != to)
if (shortcut_weight != INVALID_EDGE_WEIGHT && heapNode.node != to)
{
const EdgeWeight to_weight = weight + shortcut_weight;
BOOST_ASSERT(to_weight >= weight);
if (!forward_heap.WasInserted(to))
const EdgeWeight to_weight = heapNode.weight + shortcut_weight;
BOOST_ASSERT(to_weight >= heapNode.weight);
const auto toHeapNode = forward_heap.GetHeapNodeIfWasInserted(to);
if (!toHeapNode)
{
forward_heap.Insert(to, to_weight, {node, true});
forward_heap.Insert(to, to_weight, {heapNode.node, true});
}
else if (to_weight < forward_heap.GetKey(to))
else if (to_weight < toHeapNode->weight)
{
forward_heap.GetData(to) = {node, true};
forward_heap.DecreaseKey(to, to_weight);
toHeapNode->data = {heapNode.node, true};
toHeapNode->weight = to_weight;
forward_heap.DecreaseKey(*toHeapNode);
}
}
++destination;
Expand All @@ -270,25 +272,28 @@ void relaxOutgoingEdges(const DataFacade<Algorithm> &facade,
else
{
// Shortcuts in backward direction
const auto &cell = cells.GetCell(metric, level, partition.GetCell(level, node));
const auto &cell =
cells.GetCell(metric, level, partition.GetCell(level, heapNode.node));
auto source = cell.GetSourceNodes().begin();
for (auto shortcut_weight : cell.GetInWeight(node))
for (auto shortcut_weight : cell.GetInWeight(heapNode.node))
{
BOOST_ASSERT(source != cell.GetSourceNodes().end());
const NodeID to = *source;

if (shortcut_weight != INVALID_EDGE_WEIGHT && node != to)
if (shortcut_weight != INVALID_EDGE_WEIGHT && heapNode.node != to)
{
const EdgeWeight to_weight = weight + shortcut_weight;
BOOST_ASSERT(to_weight >= weight);
if (!forward_heap.WasInserted(to))
const EdgeWeight to_weight = heapNode.weight + shortcut_weight;
BOOST_ASSERT(to_weight >= heapNode.weight);
const auto toHeapNode = forward_heap.GetHeapNodeIfWasInserted(to);
if (!toHeapNode)
{
forward_heap.Insert(to, to_weight, {node, true});
forward_heap.Insert(to, to_weight, {heapNode.node, true});
}
else if (to_weight < forward_heap.GetKey(to))
else if (to_weight < toHeapNode->weight)
{
forward_heap.GetData(to) = {node, true};
forward_heap.DecreaseKey(to, to_weight);
toHeapNode->data = {heapNode.node, true};
toHeapNode->weight = to_weight;
forward_heap.DecreaseKey(*toHeapNode);
}
}
++source;
Expand All @@ -297,7 +302,7 @@ void relaxOutgoingEdges(const DataFacade<Algorithm> &facade,
}

// Boundary edges
for (const auto edge : facade.GetBorderEdgeRange(level, node))
for (const auto edge : facade.GetBorderEdgeRange(level, heapNode.node))
{
const auto &edge_data = facade.GetEdgeData(edge);

Expand All @@ -310,21 +315,23 @@ void relaxOutgoingEdges(const DataFacade<Algorithm> &facade,
checkParentCellRestriction(partition.GetCell(level + 1, to), args...))
{
const auto node_weight =
facade.GetNodeWeight(DIRECTION == FORWARD_DIRECTION ? node : to);
facade.GetNodeWeight(DIRECTION == FORWARD_DIRECTION ? heapNode.node : to);
const auto turn_penalty = facade.GetWeightPenaltyForEdgeID(edge_data.turn_id);

// TODO: BOOST_ASSERT(edge_data.weight == node_weight + turn_penalty);

const EdgeWeight to_weight = weight + node_weight + turn_penalty;
const EdgeWeight to_weight = heapNode.weight + node_weight + turn_penalty;

if (!forward_heap.WasInserted(to))
const auto toHeapNode = forward_heap.GetHeapNodeIfWasInserted(to);
if (!toHeapNode)
{
forward_heap.Insert(to, to_weight, {node, false});
forward_heap.Insert(to, to_weight, {heapNode.node, false});
}
else if (to_weight < forward_heap.GetKey(to))
else if (to_weight < toHeapNode->weight)
{
forward_heap.GetData(to) = {node, false};
forward_heap.DecreaseKey(to, to_weight);
toHeapNode->data = {heapNode.node, false};
toHeapNode->weight = to_weight;
forward_heap.DecreaseKey(*toHeapNode);
}
}
}
Expand All @@ -341,34 +348,35 @@ void routingStep(const DataFacade<Algorithm> &facade,
const bool force_loop_reverse,
Args... args)
{
const auto node = forward_heap.DeleteMin();
const auto weight = forward_heap.GetKey(node);
const auto heapNode = forward_heap.DeleteMinGetHeapNode();
const auto weight = heapNode.weight;

BOOST_ASSERT(!facade.ExcludeNode(node));
BOOST_ASSERT(!facade.ExcludeNode(heapNode.node));

// Upper bound for the path source -> target with
// weight(source -> node) = weight weight(to -> target) ≤ reverse_weight
// is weight + reverse_weight
// More tighter upper bound requires additional condition reverse_heap.WasRemoved(to)
// with weight(to -> target) = reverse_weight and all weights ≥ 0
if (reverse_heap.WasInserted(node))
const auto reverseHeapNode = reverse_heap.GetHeapNodeIfWasInserted(heapNode.node);
if (reverseHeapNode)
{
auto reverse_weight = reverse_heap.GetKey(node);
auto reverse_weight = reverseHeapNode->weight;
auto path_weight = weight + reverse_weight;

// MLD uses loops forcing only to prune single node paths in forward and/or
// backward direction (there is no need to force loops in MLD but in CH)
if (!(force_loop_forward && forward_heap.GetData(node).parent == node) &&
!(force_loop_reverse && reverse_heap.GetData(node).parent == node) &&
if (!(force_loop_forward && heapNode.data.parent == heapNode.node) &&
!(force_loop_reverse && reverseHeapNode->data.parent == heapNode.node) &&
(path_weight >= 0) && (path_weight < path_upper_bound))
{
middle_node = node;
middle_node = heapNode.node;
path_upper_bound = path_weight;
}
}

// Relax outgoing edges from node
relaxOutgoingEdges<DIRECTION>(facade, forward_heap, node, weight, args...);
relaxOutgoingEdges<DIRECTION>(facade, forward_heap, heapNode, args...);
}

// With (s, middle, t) we trace back the paths middle -> s and middle -> t.
Expand Down
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