Merge pull request #2 from open-rmf/devel

Some improvements as we polish up for release
open-rmf · May 8, 2024 · 35082be · 35082be
2 parents daed6ee + 6ad32ce
commit 35082be
Show file tree

Hide file tree

Showing 13 changed files with 172 additions and 133 deletions.
diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
@@ -16,6 +16,12 @@ jobs:
 
     steps:
     - uses: actions/checkout@v4
+    - name: Install latest nightly
+        uses: actions-rs/toolchain@v1
+        with:
+            toolchain: nightly
+            override: true
+            components: rustfmt, clippy
     - name: Build
       run: cargo build --verbose
     - name: Run tests

diff --git a/examples/benchmark.rs b/examples/benchmark.rs
@@ -1,7 +1,7 @@
 /// Benchmark
-/// 
+///
 /// This benchmark compares the speed at which we can calculate suboptimal solutions, optimal solutions using the assignment heuristic and
-/// 
+///
 use std::hint;
 use std::io::Write;
 use std::sync::atomic::AtomicBool;

diff --git a/examples/discrete_vs_nodiscrete.rs b/examples/discrete_vs_nodiscrete.rs
@@ -18,7 +18,7 @@ use rmf_reservations::database::ClockSource;
 use rmf_reservations::discretization::fixed_timestep::FixedTimestep;
 use rmf_reservations::discretization::DescretizationStrategy;
 use rmf_reservations::ReservationParameters;
-use rmf_reservations::ReservationRequest;
+use rmf_reservations::ReservationRequestAlternative;
 use rmf_reservations::StartTimeRange;
 
 #[derive(Default, Clone)]
@@ -31,12 +31,11 @@ impl ClockSource for FakeClock {
     }
 }
 
-
 fn generate_reservation_requests(
     time_range: chrono::Duration,
     alts: usize,
     reqs: usize,
-) -> (Vec<Vec<ReservationRequest>>, Vec<String>) {
+) -> (Vec<Vec<ReservationRequestAlternative>>, Vec<String>) {
     let mut result = vec![];
     let mut rng = rand::thread_rng();
 
@@ -51,7 +50,7 @@ fn generate_reservation_requests(
     for req in 0..reqs {
         let mut alternatives = vec![];
         for alternative in 0..alts {
-            let x = ReservationRequest {
+            let x = ReservationRequestAlternative {
                 parameters: ReservationParameters {
                     resource_name: resource[alternative].clone(),
                     duration: Some(Duration::minutes(200)),
@@ -70,7 +69,10 @@ fn generate_reservation_requests(
     (result, resource)
 }
 
-fn discretize(res: &Vec<Vec<ReservationRequest>>, clock_source: FakeClock) -> Vec<Vec<ReservationRequest>> {
+fn discretize(
+    res: &Vec<Vec<ReservationRequestAlternative>>,
+    clock_source: FakeClock,
+) -> Vec<Vec<ReservationRequestAlternative>> {
     let mut latest = Utc.with_ymd_and_hms(1970, 1, 1, 0, 0, 0).unwrap();
     for r in res {
         for v in r {
@@ -83,7 +85,6 @@ fn discretize(res: &Vec<Vec<ReservationRequest>>, clock_source: FakeClock) -> Ve
     remapper.discretize(res)
 }
 
-
 fn main() {
     //for x in 6..10 {
     for time_length in 2..20 {

diff --git a/readme.md b/readme.md
@@ -2,7 +2,8 @@
 
 This is a library that provides resource optimization constraints for multi-robot applications. More specifcally,
 we provide a very simple formulation for resource optimization and scheduling. A robot may request the use of a
-resource like a charger for a fixed duration of time. The system will then assign the robot to said resource.
+resource like a charger for a fixed duration of time within a given time range. The system will then assign the robot
+to said resource.
 
 At 10,000ft the library solves the following problem:
 
@@ -38,7 +39,6 @@ Alternatives:
 The requests can come in asynchronously. We can solve both optimally and suboptimally depoending on the complexity of the problem.
 
 A variety of algorithms have been implmented in this library including SAT based algorithms and greedy algorithms.
-More information can be found in the tutorial documentation.
 
 For more details take a look at the tutorial:
 

diff --git a/src/algorithms/greedy_solver.rs b/src/algorithms/greedy_solver.rs
@@ -14,7 +14,7 @@ use rand::Rng;
 
 use crate::{
     cost_function::static_cost::StaticCost, utils::multimap::UniqueMultiHashMap,
-    ReservationRequest, ReservationSchedule,
+    ReservationRequestAlternative, ReservationSchedule,
 };
 
 use super::SolverAlgorithm;
@@ -29,7 +29,7 @@ pub struct ConflictTracker {
     base_resources: Vec<String>,
     last_request_id: usize,
     resource_name_to_id: HashMap<String, usize>,
-    requests: HashMap<usize, Vec<ReservationRequest>>,
+    requests: HashMap<usize, Vec<ReservationRequestAlternative>>,
     // Maps requests by (request_id, resource_id) -> index in requests table
     request_reservation_idx: HashMap<(usize, usize), usize>,
 }
@@ -51,7 +51,10 @@ impl ConflictTracker {
     }
 
     // Requires that ReservationRequests have a well defined start time
-    pub fn request_resources(&mut self, request: Vec<ReservationRequest>) -> Option<usize> {
+    pub fn request_resources(
+        &mut self,
+        request: Vec<ReservationRequestAlternative>,
+    ) -> Option<usize> {
         let req_id = self.last_request_id;
         for r_id in 0..request.len() {
             let resource = request[r_id].parameters.resource_name.clone();
@@ -69,7 +72,7 @@ impl ConflictTracker {
     pub fn generate_literals_and_remap_requests(&self) -> Problem {
         let mut fake_resources = vec![];
         let mut fake_resource_mapping: HashMap<String, FakeResourceMetaInfo> = HashMap::new();
-        let mut fake_requests: HashMap<usize, Vec<ReservationRequest>> = HashMap::new();
+        let mut fake_requests: HashMap<usize, Vec<ReservationRequestAlternative>> = HashMap::new();
 
         let mut id_to_res = HashMap::new();
         let mut res_to_id = HashMap::new();
@@ -278,7 +281,7 @@ pub struct Problem {
     res_to_id: HashMap<String, (usize, usize)>,
     id_to_res: HashMap<(usize, usize), String>,
     conflict_sets: HashMap<String, HashSet<String>>,
-    fake_requests: HashMap<usize, Vec<ReservationRequest>>,
+    fake_requests: HashMap<usize, Vec<ReservationRequestAlternative>>,
 }
 
 impl Problem {
@@ -666,7 +669,7 @@ fn test_conflict_checker() {
     use crate::{cost_function::static_cost::StaticCost, ReservationParameters, StartTimeRange};
 
     let resources = vec!["station1".to_string(), "station2".to_string()];
-    let alternative1 = ReservationRequest {
+    let alternative1 = ReservationRequestAlternative {
         parameters: ReservationParameters {
             resource_name: resources[0].clone(),
             start_time: StartTimeRange {
@@ -678,7 +681,7 @@ fn test_conflict_checker() {
         cost_function: Arc::new(StaticCost::new(3.0)),
     };
 
-    let alternative2 = ReservationRequest {
+    let alternative2 = ReservationRequestAlternative {
         parameters: ReservationParameters {
             resource_name: resources[1].clone(),
             start_time: StartTimeRange {
@@ -690,7 +693,7 @@ fn test_conflict_checker() {
         cost_function: Arc::new(StaticCost::new(6.0)),
     };
 
-    let alternative1_cheaper = ReservationRequest {
+    let alternative1_cheaper = ReservationRequestAlternative {
         parameters: ReservationParameters {
             resource_name: resources[0].clone(),
             start_time: StartTimeRange {
@@ -719,7 +722,7 @@ fn test_conflict_checker() {
     assert!((solution.cost.0 - 8.0).abs() < 1.0);
 }
 
-fn validate_optimal_solution(soln: &(Vec<Vec<ReservationRequest>>, Vec<String>)) {}
+fn validate_optimal_solution(soln: &(Vec<Vec<ReservationRequestAlternative>>, Vec<String>)) {}
 
 #[cfg(test)]
 #[test]

diff --git a/src/algorithms/kuhn_munkres.rs b/src/algorithms/kuhn_munkres.rs
@@ -8,7 +8,7 @@ use ordered_float::OrderedFloat;
 use pathfinding::{kuhn_munkres, prelude::Weights};
 use term_table::{row::Row, table_cell::TableCell, Table};
 
-use crate::{ReservationParameters, ReservationRequest, StartTimeRange};
+use crate::{ReservationParameters, ReservationRequestAlternative, StartTimeRange};
 
 struct SparseAxisMasker {
     masked_idx_remapping: Vec<Option<usize>>,
@@ -100,7 +100,7 @@ fn test_sparse_axis_masker() {
 pub struct ReservationsKuhnMunkres {
     resources: Vec<String>,
     resource_name_to_id: HashMap<String, usize>,
-    requests: HashMap<usize, Vec<ReservationRequest>>,
+    requests: HashMap<usize, Vec<ReservationRequestAlternative>>,
     // Maps requests by (request_id, resource_id) -> index in requests table
     request_reservation_idx: HashMap<(usize, usize), usize>,
     last_request_id: usize,
@@ -196,7 +196,10 @@ impl ReservationsKuhnMunkres {
         }
     }
 
-    pub fn request_resources(&mut self, request: Vec<ReservationRequest>) -> Option<usize> {
+    pub fn request_resources(
+        &mut self,
+        request: Vec<ReservationRequestAlternative>,
+    ) -> Option<usize> {
         let req_id = self.last_request_id;
         for r_id in 0..request.len() {
             let resource = request[r_id].parameters.resource_name.clone();
@@ -309,15 +312,15 @@ fn test_kuhn_munkres_correctness() {
     let mut res_sys = ReservationsKuhnMunkres::create_with_resources(&resources);
 
     let req1 = vec![
-        ReservationRequest {
+        ReservationRequestAlternative {
             parameters: ReservationParameters {
                 resource_name: "Parking Spot 1".to_string(),
                 duration: None,
                 start_time: StartTimeRange::no_specifics(),
             },
             cost_function: Arc::new(StaticCost::new(10.0)),
         },
-        ReservationRequest {
+        ReservationRequestAlternative {
             parameters: ReservationParameters {
                 resource_name: "Parking Spot 2".to_string(),
                 duration: None,
@@ -327,15 +330,15 @@ fn test_kuhn_munkres_correctness() {
         },
     ];
     let req2 = vec![
-        ReservationRequest {
+        ReservationRequestAlternative {
             parameters: ReservationParameters {
                 resource_name: "Parking Spot 2".to_string(),
                 duration: None,
                 start_time: StartTimeRange::no_specifics(),
             },
             cost_function: Arc::new(StaticCost::new(10.0)),
         },
-        ReservationRequest {
+        ReservationRequestAlternative {
             parameters: ReservationParameters {
                 resource_name: "Parking Spot 3".to_string(),
                 duration: None,
@@ -375,15 +378,15 @@ fn test_resource_constraint() {
     let mut res_sys = ReservationsKuhnMunkres::create_with_resources(&resources);
 
     let req1 = vec![
-        ReservationRequest {
+        ReservationRequestAlternative {
             parameters: ReservationParameters {
                 resource_name: "Parking Spot 1".to_string(),
                 duration: None,
                 start_time: StartTimeRange::no_specifics(),
             },
             cost_function: Arc::new(StaticCost::new(10.0)),
         },
-        ReservationRequest {
+        ReservationRequestAlternative {
             parameters: ReservationParameters {
                 resource_name: "Parking Spot 2".to_string(),
                 duration: None,
@@ -393,15 +396,15 @@ fn test_resource_constraint() {
         },
     ];
     let req2 = vec![
-        ReservationRequest {
+        ReservationRequestAlternative {
             parameters: ReservationParameters {
                 resource_name: "Parking Spot 2".to_string(),
                 duration: None,
                 start_time: StartTimeRange::no_specifics(),
             },
             cost_function: Arc::new(StaticCost::new(10.0)),
         },
-        ReservationRequest {
+        ReservationRequestAlternative {
             parameters: ReservationParameters {
                 resource_name: "Parking Spot 3".to_string(),
                 duration: None,
@@ -443,15 +446,15 @@ fn test_rquest_constraint() {
     let mut res_sys = ReservationsKuhnMunkres::create_with_resources(&resources);
 
     let req1 = vec![
-        ReservationRequest {
+        ReservationRequestAlternative {
             parameters: ReservationParameters {
                 resource_name: "Parking Spot 1".to_string(),
                 duration: None,
                 start_time: StartTimeRange::no_specifics(),
             },
             cost_function: Arc::new(StaticCost::new(10.0)),
         },
-        ReservationRequest {
+        ReservationRequestAlternative {
             parameters: ReservationParameters {
                 resource_name: "Parking Spot 2".to_string(),
                 duration: None,
@@ -461,15 +464,15 @@ fn test_rquest_constraint() {
         },
     ];
     let req2 = vec![
-        ReservationRequest {
+        ReservationRequestAlternative {
             parameters: ReservationParameters {
                 resource_name: "Parking Spot 2".to_string(),
                 duration: None,
                 start_time: StartTimeRange::no_specifics(),
             },
             cost_function: Arc::new(StaticCost::new(10.0)),
         },
-        ReservationRequest {
+        ReservationRequestAlternative {
             parameters: ReservationParameters {
                 resource_name: "Parking Spot 3".to_string(),
                 duration: None,

diff --git a/src/algorithms/sat.rs b/src/algorithms/sat.rs
@@ -10,7 +10,7 @@ use varisat::{ExtendFormula, Lit, Solver};
 
 use crate::{
     cost_function::{self, static_cost::StaticCost},
-    ReservationRequest,
+    ReservationRequestAlternative,
 };
 
 use super::{greedy_solver::Problem, AlgorithmState, SolverAlgorithm};
@@ -446,15 +446,15 @@ impl SATSolver {
 pub fn generate_sat_devil(
     n_resources: usize,
     n_alt: usize,
-) -> (Vec<Vec<ReservationRequest>>, Vec<String>) {
+) -> (Vec<Vec<ReservationRequestAlternative>>, Vec<String>) {
     let mut sat_devil_resources: Vec<_> = (0..n_resources).map(|i| format!("{:?}", i)).collect();
     let time_step = Duration::seconds(100);
     let start_time = Utc.with_ymd_and_hms(2014, 7, 8, 9, 10, 11).unwrap();
     let mut requests = vec![vec![]; n_resources];
 
     for i in 0..n_resources {
         for j in 0..n_alt {
-            let req = ReservationRequest {
+            let req = ReservationRequestAlternative {
                 parameters: crate::ReservationParameters {
                     resource_name: sat_devil_resources[(i + j) % n_resources].clone(),
                     duration: Some(Duration::seconds(100)),