feat([optimization]): add optimize option

calmapf/include/instance.hpp

@@ -11,7 +11,7 @@ struct Instance {
   Graph graph;                    // graph
   Config starts;                  // initial configuration
   Config goals;                   // goal configuration, can be in warehouse block/cache block
-  Config garbages;               // old goal configuration, used for trash collection
+  Config garbages;                // old goal configuration, used for trash collection
   Config cargo_goals;             // cargo goal configuration
   std::vector<uint> cargo_cnts;   // each cargo cnts, help variable for cargo_steps
   std::vector<uint> cargo_steps;  // each cargo steps 

calmapf/include/parser.hpp

@@ -49,6 +49,9 @@ struct Parser {
     // Logger
     std::shared_ptr<spdlog::logger> parser_console;
 
+    // Optimize
+    bool optimization;
+
     Parser(int argc, char* argv[]);
     void _post_parse();
     void _check();

calmapf/src/instance.cpp

@@ -88,7 +88,7 @@ uint Instance::update_on_reaching_goals_with_cache(
           j, *cargo_goals[j], *goals[j]);
         bit_status[j] = 6;
         assert(graph.cache->update_cargo_from_cache(cargo_goals[j], goals[j]));
-        // Update goals and steps
+        // Update goals
         goals[j] = graph.unloading_ports[cargo_goals[j]->group];
       }
       // Status 4 finished. ==> Status 6
@@ -101,7 +101,7 @@ uint Instance::update_on_reaching_goals_with_cache(
           j, *cargo_goals[j], *goals[j]);
         bit_status[j] = 6;
         assert(graph.cache->update_cargo_into_cache(cargo_goals[j], goals[j]));
-        // Update goals and steps
+        // Update goals
         goals[j] = graph.unloading_ports[cargo_goals[j]->group];
       }
     }
@@ -115,15 +115,16 @@ uint Instance::update_on_reaching_goals_with_cache(
         // Agent has moved to warehouse cargo target
         CacheAccessResult result = graph.cache->try_insert_cache(cargo_goals[j], graph.unloading_ports[agent_group[j]]);
         // Cache is full, directly get back to unloading port.
-        // ==> Status 6
+        // ==> Status 5
         if (!result.result) {
           instance_console->debug(
             "Agent {} status 1 -> status 5, reach warehouse cargo {}, cache "
             "is full, go back to unloading port",
             j, *cargo_goals[j]);
           bit_status[j] = 5;
         }
-        // Find empty cache block, go and insert cargo into cache, -> Status 5
+        // Find empty cache block, go and insert cargo into cache.
+        // ==> Status 4
         else {
           instance_console->debug(
             "Agent {} status 1 -> status 4, reach warehouse cargo {}, find "
@@ -224,16 +225,17 @@ uint Instance::update_on_reaching_goals_with_cache(
       // Agent has yet not back to unloading port, we check if there is an empty
       // cache block to insert
       else {
-        CacheAccessResult result = graph.cache->try_insert_cache(cargo_goals[j], graph.unloading_ports[agent_group[j]]);
-        // Check if the cache is available during the period
-        if (result.result) {
-          instance_console->debug(
-            "Agent {} status 3 -> status 4, find cache block to insert during the moving, go to cache block {}",
-            j, *cargo_goals[j], *result.goal);
-          bit_status[j] = 4;
-          goals[j] = result.goal;
+        if (parser->optimization) {
+          CacheAccessResult result = graph.cache->try_insert_cache(cargo_goals[j], graph.unloading_ports[agent_group[j]]);
+          // Check if the cache is available during the period
+          if (result.result) {
+            instance_console->debug(
+              "Agent {} status 3 -> status 4, find cache block to insert during the moving, go to cache block {}",
+              j, *cargo_goals[j], *result.goal);
+            bit_status[j] = 4;
+            goals[j] = result.goal;
+          }
         }
-        // Otherwise, we do nothing if the cache miss
       }
     }
     else if (bit_status[j] == 6) {

calmapf/src/parser.cpp

@@ -30,6 +30,7 @@ Parser::Parser(int argc, char* argv[]) {
     program.add_argument("-vof", "--visual-output-file").help("Path to the visual output file. Defaults to './result/vis.yaml'.").default_value(std::string("./result/vis.yaml"));
     program.add_argument("-slf", "--short-log-format").help("Enable short log format. Implicitly true when set.").default_value(false).implicit_value(true);
     program.add_argument("-dl", "--debug-log").help("Enable debug logging. Implicitly true when set.").default_value(false).implicit_value(true);
+    program.add_argument("-op", "--optimize").help("Enable optimization. Enable checking empty space for cache insert while moving.").default_value(false).implicit_value(true);
 
     try {
         program.parse_known_args(argc, argv);
@@ -65,6 +66,8 @@ Parser::Parser(int argc, char* argv[]) {
     short_log_format = program.get<bool>("short-log-format");
     debug_log = program.get<bool>("debug-log");
 
+    optimization = program.get<bool>("debug-log");
+
     // Post parse
     _post_parse();
 
@@ -155,6 +158,7 @@ void Parser::_print() {
     parser_console->info("Visual file:      {}", output_visual_file);
     parser_console->info("Log short:        {}", short_log_format);
     parser_console->info("Debug:            {}", debug_log);
+    parser_console->info("Optimization:     {}", optimization);
 }
 
 // Unit test only