feat(csv output): add throughput

calmapf/include/log.hpp

@@ -39,5 +39,5 @@ struct Log {
     void make_step_log(const Instance& ins, const std::string& output_name, const double comp_time_ms, const std::string& map_name, const int seed, const bool log_short = false);
     void make_life_long_log(const Instance& ins, std::string visual_name);
     void make_throughput_log(uint index, uint* start_cnt, uint make_span);
-    void make_csv_log(double cache_hit_rate, uint make_span, std::vector<uint>* step_percentiles, bool failure);
+    void make_csv_log(double cache_hit_rate, uint make_span, std::vector<uint>* step_percentiles, uint ngoals, bool failure);
 };

calmapf/src/log.cpp

@@ -304,10 +304,10 @@ void Log::make_throughput_log(uint index, uint* start_cnt, uint make_span)
   }
 }
 
-void Log::make_csv_log(double cache_hit_rate, uint make_span, std::vector<uint>* step_percentiles, bool failure)
+void Log::make_csv_log(double cache_hit_rate, uint make_span, std::vector<uint>* step_percentiles, uint ngoals, bool failure)
 {
   if (!failure) {
-    csv_output_handler << cache_hit_rate << "," << make_span << "," << (*step_percentiles)[0] << "," << (*step_percentiles)[2] << "," << (*step_percentiles)[6] << std::endl;
+    csv_output_handler << cache_hit_rate << "," << make_span << "," << (double)ngoals / (double)make_span << "," << (*step_percentiles)[0] << "," << (*step_percentiles)[2] << "," << (*step_percentiles)[6] << std::endl;
   }
   else {
     csv_output_handler << "fail to solve" << std::endl;

main.cpp

@@ -62,7 +62,7 @@ int main(int argc, char* argv[])
 
     // Failure
     if (solution.empty()) {
-      log.make_csv_log(.0, 0, nullptr, true);
+      log.make_csv_log(.0, 0, nullptr, parser.num_goals, true);
       console->error("failed to solve");
       return 1;
     }
@@ -105,7 +105,7 @@ int main(int argc, char* argv[])
   }
 
   log.make_life_long_log(ins, parser.output_visual_file);
-  log.make_csv_log(total_cache_rate, makespan, &step_percentiles, false);
+  log.make_csv_log(total_cache_rate, makespan, &step_percentiles, parser.num_goals, false);
 
   return 0;
 }

tools/experiment.py

@@ -54,7 +54,7 @@ def check_and_create_csv(output_csv_path: str):
         csv_path.parent.mkdir(parents=True, exist_ok=True)
         # Create the file and write the header
         with open(csv_path, 'w') as csv_file:
-            csv_file.write("map_name,cache,look_ahead,delay_deadline,goal_generation_type,ngoals,nagents,seed,verbose,time_limit_sec,goals_m,goals_k,cache_hit_rate,makespan,p0_steps,p50_steps,p99steps\n")
+            csv_file.write("map_name,cache,look_ahead,delay_deadline,goal_generation_type,ngoals,nagents,seed,verbose,time_limit_sec,goals_m,goals_k,cache_hit_rate,makespan,throughput,p0_steps,p50_steps,p99steps\n")
 
 def check_and_create_throughput(output_throughput_path: str):
     # Convert string path to Path object for easier handling