root/tags/release-1.0-beta/astar.c

/*
 * A* Shortest path algorithm for PostgreSQL
 *
 * Copyright (c) 2006 Anton A. Patrushev, Orkney, Inc.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 */

#include "postgres.h"
#include "executor/spi.h"
#include "funcapi.h"

#include <stdio.h>
#include <stdlib.h>
#include <search.h>

#include "astar.h"

//-------------------------------------------------------------------------

/*
 * Define this to have profiling enabled
 */
//#define PROFILE

#ifdef PROFILE
#include <sys/time.h>

struct timeval prof_astar, prof_store, prof_extract, prof_total;
long proftime[5];
long profipts1, profipts2, profopts;

#define profstart(x) do { gettimeofday(&x, NULL); } while (0);
#define profstop(n, x) do { struct timeval _profstop;   \
        long _proftime;                         \
        gettimeofday(&_profstop, NULL);                         \
        _proftime = ( _profstop.tv_sec*1000000+_profstop.tv_usec) -     \
                ( x.tv_sec*1000000+x.tv_usec); \
        elog(NOTICE, \
                "PRF(%s) %lu (%f ms)", \
                (n), \
             _proftime, _proftime / 1000.0);    \
        } while (0);

#else

#define profstart(x) do { } while (0);
#define profstop(n, x) do { } while (0);

#endif // PROFILE


//-------------------------------------------------------------------------

Datum shortest_path_astar(PG_FUNCTION_ARGS);

#undef DEBUG
//#define DEBUG 1

#ifdef DEBUG
#define DBG(format, arg...)                     \
    elog(NOTICE, format , ## arg)
#else
#define DBG(format, arg...) do { ; } while (0)
#endif

// The number of tuples to fetch from the SPI cursor at each iteration
#define TUPLIMIT 1000

static char *
text2char(text *in)
{
  char *out = palloc(VARSIZE(in));

  memcpy(out, VARDATA(in), VARSIZE(in) - VARHDRSZ);
  out[VARSIZE(in) - VARHDRSZ] = '\0';
  return out;
}

static int 
finish(int code, int ret)
{
  code = SPI_finish();
  if (code  != SPI_OK_FINISH )
    {
      elog(ERROR,"couldn't disconnect from SPI");
      return -1 ;
    }
  
  return ret;
}
  
typedef struct edge_astar_columns 
{
  int id;
  int source;
  int target;
  int cost;
  int reverse_cost;
  int s_x;
  int s_y;
  int t_x;
  int t_y;
} edge_astar_columns_t;

static int
fetch_edge_astar_columns(SPITupleTable *tuptable, 
                         edge_astar_columns_t *edge_columns, 
                         bool has_reverse_cost)
{
  edge_columns->id = SPI_fnumber(SPI_tuptable->tupdesc, "id");
  edge_columns->source = SPI_fnumber(SPI_tuptable->tupdesc, "source");
  edge_columns->target = SPI_fnumber(SPI_tuptable->tupdesc, "target");
  edge_columns->cost = SPI_fnumber(SPI_tuptable->tupdesc, "cost");
  if (edge_columns->id == SPI_ERROR_NOATTRIBUTE ||
      edge_columns->source == SPI_ERROR_NOATTRIBUTE ||
      edge_columns->target == SPI_ERROR_NOATTRIBUTE ||
      edge_columns->cost == SPI_ERROR_NOATTRIBUTE) 
    {
      elog(ERROR, "Error, query must return columns "
           "'id', 'source', 'target' and 'cost'");
      return -1;
    }

  if (SPI_gettypeid(SPI_tuptable->tupdesc, 
                    edge_columns->source) != INT4OID ||
      SPI_gettypeid(SPI_tuptable->tupdesc, 
                    edge_columns->target) != INT4OID ||
      SPI_gettypeid(SPI_tuptable->tupdesc, edge_columns->cost) != FLOAT8OID) 
    {
      elog(ERROR, "Error, columns 'source', 'target' must be of type int4, "
           "'cost' must be of type float8");
      return -1;
    }

  DBG("columns: id %i source %i target %i cost %i", 
      edge_columns->id, edge_columns->source, 
      edge_columns->target, edge_columns->cost);

  if (has_reverse_cost)
    {
      edge_columns->reverse_cost = SPI_fnumber(SPI_tuptable->tupdesc, 
                                               "reverse_cost");

      if (edge_columns->reverse_cost == SPI_ERROR_NOATTRIBUTE) 
        {
          elog(ERROR, "Error, reverse_cost is used, but query did't return "
               "'reverse_cost' column");
          return -1;
        }

      if (SPI_gettypeid(SPI_tuptable->tupdesc, 
                        edge_columns->reverse_cost) != FLOAT8OID) 
        {
          elog(ERROR, "Error, columns 'reverse_cost' must be of type float8");
          return -1;
        }

      DBG("columns: reverse_cost cost %i", edge_columns->reverse_cost);
    }

  edge_columns->s_x = SPI_fnumber(SPI_tuptable->tupdesc, "x1");
  edge_columns->s_y = SPI_fnumber(SPI_tuptable->tupdesc, "y1");
  edge_columns->t_x = SPI_fnumber(SPI_tuptable->tupdesc, "x2");
  edge_columns->t_y = SPI_fnumber(SPI_tuptable->tupdesc, "y2");

  if (edge_columns->s_x == SPI_ERROR_NOATTRIBUTE ||
      edge_columns->s_y == SPI_ERROR_NOATTRIBUTE ||
      edge_columns->t_x == SPI_ERROR_NOATTRIBUTE ||
      edge_columns->t_y == SPI_ERROR_NOATTRIBUTE) 
    {
      elog(ERROR, "Error, query must return columns "
           "'x1', 'x2', 'y1' and 'y2'");
      return -1;
    }

  DBG("columns: x1 %i y1 %i x2 %i y2 %i", 
      edge_columns->s_x, edge_columns->s_y,
      edge_columns->t_x,edge_columns->t_y);
    
  return 0;
}

static void
fetch_edge_astar(HeapTuple *tuple, TupleDesc *tupdesc, 
                 edge_astar_columns_t *edge_columns, 
                 edge_astar_t *target_edge)
{
  Datum binval;
  bool isnull;

  binval = SPI_getbinval(*tuple, *tupdesc, edge_columns->id, &isnull);
  if (isnull)
    elog(ERROR, "id contains a null value");
  target_edge->id = DatumGetInt32(binval);

  binval = SPI_getbinval(*tuple, *tupdesc, edge_columns->source, &isnull);
  if (isnull)
    elog(ERROR, "source contains a null value");
  target_edge->source = DatumGetInt32(binval);

  binval = SPI_getbinval(*tuple, *tupdesc, edge_columns->target, &isnull);
  if (isnull)
    elog(ERROR, "target contains a null value");
  target_edge->target = DatumGetInt32(binval);

  binval = SPI_getbinval(*tuple, *tupdesc, edge_columns->cost, &isnull);
  if (isnull)
    elog(ERROR, "cost contains a null value");
  target_edge->cost = DatumGetFloat8(binval);

  if (edge_columns->reverse_cost != -1) 
    {
      binval = SPI_getbinval(*tuple, *tupdesc, 
                             edge_columns->reverse_cost, &isnull);
      if (isnull)
        elog(ERROR, "reverse_cost contains a null value");
      target_edge->reverse_cost =  DatumGetFloat8(binval);
    }

  binval = SPI_getbinval(*tuple, *tupdesc, edge_columns->s_x, &isnull);
  if (isnull)
    elog(ERROR, "source x contains a null value");
  target_edge->s_x = DatumGetFloat8(binval);

  binval = SPI_getbinval(*tuple, *tupdesc, edge_columns->s_y, &isnull);
  if (isnull)
    elog(ERROR, "source y contains a null value");
  target_edge->s_y = DatumGetFloat8(binval);
  
  binval = SPI_getbinval(*tuple, *tupdesc, edge_columns->t_x, &isnull);
  if (isnull)
    elog(ERROR, "target x contains a null value");
  target_edge->t_x = DatumGetFloat8(binval);
  
  binval = SPI_getbinval(*tuple, *tupdesc, edge_columns->t_y, &isnull);
  if (isnull)
    elog(ERROR, "target y contains a null value");
  target_edge->t_y = DatumGetFloat8(binval);
}


static int compute_shortest_path_astar(char* sql, int source_vertex_id, 
                                       int target_vertex_id, bool directed, 
                                       bool has_reverse_cost, 
                                       path_element_t **path, int *path_count) 
{
  
  int SPIcode;
  void *SPIplan;
  Portal SPIportal;
  bool moredata = TRUE;
  int ntuples;
  edge_astar_t *edges = NULL;
  int total_tuples = 0;
  
  int v_max_id=0;
  int v_min_id=INT_MAX;  
    
  edge_astar_columns_t edge_columns = {id: -1, source: -1, target: -1, 
                                       cost: -1, reverse_cost: -1, 
                                       s_x: -1, s_y: -1, t_x: -1, t_y: -1};
  char *err_msg;
  int ret = -1;
  register int z;
  
  int s_count=0;
  int t_count=0;
  
  struct vItem
  {
    int id;
    int key;
  };
  
  DBG("start shortest_path_astar\n");
        
  SPIcode = SPI_connect();
  if (SPIcode  != SPI_OK_CONNECT)
    {
      elog(ERROR, "shortest_path_astar: couldn't open a connection to SPI");
      return -1;
    }

  SPIplan = SPI_prepare(sql, 0, NULL);
  if (SPIplan  == NULL)
    {
      elog(ERROR, "shortest_path_astar: couldn't create query plan via SPI");
      return -1;
    }

  if ((SPIportal = SPI_cursor_open(NULL, SPIplan, NULL, NULL, true)) == NULL) 
    {
      elog(ERROR, "shortest_path_astar: SPI_cursor_open('%s') returns NULL", 
           sql);
      return -1;
    }

  while (moredata == TRUE)
    {
      SPI_cursor_fetch(SPIportal, TRUE, TUPLIMIT);

      if (edge_columns.id == -1) 
        {
          if (fetch_edge_astar_columns(SPI_tuptable, &edge_columns, 
                                       has_reverse_cost) == -1)
            return finish(SPIcode, ret);
        }

      ntuples = SPI_processed;
      total_tuples += ntuples;
      if (!edges)
        edges = palloc(total_tuples * sizeof(edge_astar_t));
      else
        edges = repalloc(edges, total_tuples * sizeof(edge_astar_t));

      if (edges == NULL) 
        {
          elog(ERROR, "Out of memory");
          return finish(SPIcode, ret);
        }

      if (ntuples > 0) 
        {
          int t;
          SPITupleTable *tuptable = SPI_tuptable;
          TupleDesc tupdesc = SPI_tuptable->tupdesc;
          
          for (t = 0; t < ntuples; t++) 
            {
              HeapTuple tuple = tuptable->vals[t];
              fetch_edge_astar(&tuple, &tupdesc, &edge_columns, 
                               &edges[total_tuples - ntuples + t]);
            }
          SPI_freetuptable(tuptable);
        } 
      else 
        {
          moredata = FALSE;
        }
    }
    
  //defining min and max vertex id
      
  DBG("Total %i tuples", total_tuples);
    
  for(z=0; z<total_tuples; z++)
  {
    if(edges[z].source<v_min_id)
    v_min_id=edges[z].source;
  
    if(edges[z].source>v_max_id)
      v_max_id=edges[z].source;
                                    
    if(edges[z].target<v_min_id)
      v_min_id=edges[z].target;

    if(edges[z].target>v_max_id)
      v_max_id=edges[z].target;      
                                                                        
    DBG("%i <-> %i", v_min_id, v_max_id);
                                                                
  }

  //::::::::::::::::::::::::::::::::::::  
  //:: reducing vertex id (renumbering)
  //::::::::::::::::::::::::::::::::::::
  for(z=0; z<total_tuples; z++)
  {

    //check if edges[] contains source and target
    if(edges[z].source == source_vertex_id || 
       edges[z].target == source_vertex_id)
      ++s_count;
    if(edges[z].source == target_vertex_id || 
       edges[z].target == target_vertex_id)
      ++t_count;

    edges[z].source-=v_min_id;
    edges[z].target-=v_min_id;
    DBG("%i - %i", edges[z].source, edges[z].target);
                                                                

  }
    
  DBG("Total %i tuples", total_tuples);

  if(s_count == 0)
  {
    elog(ERROR, "Start vertex was not found.");
    return -1;
  }
              
  if(t_count == 0)
  {
    elog(ERROR, "Target vertex was not found.");
    return -1;
  }
                            
  DBG("Total %i tuples", total_tuples);

  profstop("extract", prof_extract);
  profstart(prof_astar);
  
  DBG("Calling boost_astar <%i>\n", total_tuples);
    
  ret = boost_astar(edges, total_tuples, source_vertex_id-v_min_id, 
                    target_vertex_id-v_min_id,
                    directed, has_reverse_cost,
                    path, path_count, &err_msg);

  DBG("SIZE %i\n",*path_count);

  DBG("ret =  %i\n",ret);
  
  //::::::::::::::::::::::::::::::::
  //:: restoring original vertex id
  //::::::::::::::::::::::::::::::::
  for(z=0;z<*path_count;z++)
  {
    //DBG("vetex %i\n",(*path)[z].vertex_id);
    (*path)[z].vertex_id+=v_min_id;
  }  

  profstop("astar", prof_astar);
  profstart(prof_store);

  if (ret < 0)
    {
      //elog(ERROR, "Error computing path: %s", err_msg);
      ereport(ERROR, (errcode(ERRCODE_E_R_E_CONTAINING_SQL_NOT_PERMITTED), 
        errmsg("Error computing path: %s", err_msg)));
    } 
  return finish(SPIcode, ret);
}


PG_FUNCTION_INFO_V1(shortest_path_astar);
Datum
shortest_path_astar(PG_FUNCTION_ARGS)
{
  FuncCallContext     *funcctx;
  int                  call_cntr;
  int                  max_calls;
  TupleDesc            tuple_desc;
  path_element_t      *path;
  
  /* stuff done only on the first call of the function */
  if (SRF_IS_FIRSTCALL())
    {
      MemoryContext   oldcontext;
      int path_count = 0;
      int ret;

      // XXX profiling messages are not thread safe
      profstart(prof_total);
      profstart(prof_extract);
      
      /* create a function context for cross-call persistence */
      funcctx = SRF_FIRSTCALL_INIT();
      
      /* switch to memory context appropriate for multiple function calls */
      oldcontext = MemoryContextSwitchTo(funcctx->multi_call_memory_ctx);


      ret = compute_shortest_path_astar(text2char(PG_GETARG_TEXT_P(0)),
                                        PG_GETARG_INT32(1),
                                        PG_GETARG_INT32(2),
                                        PG_GETARG_BOOL(3),
                                        PG_GETARG_BOOL(4), 
                                        &path, &path_count);

#ifdef DEBUG
      DBG("Ret is %i", ret);
      if (ret >= 0) 
        {
          int i;
          for (i = 0; i < path_count; i++) 
            {
              DBG("Step # %i vertex_id  %i ", i, path[i].vertex_id);
              DBG("        edge_id    %i ", path[i].edge_id);
              DBG("        cost       %f ", path[i].cost);
            }
        }
#endif

      /* total number of tuples to be returned */
      DBG("Conting tuples number\n");
      funcctx->max_calls = path_count;
      funcctx->user_fctx = path;
      
      DBG("Path count %i", path_count);
      
      funcctx->tuple_desc = 
        BlessTupleDesc(RelationNameGetTupleDesc("path_result"));

      MemoryContextSwitchTo(oldcontext);
    }

  /* stuff done on every call of the function */
  DBG("Strange stuff doing\n");

  funcctx = SRF_PERCALL_SETUP();
  
  call_cntr = funcctx->call_cntr;
  max_calls = funcctx->max_calls;
  tuple_desc = funcctx->tuple_desc;
  path = (path_element_t*) funcctx->user_fctx;
  
  DBG("Trying to allocate some memory\n");

  if (call_cntr < max_calls)    /* do when there is more left to send */
    {
      HeapTuple    tuple;
      Datum        result;
      Datum *values;
      char* nulls;
      
      DBG("Before allocation\n");

      values = palloc(3 * sizeof(Datum));
      nulls = palloc(3 * sizeof(char));
      
      DBG("After allocation\n");
      
      values[0] = Int32GetDatum(path[call_cntr].vertex_id);
      nulls[0] = ' ';
      values[1] = Int32GetDatum(path[call_cntr].edge_id);
      nulls[1] = ' ';
      values[2] = Float8GetDatum(path[call_cntr].cost);
      nulls[2] = ' ';

      DBG("Heap making\n");
      
      tuple = heap_formtuple(tuple_desc, values, nulls);
      
      DBG("Datum making\n");
      
      /* make the tuple into a datum */
      result = HeapTupleGetDatum(tuple);
      

      DBG("Trying to free some memory\n");
    
      /* clean up (this is not really necessary) */
      pfree(values);
      pfree(nulls);
      
      SRF_RETURN_NEXT(funcctx, result);
    }
  else    /* do when there is no more left */
    {
      profstop("store", prof_store);
      profstop("total", prof_total);
#ifdef PROFILE
      elog(NOTICE, "_________");
#endif
      SRF_RETURN_DONE(funcctx);
    }
}