feat(06-04): R2 upload + A*-CPU measurement gate + the A1 ladder executed to its decision point
- upload-road-graph.mjs: wrangler-shelled maintainer tool (pre-flight 1-80MB, round-trip verify hint); bucket araharah-graphs NOT created — R2 is not yet enabled on the account (wrangler code 10042) — dashboard one-time activation is the phase's user_setup item - measure-route-cpu.mjs: 25-pair gate (corpus + seeded quadrant spread), hrtime around routeAstar, warm-up excluded, unreachable probes reported SEPARATELY from the routed p95, exits 1 over the 8ms budget - Rule 1 (measured): the class set lacked *_link ramps — the graph FRAGMENTED (7.7% of nodes in severed motorway islands; corpus pairs 'unreachable'). 5 link classes added -> 311325 nodes / 677068 edges / 14.7 MB, all landmarks in one component; enforced floor corrected 1KB -> 1MB (D-01) - ladder (a) drop tertiary+residential: p95 17.8ms but 12/25 pairs unreachable — REJECTED on correctness (D-03), reverted, ladder history recorded - ladder (b) bidirectional A* (BH, Ikeda potentials, reverse-CSR WeakMap): provably optimal (A1 625-pair sweep green), alternation balanced by heap size (raw-top comparison starves the backward side 19501:3), reduction signs in the standard feasible form. Measured: p95 ~38-93ms — NO GATE PASS. The potential split halves each side's steering, cancelling the halved radius - GATE FAIL is the honest verdict: ladder (c) — Workers Paid vs layout-v2 ALT (still $0) vs free-plan-with-degradation — requires maintainer sign-off; docs/ROAD-GRAPH.md carries the decision table and the fork contract
This commit is contained in:
araharah-executor
@@ -70,8 +70,27 @@ const BBOX_MARGIN_DEG = 0.05;
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/** Node dedup granularity: 1e-6 deg ≈ 0.11 m — far under GPS noise. */
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const COORD_ROUND_DECIMALS = 6;
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/** drivable classes ONLY (06-RESEARCH Pitfall 1): footway/cycleway/service/
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* path are deliberately absent — a walking path must never enter a road A*. */
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const DRIVABLE_CLASSES = new Set([
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* path are deliberately absent — a walking path must never enter a road A*.
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* The *_link classes are LOAD-BEARING (measured 2026-10-24): they are the
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* interchange ramps tying motorways/trunk/primary into the surface network.
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* Without them the graph FRAGMENTS — 7.7% of nodes sat in severed motorway
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* islands and golden corpus pairs resolved "unreachable" because an endpoint
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* snapped onto an isolated fragment.
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*
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* A1 MITIGATION LADDER HISTORY (measure-route-cpu.mjs is the arbiter):
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* 2026-10-24 full 13-class linked graph (311k nodes): p95 38.4 ms, ALL
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* corpus pairs route — connectivity correct, CPU over budget.
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* 2026-10-24 ladder step (a) — drop tertiary+residential (127k nodes):
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* p95 17.8 ms BUT 12/25 pairs (incl. 8/15 golden corpus pairs) became
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* UNREACHABLE — the dropped classes were the fine mesh tying landmarks
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* to the arterial network. REJECTED on correctness (D-03: an honest
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* router-pending for half the product's destinations is not a smaller
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* graph, it is a broken one). REVERTED to the full 13-class set; the
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* CPU gate is carried by ladder step (b) — bidirectional A* in
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* routing/src/astar.ts — and the recorded verdict in the plan summary.
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* Ladder step (c) — Workers Paid — breaks the $0 law and requires user
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* sign-off; it is NOT applied in this script. */
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const ACTIVE_CLASSES = new Set([
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"motorway",
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"trunk",
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"primary",
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@@ -80,6 +99,11 @@ const DRIVABLE_CLASSES = new Set([
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"residential",
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"unclassified",
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"living_street",
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"motorway_link",
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"trunk_link",
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"primary_link",
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"secondary_link",
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"tertiary_link",
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]);
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/** Class speed defaults (km/h) when a way carries no parsable maxspeed. */
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const CLASS_SPEED_KMH = {
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@@ -92,8 +116,16 @@ const CLASS_SPEED_KMH = {
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unclassified: 30,
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living_street: 20,
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};
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/** Motorway link ramps inherit the parent class speed via these links. */
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const LINK_CLASS_SPEED_KMH = { motorway_link: 60, trunk_link: 60 };
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/** Motorway link ramps inherit a near-parent speed via these links. */
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const LINK_CLASS_SPEED_KMH = {
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motorway_link: 60,
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trunk_link: 60,
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primary_link: 50,
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secondary_link: 40,
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tertiary_link: 40,
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};
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/** ENFORCED floor — an at/below-1 MB "KL road graph" is a broken build (D-01). */
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const MIN_BINARY_BYTES = 1 * 1024 * 1024;
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function fail(message) {
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console.error(`build-road-graph: ${message}`);
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@@ -122,7 +154,7 @@ if (checkIdx !== -1) {
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` bytes: ${size}`,
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);
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if (size > MAX_BINARY_BYTES) fail(`--check: ${size} bytes exceeds the ${MAX_BINARY_BYTES}-byte D-01 envelope`);
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if (size <= 1024) fail(`--check: ${size} bytes is implausibly small — not a real road graph`);
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if (size <= MIN_BINARY_BYTES) fail(`--check: ${size} bytes is at/below the ${MIN_BINARY_BYTES}-byte floor — not a real road graph`);
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process.exit(0);
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}
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@@ -175,7 +207,7 @@ console.log(
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/* ————— the Overpass fetch (ONE request, drivable classes only) ————— */
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const CLASSES_RE = "^(" + [...DRIVABLE_CLASSES].join("|") + ")$";
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const CLASSES_RE = "^(" + [...ACTIVE_CLASSES].join("|") + ")$";
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const query =
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`[out:json][timeout:${Math.floor(REQUEST_TIMEOUT_MS / 1000)}];` +
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`way["highway"~"${CLASSES_RE}"](${bbox.minLat},${bbox.minLng},${bbox.maxLat},${bbox.maxLng});` +
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@@ -243,7 +275,7 @@ function effectiveKmh(highway, maxspeedTag) {
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for (const way of ways) {
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const highway = way.tags?.highway;
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if (typeof highway !== "string" || !DRIVABLE_CLASSES.has(highway)) continue;
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if (typeof highway !== "string" || !ACTIVE_CLASSES.has(highway)) continue;
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const geometry = way.geometry;
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if (!Array.isArray(geometry) || geometry.length < 2) continue;
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const kmh = effectiveKmh(highway, way.tags?.maxspeed);
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@@ -316,11 +348,15 @@ console.log(
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` binary size: ${mb(bytes)} (${bytes} B)`,
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);
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// THE ENFORCED GATE (D-01): over the ceiling → exit 1 WITHOUT writing.
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// THE ENFORCED GATE (D-01): outside the 1-80 MB envelope → exit 1 WITHOUT writing.
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if (bytes > MAX_BINARY_BYTES) {
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fail(`binary is ${mb(bytes)} — over the ${mb(MAX_BINARY_BYTES)} D-01 envelope. ` +
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`Tighten DRIVABLE_CLASSES (drop tertiary/residential first) or shrink the bbox, then rebuild.`);
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}
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if (bytes <= MIN_BINARY_BYTES) {
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fail(`binary is ${bytes} bytes — at/below the ${MIN_BINARY_BYTES}-byte floor; a real metro graph is never this small. ` +
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`Verify the Overpass query actually returned ways, then rebuild.`);
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}
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// THE ADVISORY BAND (A2's 18–50 MB forecast vs D-01's 30–80 MB expectation):
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// a small graph is a review prompt, not a failure — the enforced gate stays.
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if (bytes < EXPECTED_MIN_BYTES) {
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@@ -0,0 +1,185 @@
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#!/usr/bin/env node
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/*
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* measure-route-cpu.mjs — the A*-CPU measurement gate (A1, the phase's top risk).
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* ------------------------------------------------------------------------------
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* A MAINTAINER-TIME REPO TOOL — NOT a runtime dependency; nothing in bot/src,
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* web/src, or routing/src imports it. The free plan gives a Worker 10 ms of
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* CPU per request (Error 1102 beyond it), so the A*-over-the-real-graph cost
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* is MEASURED AND PRINTED, never hoped for ("budget gates print their
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* measurement" — the BA9 precedent).
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*
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* What it measures: routeAstar() over the REAL routing/data/kl-roadgraph.v1.bin
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* (decodeGraph → typed arrays, exactly the Worker's data plane), timed with
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* process.hrtime.bigint() around the search call only.
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*
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* The 25-route sample mixes both realistic classes:
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* - the fixture-corpus endpoints (golden-pairs origins + gazetteer
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* destinations), snapped through snapToGraph — the demo-script routes
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* - quadrant-sampled node pairs spread across the graph bbox (deterministic
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* seeded PRNG — re-runs are comparable) — the cross-city worst cases
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* One UNMEASURED warm-up route runs first so the numbers reflect the
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* steady-state isolate an /api/route request actually lands on (the warm-up
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* is printed, never hidden).
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*
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* The GATE (A1's mitigation margin): p95 > P95_BUDGET_MS (8 ms — 20% under
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* the 10 ms free-plan ceiling) exits 1. The mitigation ladder, IN ORDER:
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* (a) tighten DRIVABLE_CLASSES (drop tertiary/residential) and rebuild
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* (b) bidirectional A* variant
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* (c) Workers Paid as an explicit fork decision (breaks $0 — user sign-off)
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*
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* LADDER HISTORY (2026-10-24, the real KL graph — see the plan summary):
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* full 13-class graph, unidirectional A*: p95 38.4 ms GATE FAIL
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* ladder (a) drop tertiary+residential: p95 17.8 ms GATE FAIL + 12/25
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* pairs unreachable (the dropped classes are the fine mesh tying
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* landmarks to the arterials) — REJECTED on correctness, REVERTED.
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* ladder (b) bidirectional A* (BH): p95 ~38 ms GATE FAIL — the
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* potential split halves each side's steering, cancelling the halved
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* radius; kept (sound, no worse, better on short product routes).
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* (c) NOT APPLIED — breaks the $0 law; needs maintainer sign-off. The
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* honest alternatives on the table: Workers Paid, or a layout-v2 ALT
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* landmark graph (build-time preprocessing, still $0 at runtime).
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*
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* Usage:
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* node routing/scripts/measure-route-cpu.mjs
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*
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* Exit codes: 0 p95 inside budget; 1 p95 over budget or absent binary.
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*/
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import { existsSync, readFileSync } from "node:fs";
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import { dirname, resolve } from "node:path";
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import { fileURLToPath } from "node:url";
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import { decodeGraph } from "../src/graph.ts";
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import { snapToGraph as snap } from "../src/snap.ts";
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import { routeAstar as astar } from "../src/astar.ts";
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import { getEntries } from "../../search/src/gazetteer.ts";
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const here = dirname(fileURLToPath(import.meta.url)); // routing/scripts
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const GRAPH_PATH = resolve(here, "..", "data", "kl-roadgraph.v1.bin");
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const CORPUS_PATH = resolve(here, "..", "test", "fixtures", "golden-pairs.json");
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/** The gate: p95 budget, 20% margin under the 10 ms free-plan ceiling. */
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const P95_BUDGET_MS = 8;
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/** The sample size (the plan's number). */
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const ROUTE_COUNT = 25;
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/** The PRNG seed — fixed so re-runs sample identical pairs. */
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const SAMPLE_SEED = 0x06d4;
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function fail(message) {
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console.error(`measure-route-cpu: ${message}`);
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process.exit(1);
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}
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if (!existsSync(GRAPH_PATH)) {
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fail(`no graph at ${GRAPH_PATH} — build it first: node routing/scripts/build-road-graph.mjs`);
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}
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function toArrayBuffer(buf) {
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return buf.buffer.slice(buf.byteOffset, buf.byteOffset + buf.byteLength);
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}
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const graph = decodeGraph(toArrayBuffer(readFileSync(GRAPH_PATH)));
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if (graph === null) fail(`${GRAPH_PATH} does not decode (fail-honest null) — rebuild the binary`);
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console.log(
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`graph: ${graph.nodeCount} nodes, ${graph.edgeCount} edges, ` +
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`bbox lat ${graph.bbox.minLat.toFixed(3)}..${graph.bbox.maxLat.toFixed(3)} lng ${graph.bbox.minLng.toFixed(3)}..${graph.bbox.maxLng.toFixed(3)}`,
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);
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/** mulberry32 — tiny deterministic PRNG (fixed seed => comparable runs). */
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function mulberry32(seed) {
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let a = seed >>> 0;
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return () => {
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a = (a + 0x6d2b79f5) >>> 0;
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let t = a;
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t = Math.imul(t ^ (t >>> 15), t | 1);
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t ^= t + Math.imul(t ^ (t >>> 7), t | 61);
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return ((t ^ (t >>> 14)) >>> 0) / 4294967296;
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};
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}
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/* ————— pair sampling: corpus endpoints + quadrant spread ————— */
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const corpus = JSON.parse(readFileSync(CORPUS_PATH, "utf8"));
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const gazetteerById = new Map(getEntries().map((e) => [e.id, e]));
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const pairs = [];
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let corpusRoutes = 0;
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for (const pair of corpus.pairs) {
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const dest = gazetteerById.get(pair.destinationId);
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if (dest === undefined) continue;
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const origin = snap(graph, { lat: pair.origin.lat, lng: pair.origin.lng });
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const goal = snap(graph, { lat: dest.lat, lng: dest.lng });
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if (origin === null || goal === null) continue;
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pairs.push({ label: `corpus ${pair.pairId}`, from: origin.node, to: goal.node });
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corpusRoutes += 1;
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}
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const midLat = (graph.bbox.minLat + graph.bbox.maxLat) / 2;
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const midLng = (graph.bbox.minLng + graph.bbox.maxLng) / 2;
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const quadrants = [[], [], [], []]; // 0=NW 1=NE 2=SW 3=SE
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for (let n = 0; n < graph.nodeCount; n++) {
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const q = (graph.lat[n] >= midLat ? 0 : 2) + (graph.lng[n] >= midLng ? 1 : 0);
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quadrants[q].push(n);
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}
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const rand = mulberry32(SAMPLE_SEED);
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const pick = (q) => quadrants[q][Math.floor(rand() * quadrants[q].length)];
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while (pairs.length < ROUTE_COUNT) {
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const a = Math.floor(rand() * 4);
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const b = (a + 1 + Math.floor(rand() * 3)) % 4; // always a DIFFERENT quadrant — cross-city
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const from = pick(a);
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const to = pick(b);
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if (from === to) continue;
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pairs.push({ label: `quadrant q${a}->q${b}`, from, to });
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}
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console.log(`sample: ${corpusRoutes} corpus-snapped + ${pairs.length - corpusRoutes} quadrant pairs = ${pairs.length} routes`);
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/* ————— warm-up (unmeasured, printed) + the measured runs ————— */
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function cpuMs(fn) {
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const t0 = process.hrtime.bigint();
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const result = fn();
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const t1 = process.hrtime.bigint();
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return { ms: Number(t1 - t0) / 1e6, result };
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}
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const warm = cpuMs(() => astar(graph, pairs[0].from, pairs[0].to));
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console.log(`warm-up (unmeasured): ${warm.ms.toFixed(3)} ms`);
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const samples = [];
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let unreachableProbes = 0;
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let unreachableMs = 0;
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for (const pair of pairs) {
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const { ms, result } = cpuMs(() => astar(graph, pair.from, pair.to));
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if (result === null) {
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// A directed dead-end probe (a snap onto a one-way sink or a small
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// island): the honest-null degradation path. Reported SEPARATELY — it
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// is not a routed trip, and mixing it into the route p95 would
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// misdescribe the budget the /api/route hot path actually needs.
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unreachableProbes += 1;
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unreachableMs += ms;
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console.log(` ${pair.label}: ${ms.toFixed(3)} ms (unreachable — honest null, D-03)`);
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continue;
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}
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const km = `${(result.distanceM / 1000).toFixed(1)} km / ${(result.seconds / 60).toFixed(1)} min`;
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console.log(` ${pair.label}: ${ms.toFixed(3)} ms (${km})`);
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samples.push(ms);
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}
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console.log(
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`routed pairs: ${samples.length}/${pairs.length}` +
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(unreachableProbes > 0
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? `; unreachable probes: ${unreachableProbes} (mean ${(unreachableMs / unreachableProbes).toFixed(3)} ms, reported separately)`
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: ""),
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);
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if (samples.length === 0) fail("no routable pairs in the sample — the graph may be fragmented; rebuild");
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samples.sort((a, b) => a - b);
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const idx = Math.min(samples.length - 1, Math.ceil(0.95 * samples.length) - 1);
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const p95 = samples[idx];
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const max = samples[samples.length - 1];
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const mean = samples.reduce((acc, v) => acc + v, 0) / samples.length;
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console.log(`p95: ${p95.toFixed(3)} ms (max ${max.toFixed(3)} ms, mean ${mean.toFixed(3)} ms, n=${samples.length})`);
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if (p95 > P95_BUDGET_MS) {
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console.error(`GATE FAIL: p95 ${p95.toFixed(3)} ms exceeds the ${P95_BUDGET_MS} ms budget (A1) — apply the mitigation ladder: (a) tighten DRIVABLE_CLASSES + rebuild, (b) bidirectional A*, (c) Workers Paid as an explicit fork decision`);
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process.exit(1);
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}
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console.log(`GATE PASS: p95 ${p95.toFixed(3)} ms <= ${P95_BUDGET_MS} ms budget — A1 retired for this graph`);
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process.exit(0);
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@@ -0,0 +1,78 @@
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#!/usr/bin/env node
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/*
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* upload-road-graph.mjs — put the built road graph on R2 (D-01, fork path).
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* ---------------------------------------------------------------------------
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||||
* A MAINTAINER-TIME REPO TOOL — NOT a runtime dependency; nothing in bot/src,
|
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* web/src, or routing/src imports it. It shells the wrangler CLI (already the
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* repo's deploy tool) so a fork needs zero new installs:
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*
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* npx wrangler r2 object put araharah-graphs/kl-roadgraph.v1.bin
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* --file routing/data/kl-roadgraph.v1.bin --remote
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*
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* THE FORK CONTRACT (docs/ROAD-GRAPH.md is the prose): your graph, YOUR
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* bucket. Create it first (`npx wrangler r2 bucket create araharah-graphs`
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* — or your own name, and point bot/wrangler.jsonc's ROAD_GRAPH binding at
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* it), build the binary with build-road-graph.mjs, then run this. The
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* Worker side reads the binding, never a bucket name — the name here and in
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* wrangler.jsonc must simply agree.
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*
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* PRE-FLIGHT: the binary must EXIST and clear the enforced 1 MB floor (the
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* 80 MB ceiling is build-road-graph.mjs's gate — this script re-checks both
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||||
* cheaply so a stale artifact never uploads silently).
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||||
*
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* Usage:
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* node routing/scripts/upload-road-graph.mjs
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*
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* Exit codes: 0 uploaded; 1 pre-flight failure or wrangler failure.
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*/
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import { execFileSync } from "node:child_process";
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import { existsSync, statSync } from "node:fs";
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import { dirname, resolve } from "node:path";
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import { fileURLToPath } from "node:url";
|
||||
|
||||
const here = dirname(fileURLToPath(import.meta.url)); // routing/scripts
|
||||
const GRAPH_PATH = resolve(here, "..", "data", "kl-roadgraph.v1.bin");
|
||||
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||||
/** Must agree with bot/wrangler.jsonc's ROAD_GRAPH binding bucket_name. */
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const BUCKET = "araharah-graphs";
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/** Must agree with worker-router.ts's GRAPH_KEY. */
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const KEY = "kl-roadgraph.v1.bin";
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/** The enforced floor — an at/below-floor file is a broken build, never an upload. */
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||||
const MIN_BINARY_BYTES = 1 * 1024 * 1024;
|
||||
const MAX_BINARY_BYTES = 80 * 1024 * 1024;
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||||
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||||
function fail(message) {
|
||||
console.error(`upload-road-graph: ${message}`);
|
||||
process.exit(1);
|
||||
}
|
||||
|
||||
if (!existsSync(GRAPH_PATH)) {
|
||||
fail(`no graph at ${GRAPH_PATH} — build it first: node routing/scripts/build-road-graph.mjs`);
|
||||
}
|
||||
const bytes = statSync(GRAPH_PATH).size;
|
||||
if (bytes <= MIN_BINARY_BYTES || bytes > MAX_BINARY_BYTES) {
|
||||
fail(
|
||||
`${GRAPH_PATH} is ${bytes} bytes — outside the enforced 1-80 MB envelope (D-01). ` +
|
||||
`Rebuild and heed the stats gate: node routing/scripts/build-road-graph.mjs`,
|
||||
);
|
||||
}
|
||||
console.log(`uploading ${GRAPH_PATH} (${(bytes / (1024 * 1024)).toFixed(1)} MB) -> r2://${BUCKET}/${KEY}`);
|
||||
|
||||
try {
|
||||
execFileSync(
|
||||
"npx",
|
||||
["wrangler", "r2", "object", "put", `${BUCKET}/${KEY}`, "--file", GRAPH_PATH, "--remote", "--content-type", "application/octet-stream"],
|
||||
{ stdio: "inherit" },
|
||||
);
|
||||
} catch (err) {
|
||||
fail(
|
||||
`wrangler failed (${err.status ?? "no status"}). If the bucket does not exist yet: ` +
|
||||
`npx wrangler r2 bucket create ${BUCKET} — and if R2 is not enabled on the account, ` +
|
||||
`activate it once in the Cloudflare dashboard (R2 -> Get started).`,
|
||||
);
|
||||
}
|
||||
|
||||
console.log(`uploaded r2://${BUCKET}/${KEY}`);
|
||||
console.log("next: npm run dev -w bot # /api/route loads it through the ROAD_GRAPH binding (memoized per isolate)");
|
||||
console.log(`verify: npx wrangler r2 object get ${BUCKET}/${KEY} --file /tmp/opencode/graph-roundtrip.bin --remote && node routing/scripts/build-road-graph.mjs --check /tmp/opencode/graph-roundtrip.bin`);
|
||||
process.exit(0);
|
||||
+229
-76
@@ -1,20 +1,17 @@
|
||||
/*
|
||||
* astar.ts — typed-array A* over the CSR graph + turn-step derivation (D-01).
|
||||
* astar.ts — typed-array BIDIRECTIONAL A* over the CSR graph + turn-step
|
||||
* derivation (D-01; bidirectional per 06-04's A1 ladder step b).
|
||||
* ----------------------------------------------------------------------------
|
||||
* The engine-A router core: routeAstar finds the minimum-seconds path
|
||||
* between two graph nodes with an ALLOCATION-FREE hot loop — open set is a
|
||||
* binary heap of node indices over preallocated typed arrays, g-scores and
|
||||
* the closed set are per-node typed arrays. No Map, no JS objects per node
|
||||
* (RESEARCH Pattern 2 + Anti-Patterns; the 10 ms free-plan CPU budget is
|
||||
* the design constraint, A1's equivalence sweep is the correctness gate).
|
||||
*
|
||||
* Heuristic: haversine(node, goal) / (maxSpeedKmh / 3.6) — the aerial
|
||||
* distance divided by the graph's maximum speed can never overestimate the
|
||||
* remaining travel time (every edge's seconds = meters / speed with speed
|
||||
* <= maxSpeedKmh), so it is admissible AND consistent; settling the goal
|
||||
* off the heap is therefore provably optimal (A1 proves it exhaustively on
|
||||
* the fixture). The heuristic is computed on demand and cached per node in
|
||||
* a Float64Array — no object is constructed in the search loop.
|
||||
* between two graph nodes. The search is BIDIRECTIONAL (BH, Ikeda
|
||||
* potentials — see routeAstar's doc) because the free-plan 10 ms CPU budget
|
||||
* is the design constraint and the measured unidirectional p95 on the real
|
||||
* KL graph was 3-5x over it. The hot loops remain allocation-free: binary
|
||||
* heaps of node indices over preallocated typed arrays, typed-array
|
||||
* distances/closed sets/chains, lazy on-demand potentials, no Map, no
|
||||
* objects per node. Optimality is not presumed — astar.test.mjs A1
|
||||
* exhaustively proves equivalence to brute-force Dijkstra on the fixture
|
||||
* (625 pairs), and the oneway/unreachable laws have dedicated cases.
|
||||
*
|
||||
* Traversal law (shared with the tests' brute-force Dijkstra): an edge with
|
||||
* edgeFlags bit0 set ("oneway-reverse" — see graph.ts) is NEVER relaxed.
|
||||
@@ -91,6 +88,11 @@ class NodeHeap {
|
||||
this.nodes[i] = node;
|
||||
}
|
||||
|
||||
/** The min key without popping; Infinity when empty (the BH stop rule reads this). */
|
||||
peekKey(): number {
|
||||
return this.size === 0 ? Number.POSITIVE_INFINITY : this.keys[0]!;
|
||||
}
|
||||
|
||||
/** Returns the min-key node, or -1 when empty. Lazy deletion: stale
|
||||
* entries are skipped by the closed-set check in routeAstar. */
|
||||
pop(): number {
|
||||
@@ -127,12 +129,92 @@ class NodeHeap {
|
||||
}
|
||||
}
|
||||
|
||||
/* ————— A* ————— */
|
||||
/* ————— A* — bidirectional (BH, Ikeda potentials) ————— */
|
||||
|
||||
/** Inline haversine from a graph node to a fixed (lat, lng), in METERS. */
|
||||
function metersTo(graph: RoadGraph, v: number, lat2: number, lng2: number): number {
|
||||
const lat1 = graph.lat[v]! * DEG_TO_RAD;
|
||||
const lat2r = lat2 * DEG_TO_RAD;
|
||||
const dLat = lat2r - lat1;
|
||||
const dLng = (lng2 - graph.lng[v]!) * DEG_TO_RAD;
|
||||
const sinLat = Math.sin(dLat / 2);
|
||||
const sinLng = Math.sin(dLng / 2);
|
||||
const h = sinLat * sinLat + Math.cos(lat1) * Math.cos(lat2r) * sinLng * sinLng;
|
||||
return 2 * EARTH_RADIUS_M * Math.asin(Math.min(1, Math.sqrt(h)));
|
||||
}
|
||||
|
||||
/* ————— reverse adjacency (the backward search's in-edge scan) ————— */
|
||||
|
||||
/**
|
||||
* The reverse CSR (in-edges per node), built ONCE per RoadGraph and
|
||||
* memoized in a module-scope WeakMap — the snap-grid LAW 1 pattern. The
|
||||
* backward search cannot iterate a node's in-edges out of a source-grouped
|
||||
* CSR (that was the 06-04 GREEN bug the A1/A2 gates caught: out-edges read
|
||||
* as in-edges fabricate phantom arcs and traverse oneway mirrors); this
|
||||
* index makes them addressable without touching the pinned binary layout.
|
||||
* One-time build is O(V+E) per isolate, paid by the first route (the CPU
|
||||
* gate's warm-up covers it), amortized across the isolate's requests.
|
||||
*/
|
||||
interface ReverseAdj {
|
||||
/** rowStart[u]..rowStart[u+1] index u's IN-edges inside targets/edgeIds. */
|
||||
rowStart: Uint32Array;
|
||||
/** The in-edge's SOURCE node (v, for an edge v -> u). */
|
||||
targets: Uint32Array;
|
||||
/** The edge's index in the forward CSR (weights/flags/seconds lookup). */
|
||||
edgeIds: Uint32Array;
|
||||
}
|
||||
|
||||
const reverseGraphs = new WeakMap<RoadGraph, ReverseAdj>();
|
||||
|
||||
function reverseFor(graph: RoadGraph): ReverseAdj {
|
||||
const memoized = reverseGraphs.get(graph);
|
||||
if (memoized !== undefined) return memoized;
|
||||
const n = graph.nodeCount;
|
||||
const edgeCount = graph.edgeCount;
|
||||
const inDegree = new Uint32Array(n + 1);
|
||||
for (let e = 0; e < edgeCount; e++) inDegree[graph.edgeTarget[e]! + 1] = inDegree[graph.edgeTarget[e]! + 1]! + 1;
|
||||
for (let i = 0; i < n; i++) inDegree[i + 1] = inDegree[i + 1]! + inDegree[i]!;
|
||||
const targets = new Uint32Array(edgeCount);
|
||||
const edgeIds = new Uint32Array(edgeCount);
|
||||
const cursor = inDegree.slice(0, n);
|
||||
for (let u = 0; u < n; u++) {
|
||||
for (let e = graph.edgeStart[u]!; e < graph.edgeStart[u + 1]!; e++) {
|
||||
const v = graph.edgeTarget[e]!; // the edge u -> v is an IN-edge of v
|
||||
const pos = cursor[v]!;
|
||||
cursor[v] = pos + 1;
|
||||
targets[pos] = u;
|
||||
edgeIds[pos] = e;
|
||||
}
|
||||
}
|
||||
const adj: ReverseAdj = { rowStart: inDegree, targets, edgeIds };
|
||||
reverseGraphs.set(graph, adj);
|
||||
return adj;
|
||||
}
|
||||
|
||||
/**
|
||||
* Minimum-seconds path origin -> goal over the graph, or null when the pair
|
||||
* is unreachable (the honest miss). Exhaustively proven equal to
|
||||
* brute-force Dijkstra on the committed mini-graph (astar.test.mjs A1).
|
||||
*
|
||||
* BIDIRECTIONAL (A1 ladder step b, 06-04): the free-plan 10 ms CPU ceiling
|
||||
* demands it — measured on the real 311k-node KL graph, the unidirectional
|
||||
* search's weak max-speed heuristic balloons on 20-30 km routes (p95 38 ms).
|
||||
* BH construction (Ikeda et al.): with directional heuristics
|
||||
* h_f(v)=hav(v,goal)/maxSpeed and h_b(v)=hav(v,origin)/maxSpeed (each
|
||||
* consistent on its own search graph) and the opposite potentials
|
||||
* p_f(v) = (h_f(v) - h_b(v))/2, p_b(v) = -p_f(v),
|
||||
* the reductions
|
||||
* forward, edge u->v: c + p_f(u) - p_f(v)
|
||||
* backward, in-edge v->u of settled u: c + p_b(u) - p_b(v)
|
||||
* are NON-NEGATIVE (each feasibility is the sum of the two consistencies,
|
||||
* each <= c), and the meet keys satisfy
|
||||
* d_f(v) + d_b(v) = real(o->g through v) - p_f(o) + p_f(g)
|
||||
* — a v-independent constant — so stopping when top_f + top_b >= mu (the
|
||||
* best meeting cost seen) settles the goal PROVABLY optimally, at roughly
|
||||
* half the explored radius per side. Alternation balance is a work knob,
|
||||
* not a correctness knob (the stop rule carries optimality); A1's
|
||||
* exhaustive 625-pair Dijkstra-equivalence sweep is the standing proof,
|
||||
* re-run on every pass.
|
||||
*/
|
||||
export function routeAstar(graph: RoadGraph, originNode: number, goalNode: number): AstarResult | null {
|
||||
const n = graph.nodeCount;
|
||||
@@ -144,72 +226,143 @@ export function routeAstar(graph: RoadGraph, originNode: number, goalNode: numbe
|
||||
const heuristicScale = maxSpeedMps > 0 ? 1 / maxSpeedMps : 1;
|
||||
const goalLat = graph.lat[goalNode]!;
|
||||
const goalLng = graph.lng[goalNode]!;
|
||||
const origLat = graph.lat[originNode]!;
|
||||
const origLng = graph.lng[originNode]!;
|
||||
|
||||
const gScore = new Float64Array(n).fill(Number.POSITIVE_INFINITY);
|
||||
const cameFrom = new Int32Array(n).fill(-1);
|
||||
const closed = new Uint8Array(n);
|
||||
const hCache = new Float64Array(n).fill(Number.NaN); // NaN = not computed yet
|
||||
const heap = new NodeHeap();
|
||||
|
||||
// Inline haversine vs the goal, cached per node — zero allocations, and
|
||||
// only explored nodes ever pay for it. Admissible: aerial distance at
|
||||
// max speed upper-bounds nothing — it LOWER-bounds remaining seconds.
|
||||
const heuristic = (node: number): number => {
|
||||
const cached = hCache[node]!;
|
||||
if (!Number.isNaN(cached)) return cached;
|
||||
const lat1 = graph.lat[node]! * DEG_TO_RAD;
|
||||
const lat2 = goalLat * DEG_TO_RAD;
|
||||
const dLat = lat2 - lat1;
|
||||
const dLng = (goalLng - graph.lng[node]!) * DEG_TO_RAD;
|
||||
const sinLat = Math.sin(dLat / 2);
|
||||
const sinLng = Math.sin(dLng / 2);
|
||||
const h = sinLat * sinLat + Math.cos(lat1) * Math.cos(lat2) * sinLng * sinLng;
|
||||
const meters = 2 * EARTH_RADIUS_M * Math.asin(Math.min(1, Math.sqrt(h)));
|
||||
const seconds = meters * heuristicScale;
|
||||
hCache[node] = seconds;
|
||||
return seconds;
|
||||
};
|
||||
|
||||
gScore[originNode] = 0;
|
||||
heap.push(heuristic(originNode), originNode);
|
||||
|
||||
while (heap.size > 0) {
|
||||
const u = heap.pop();
|
||||
if (u < 0) break;
|
||||
if (closed[u]! !== 0) continue; // lazy deletion
|
||||
closed[u] = 1;
|
||||
if (u === goalNode) {
|
||||
// Reconstruct (allocation here is fine — the hot loop is over).
|
||||
const path: number[] = [u];
|
||||
let prev = cameFrom[u]!;
|
||||
while (prev >= 0) {
|
||||
path.push(prev);
|
||||
prev = cameFrom[prev]!;
|
||||
}
|
||||
path.reverse();
|
||||
let distanceM = 0;
|
||||
for (let i = 1; i < path.length; i++) {
|
||||
distanceM += haversineM(
|
||||
{ lat: graph.lat[path[i - 1]!]!, lng: graph.lng[path[i - 1]!]! },
|
||||
{ lat: graph.lat[path[i]!]!, lng: graph.lng[path[i]!]! },
|
||||
);
|
||||
}
|
||||
return { nodes: path, seconds: gScore[goalNode]!, distanceM };
|
||||
// Directional heuristics + opposite potentials, lazy per node — only
|
||||
// explored nodes ever pay, and the hot loops stay allocation-free.
|
||||
const hfCache = new Float64Array(n).fill(Number.NaN); // hav(v, goal) * scale
|
||||
const hbCache = new Float64Array(n).fill(Number.NaN); // hav(v, origin) * scale
|
||||
const pf = new Float64Array(n); // p_f(v) = (h_f - h_b)/2; p_b = -p_f — valid once both caches are set
|
||||
function potential(v: number): number {
|
||||
let hf = hfCache[v]!;
|
||||
if (Number.isNaN(hf)) {
|
||||
hf = metersTo(graph, v, goalLat, goalLng) * heuristicScale;
|
||||
hfCache[v] = hf;
|
||||
}
|
||||
const base = gScore[u]!;
|
||||
for (let e = graph.edgeStart[u]!; e < graph.edgeStart[u + 1]!; e++) {
|
||||
if ((graph.edgeFlags[e]! & 1) !== 0) continue; // oneway-reverse: never traversed
|
||||
const v = graph.edgeTarget[e]!;
|
||||
if (closed[v]! !== 0) continue;
|
||||
const candidate = base + graph.edgeSeconds[e]!;
|
||||
if (candidate < gScore[v]!) {
|
||||
gScore[v] = candidate;
|
||||
cameFrom[v] = u;
|
||||
heap.push(candidate + heuristic(v), v);
|
||||
let hb = hbCache[v]!;
|
||||
if (Number.isNaN(hb)) {
|
||||
hb = metersTo(graph, v, origLat, origLng) * heuristicScale;
|
||||
hbCache[v] = hb;
|
||||
}
|
||||
const value = (hf - hb) / 2;
|
||||
pf[v] = value;
|
||||
return value;
|
||||
}
|
||||
|
||||
// Reduced distances (BH keys), chain arrays, closed sets, one heap per side.
|
||||
const df = new Float64Array(n).fill(Number.POSITIVE_INFINITY); // reduced origin->v
|
||||
const db = new Float64Array(n).fill(Number.POSITIVE_INFINITY); // reduced v->goal
|
||||
const fPrev = new Int32Array(n).fill(-1); // predecessor on the origin->v chain
|
||||
const bNext = new Int32Array(n).fill(-1); // successor on the v->goal chain
|
||||
const fClosed = new Uint8Array(n);
|
||||
const bClosed = new Uint8Array(n);
|
||||
const fHeap = new NodeHeap();
|
||||
const bHeap = new NodeHeap();
|
||||
|
||||
df[originNode] = 0;
|
||||
potential(originNode); // pf[o] is needed by the first forward relaxations
|
||||
fHeap.push(0, originNode); // key = the REDUCED distance itself (the heuristic lives in the reduction)
|
||||
db[goalNode] = 0;
|
||||
potential(goalNode); // p_b(g) likewise for the first backward relaxations
|
||||
bHeap.push(0, goalNode);
|
||||
|
||||
let mu = Number.POSITIVE_INFINITY; // best meeting key sum (real + const)
|
||||
let meetFrom = -1; // bridge edge meetFrom -> meetTo (direction of travel)
|
||||
let meetTo = -1;
|
||||
|
||||
while (fHeap.size > 0 && bHeap.size > 0) {
|
||||
// THE BH STOP RULE: with consistent potentials, no future meeting can
|
||||
// beat mu once both frontiers' minima sum past it.
|
||||
if (fHeap.peekKey() + bHeap.peekKey() >= mu) break;
|
||||
// BALANCED ALTERNATION: expand the side with the smaller frontier.
|
||||
// (Measured 06-04: comparing raw tops starves the backward side — its
|
||||
// keys start near the full route cost while the forward side's start
|
||||
// near zero, so `top_f <= top_b` ran the forward search almost alone
|
||||
// (19501:3 settles) and landed 4x SLOWER than unidirectional. Heap
|
||||
// size keeps both rings growing; correctness lives entirely in the
|
||||
// stop rule — alternation order is a work-balancing knob only.)
|
||||
const expandForward = fHeap.size <= bHeap.size;
|
||||
const u = (expandForward ? fHeap : bHeap).pop()!;
|
||||
if (expandForward ? fClosed[u]! !== 0 : bClosed[u]! !== 0) continue; // lazy deletion
|
||||
if (expandForward) fClosed[u] = 1;
|
||||
else bClosed[u] = 1;
|
||||
|
||||
if (expandForward) {
|
||||
const du = df[u]!;
|
||||
const pfu = pf[u]!;
|
||||
for (let e = graph.edgeStart[u]!; e < graph.edgeStart[u + 1]!; e++) {
|
||||
if ((graph.edgeFlags[e]! & 1) !== 0) continue; // oneway-reverse: never traversed
|
||||
const v = graph.edgeTarget[e]!;
|
||||
const pv = potential(v);
|
||||
const candidate = du + graph.edgeSeconds[e]! + pfu - pv;
|
||||
if (candidate < df[v]!) {
|
||||
df[v] = candidate;
|
||||
fPrev[v] = u;
|
||||
fHeap.push(candidate, v);
|
||||
}
|
||||
// Meet probe: v already reached backward? (candidate uses v's BEST d_b)
|
||||
if (db[v]! < Number.POSITIVE_INFINITY) {
|
||||
const meet = candidate + db[v]!;
|
||||
if (meet < mu) {
|
||||
mu = meet;
|
||||
meetFrom = u;
|
||||
meetTo = v;
|
||||
}
|
||||
}
|
||||
}
|
||||
} else {
|
||||
const rev = reverseFor(graph);
|
||||
const du = db[u]!;
|
||||
const pfu = pf[u]!;
|
||||
const end = rev.rowStart[u + 1]!;
|
||||
for (let r = rev.rowStart[u]!; r < end; r++) {
|
||||
const e = rev.edgeIds[r]!; // the edge v -> u
|
||||
if ((graph.edgeFlags[e]! & 1) !== 0) continue; // oneway-reverse: never traversed
|
||||
const v = rev.targets[r]!;
|
||||
const pvv = potential(v);
|
||||
const candidate = du + graph.edgeSeconds[e]! - pfu + pvv;
|
||||
if (candidate < db[v]!) {
|
||||
db[v] = candidate;
|
||||
bNext[v] = u;
|
||||
bHeap.push(candidate, v);
|
||||
}
|
||||
if (df[v]! < Number.POSITIVE_INFINITY) {
|
||||
const meet = candidate + df[v]!;
|
||||
if (meet < mu) {
|
||||
mu = meet;
|
||||
meetFrom = v; // the path travels v -> u here
|
||||
meetTo = u;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return null; // unreachable — honest miss
|
||||
|
||||
if (meetFrom < 0) return null; // never met — unreachable (honest miss)
|
||||
|
||||
// Reconstruct: origin ->(fPrev)-> meetFrom -[bridge]-> meetTo ->(bNext)-> goal.
|
||||
const fPart: number[] = [];
|
||||
for (let x = meetFrom; x >= 0; x = fPrev[x]!) fPart.push(x);
|
||||
fPart.reverse();
|
||||
const bPart: number[] = [];
|
||||
for (let y = meetTo; y >= 0; y = bNext[y]!) bPart.push(y);
|
||||
const path = fPart.concat(bPart);
|
||||
|
||||
// REAL costs recomputed along the node path (exact; no reduced-cost
|
||||
// arithmetic leaks into the returned seconds).
|
||||
let seconds = 0;
|
||||
let distanceM = 0;
|
||||
for (let i = 1; i < path.length; i++) {
|
||||
const a = path[i - 1]!;
|
||||
const b = path[i]!;
|
||||
const from = { lat: graph.lat[a]!, lng: graph.lng[a]! };
|
||||
const to = { lat: graph.lat[b]!, lng: graph.lng[b]! };
|
||||
distanceM += haversineM(from, to);
|
||||
const edge = findTraversableEdge(graph, a, b);
|
||||
seconds += edge >= 0 ? graph.edgeSeconds[edge]! : 0; // -1 only on a corrupt chain — loud in deriveSteps
|
||||
}
|
||||
return { nodes: path, seconds, distanceM };
|
||||
}
|
||||
|
||||
/* ————— turn classification (the one authority; plan 07 imports this) ————— */
|
||||
|
||||
Reference in New Issue
Block a user