Add beltfinding timeout and debugging.

src/belt_finding/conflict_avoidance.rs

@@ -4,7 +4,10 @@ use super::{
 };
 use crate::prelude::*;
 use crate::{belt_finding::brute_force::BruteforceBuilder, misc::Map};
-use std::ops::RangeInclusive;
+use std::{
+    ops::RangeInclusive,
+    time::{Duration, Instant},
+};
 use termcolor::ColorSpec;
 
 #[derive(Default)]
@@ -68,7 +71,7 @@ impl Candidate {
 }
 
 impl ConflictAvoidance {
-    pub fn new(problem: Problem) -> Self {
+    pub fn new(problem: &Problem) -> Self {
         let mut map: Map<Field> = Map::new(problem.map.width, problem.map.height);
         for x in 0..problem.map.width {
             for y in 0..problem.map.height {
@@ -130,7 +133,11 @@ impl ConflictAvoidance {
         &self.belts
     }
 
-    fn try_bruteforce(&self, candidate: &Candidate) -> Option<Vec<BruteForceEntry>> {
+    fn try_bruteforce(
+        &self,
+        candidate: &Candidate,
+        timeout: Option<Instant>,
+    ) -> Option<Vec<BruteForceEntry>> {
         let xrange = candidate.min.x as usize..=candidate.max.x as usize;
         let yrange = candidate.min.y as usize..=candidate.max.y as usize;
 
@@ -218,9 +225,9 @@ impl ConflictAvoidance {
                 {
                     let p = start_pos - offset;
                     // println!("Blocked {:?}", p);
-                    if b.get_blocked(p.x as usize, p.y as usize) {
-                        return None;
-                    }
+                    // if b.get_blocked(p.x as usize, p.y as usize) {
+                    //     return None;
+                    // }
                     b.set_blocked(p.x as usize, p.y as usize, true);
                 }
 
@@ -258,7 +265,7 @@ impl ConflictAvoidance {
         let mut min_cost = f64::INFINITY;
         let mut solutions = Vec::new();
 
-        while b.next_finish_state() {
+        while b.next_finish_state(timeout) {
             // println!("{}", b);
             // b.print();
             let c = b.cost();
@@ -286,7 +293,7 @@ impl ConflictAvoidance {
         )
     }
 
-    pub fn remove_conflict(&mut self) -> bool {
+    pub fn remove_conflict(&mut self, timeout: Option<Instant>) -> bool {
         let mut conflicts: Map<usize> = Map::new(self.map.width, self.map.height);
 
         for x in 0..self.map.width {
@@ -347,7 +354,7 @@ impl ConflictAvoidance {
         }
         // dbg!(&candidates);
 
-        loop {
+        while timeout.is_some_and(|t| t < Instant::now()) {
             candidates.sort_by_key(|c| -c.area());
             // dbg!(&candidates);
             let c = match candidates.pop() {
@@ -359,7 +366,7 @@ impl ConflictAvoidance {
 
             self.range = Some((c.min.x..=c.max.x, c.min.y..=c.max.y));
 
-            let result = self.try_bruteforce(&c);
+            let result = self.try_bruteforce(&c, timeout);
 
             // dbg!(&solutions);
 
@@ -442,10 +449,13 @@ impl ConflictAvoidance {
                 candidates.push(candidate);
             }
         }
+
+        false
     }
 
-    pub fn remove_all_conflicts(&mut self) -> bool {
-        while self.remove_conflict() {}
+    pub fn remove_all_conflicts(&mut self, timeout: Option<Duration>) -> bool {
+        let end = timeout.map(|t| std::time::Instant::now() + t);
+        while self.remove_conflict(end) {}
 
         let mut conflicts: Map<bool> = Map::new(self.map.width, self.map.height);