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// Copyright 2020 Xavier Gillard // // Permission is hereby granted, free of charge, to any person obtaining a copy of // this software and associated documentation files (the "Software"), to deal in // the Software without restriction, including without limitation the rights to // use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of // the Software, and to permit persons to whom the Software is furnished to do so, // subject to the following conditions: // // The above copyright notice and this permission notice shall be included in all // copies or substantial portions of the Software. // // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS // FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR // COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER // IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN // CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. //! This module provides the implementation of a parallel mdd solver. That is //! a solver that will solve the problem using as many threads as requested. //! By default, it uses as many threads as the number of hardware threads //! available on the machine. use binary_heap_plus::BinaryHeap; use crate::core::abstraction::mdd::MDD; use crate::core::abstraction::solver::Solver; use crate::core::common::{Decision, Node, NodeInfo}; use parking_lot::{Condvar, Mutex}; use std::sync::Arc; use crate::core::implementation::heuristics::MaxUB; /// The shared data that may only be manipulated within critical sections struct Critical<T> { /// This is the fringe: the set of nodes that must still be explored before /// the problem can be considered 'solved'. /// /// # Note: /// This fringe orders the nodes by upper bound (so the highest ub is going /// to pop first). So, it is guaranteed that the upper bound of the first /// node being popped is an upper bound on the value reachable by exploring /// any of the nodes remaining on the fringe. As a consequence, the /// exploration can be stopped as soon as a node with an ub <= current best /// lower bound is popped. fringe : BinaryHeap<Node<T>, MaxUB>, /// This is the number of nodes that are currently being explored. /// /// # Note /// This information may seem innocuous/superfluous, whereas in fact it is /// very important. Indeed, this is the piece of information that lets us /// distinguish between a node-starvation and the completion of the problem /// resolution. The bottom line is, this counter needs to be carefully /// managed to guarantee the termination of all threads. ongoing : usize, /// This is a counter that tracks the number of nodes that have effectively /// been explored. That is, the number of nodes that have been popped from /// the fringe, and for which a restricted and relaxed mdd have been developed. explored : usize, /// This is the value of the best known lower bound. best_lb : i32, /// If set, this keeps the info about the best solution (the solution that /// yielded the `best_lb`, and from which `best_sol` derives). best_node: Option<NodeInfo>, /// This vector is used to store the upper bound on the node which is /// currently processed by each thread. /// /// # Note /// When a thread is idle (or more generally when it is done with processing /// it node), it should place the value i32::min_value() in its corresponding /// cell. upper_bounds: Vec<i32> } /// The state which is shared among the many running threads: it provides an /// access to the critical data (protected by a mutex) as well as a monitor /// (condvar) to park threads in case of node-starvation. struct Shared<T> { /// This is the shared state data which can only be accessed within critical /// sections. Therefore, it is protected by a mutex which prevents concurrent /// reads/writes. critical : Mutex<Critical<T>>, /// This is the monitor on which nodes must wait when facing an empty fringe. /// The corollary, it that whenever a node has completed the processing of /// a subproblem, it must wakeup all parked threads waiting on this monitor. monitor : Condvar } /// The workload a thread can get from the shared state enum WorkLoad<T> { /// There is no work left to be done: you can safely terminate Complete, /// There is nothing you can do right now. Check again when you wake up Starvation, /// The item to process WorkItem { explored : usize, fringe_sz : usize, best_lb : i32, current_ub : i32, node : Node<T> } } /// This is the structure implementing a multi-threaded MDD solver. /// /// # Example Usage /// ``` /// # use ddo::core::implementation::mdd::builder::mdd_builder_ref; /// # use ddo::core::implementation::heuristics::FixedWidth; /// # use ddo::core::abstraction::dp::{Problem, Relaxation}; /// # use ddo::core::common::{Variable, Domain, VarSet, Decision, Node}; /// # use ddo::core::implementation::solver::parallel::ParallelSolver; /// # use ddo::core::abstraction::solver::Solver; /// # #[derive(Clone)] /// # struct MockProblem; /// # impl Problem<usize> for MockProblem { /// # fn nb_vars(&self) -> usize { 5 } /// # fn initial_state(&self) -> usize { 42 } /// # fn initial_value(&self) -> i32 { 84 } /// # fn domain_of<'a>(&self, _: &'a usize, _: Variable) -> Domain<'a> { /// # (0..=1).into() /// # } /// # fn transition(&self, state: &usize, _: &VarSet, _: Decision) -> usize { /// # 41 /// # } /// # fn transition_cost(&self, state: &usize, _: &VarSet, _: Decision) -> i32 { /// # 42 /// # } /// # } /// # #[derive(Clone)] /// # struct MockRelax; /// # impl Relaxation<usize> for MockRelax { /// # fn merge_nodes(&self, n: &[Node<usize>]) -> Node<usize> { /// # n[0].clone() /// # } /// # } /// let problem = MockProblem; /// let relaxation = MockRelax; /// let mdd = mdd_builder_ref(&problem, relaxation).build(); /// // the solver is created using an mdd. By default, it uses as many threads /// // as there are hardware threads on the machine. /// let mut solver = ParallelSolver::new(mdd); /// // val is the optimal value of the objective function, /// // sol is the sequence of decision yielding that optimal value (if sol exists, `sol != None`) /// let (val, sol) = solver.maximize(); /// ``` pub struct ParallelSolver<T, DD> where T: Send, DD: MDD<T> + Clone + Send { /// This is the MDD which will be used to expand the restricted and relaxed /// mdds. Technically, all threads are going to take their own copy (clone) /// of this mdd. Thus, this instance will only serve as a prototype to /// instantiate the threads. mdd: DD, /// This is an atomically-reference-counted smart pointer to the shared state. /// Again, each thread is going to take its own clone of this smart pointer. shared: Arc<Shared<T>>, /// This is the materialization of the best solution that has been identified. best_sol: Option<Vec<Decision>>, /// This is a configuration parameter to tune the amount of information /// logged when solving the problem. So far, there are three levels of verbosity: /// /// + *0* which prints nothing /// + *1* which only prints the final statistics when the problem is solved /// + *2* which prints progress information every 100 explored nodes. verbosity: u8, /// This is a configuration parameter that tunes the number of threads that /// will be spawned to solve the problem. By default, this number amounts /// to the number of hardware threads available on the machine. nb_threads: usize } /// private interface of the parallel solver impl <T, DD> ParallelSolver<T, DD> where T: Send, DD: MDD<T> + Clone + Send { /// This creates a solver that will find the best solution in the problem /// described by the given `mdd` (mdd is not expanded yet). This solver will /// return the optimal solution from what would be an exact expansion of `mdd`. /// /// All the other parameters will use their default value. /// + `nb_threads` will be the number of hardware threads /// + `verbosity` will be 0 pub fn new(mdd: DD) -> Self { Self::customized(mdd, 0, num_cpus::get()) } /// This creates a solver that will find the best solution in the problem /// described by the given `mdd` (mdd is not expanded yet) and configure that /// solver to be more or less verbose. /// /// When using this constructor, the default number of threads will amount /// to the number of available hardware threads of the platform. /// /// # Return value /// This solver will return the optimal solution from what would be an exact /// expansion of `mdd`. /// /// # Verbosity /// So far, there are three levels of verbosity: /// /// + *0* which prints nothing /// + *1* which only prints the final statistics when the problem is solved /// + *2* which prints progress information every 100 explored nodes. /// pub fn with_verbosity(mdd: DD, verbosity: u8) -> Self { Self::customized(mdd, verbosity, num_cpus::get()) } /// This creates a solver that will find the best solution in the problem /// described by the given `mdd` (mdd is not expanded yet) using `nb_threads`. /// This solver will return the optimal solution from what would be an exact /// expansion of `mdd`. /// /// When using this constructor, the verbosity of the solver is set to level 0. pub fn with_nb_threads(mdd: DD, nb_threads: usize) -> Self { Self::customized(mdd, 0, nb_threads) } /// This constructor lets you specify all the configuration parameters of /// the solver. /// /// # Return value /// This solver will return the optimal solution from what would be an exact /// expansion of `mdd`. /// /// # Verbosity /// So far, there are three levels of verbosity: /// /// + *0* which prints nothing /// + *1* which only prints the final statistics when the problem is solved /// + *2* which prints progress information every 100 explored nodes. /// /// # Nb Threads /// The `nb_threads` argument lets you customize the number of threads to /// spawn in order to solve the problem. We advise you to use the number of /// hardware threads on your machine. /// pub fn customized(mdd: DD, verbosity: u8, nb_threads: usize) -> Self { ParallelSolver { mdd, shared: Arc::new(Shared { monitor : Condvar::new(), critical: Mutex::new(Critical { best_node : None, best_lb : i32::min_value(), ongoing : 0, explored : 0, fringe : BinaryHeap::from_vec_cmp(vec![], MaxUB), upper_bounds: vec![i32::min_value(); nb_threads] }) }), best_sol: None, verbosity, nb_threads } } /// This method initializes the problem resolution. Put more simply, this /// method posts the root node of the mdd onto the fringe so that a thread /// can pick it up and the processing can be bootstrapped. fn initialize(&self) { let root = self.mdd.root(); self.shared.critical.lock().fringe.push(root); } /// This method processes the given `node`. To do so, it reads the current /// best lower bound from the critical data. Then it expands a restricted /// and possibly a relaxed mdd rooted in `node`. If that is necessary, /// it stores cutset nodes onto the fringe for further parallel processing. fn process_one_node(mdd: &mut DD, shared: &Arc<Shared<T>>, node: Node<T>, thread_id: usize) { let mut best_lb = {shared.critical.lock().best_lb}; // 1. RESTRICTION mdd.restricted(&node, best_lb); Self::maybe_update_best(mdd, shared); if mdd.is_exact() { Self::notify_node_finished(shared, thread_id); return; } // 2. RELAXATION best_lb = {shared.critical.lock().best_lb}; mdd.relaxed(&node, best_lb); if mdd.is_exact() { Self::maybe_update_best(mdd, shared); } else { Self::enqueue_cutset(mdd, shared, node.info.ub); } Self::notify_node_finished(shared, thread_id); } /// This private method updates the shared best known node and lower bound in /// case the best value of the current `mdd` expansion improves the current /// bounds. fn maybe_update_best(mdd: &DD, shared: &Arc<Shared<T>>) { let mut shared = shared.critical.lock(); if mdd.best_value() > shared.best_lb { shared.best_lb = mdd.best_value(); shared.best_node = mdd.best_node().clone(); } } /// If necessary, thightens the bound of nodes in the cutset of `mdd` and /// then add the relevant nodes to the shared fringe. fn enqueue_cutset(mdd: &mut DD, shared: &Arc<Shared<T>>, ub: i32) { let mut critical = shared.critical.lock(); let best_lb = critical.best_lb; let fringe = &mut critical.fringe; mdd.consume_cutset(|state, mut info| { info.ub = ub.min(info.ub); if info.ub > best_lb { fringe.push(Node { state, info }); } }); } /// Acknowledges that a thread finished processing its node. fn notify_node_finished(shared: &Arc<Shared<T>>, thread_id: usize) { let mut critical = shared.critical.lock(); critical.ongoing -= 1; critical.upper_bounds[thread_id] = i32::min_value(); shared.monitor.notify_all(); } /// Consults the shared state to fetch a workload. Depending on the current /// state, the workload can either be: /// /// + Complete, when the problem is solved and all threads should stop /// + Starvation, when there is no subproblem available for processing /// at the time being (but some subproblem are still being processed /// and thus the problem cannot be considered solved). /// + WorkItem, when the thread successfully obtained a subproblem to /// process. fn get_workload(shared: &Arc<Shared<T>>, thread_id: usize) -> WorkLoad<T> { let mut critical = shared.critical.lock(); // Are we done ? if critical.ongoing == 0 && critical.fringe.is_empty() { return WorkLoad::Complete; } // Nothing to do yet ? => Wait for someone to post jobs if critical.fringe.is_empty() { shared.monitor.wait(&mut critical); return WorkLoad::Starvation; } // Nothing relevant ? => Wait for someone to post jobs let nn = critical.fringe.pop().unwrap(); if nn.info.ub <= critical.best_lb { critical.fringe.clear(); return WorkLoad::Starvation; } // Consume the current node and process it critical.ongoing += 1; critical.explored+= 1; critical.upper_bounds[thread_id] = nn.info.ub; WorkLoad::WorkItem { explored : critical.explored, fringe_sz : critical.fringe.len(), best_lb : critical.best_lb, current_ub: critical.upper_bounds.iter().cloned().max().unwrap(), node : nn } } /// Depending on the verbosity configuration and the number of nodes that /// have been processed, prints a message showing the current progress of /// the problem resolution. fn maybe_log(verbosity: u8, explored: usize, fringe_sz: usize, lb: i32, ub: i32) { if verbosity >= 2 && explored % 100 == 0 { println!("Explored {}, LB {}, UB {}, Fringe sz {}", explored, lb, ub, fringe_sz); } } } impl <T, DD> Solver for ParallelSolver<T, DD> where T: Send, DD: MDD<T> + Clone + Send { /// Applies the branch and bound algorithm proposed by Bergman et al. to /// solve the problem to optimality. To do so, it spawns `nb_threads` workers /// (long running threads); each of which will continually get a workload /// and process it until the problem is solved. fn maximize(&mut self) -> (i32, &Option<Vec<Decision>>) { self.initialize(); crossbeam::thread::scope(|s|{ for i in 0..self.nb_threads { let shared = Arc::clone(&self.shared); let mut mdd = self.mdd.clone(); let verbosity = self.verbosity; s.spawn(move |_| { loop { match Self::get_workload(&shared, i) { WorkLoad::Complete => break, WorkLoad::Starvation => continue, WorkLoad::WorkItem {explored, fringe_sz, best_lb, current_ub, node} => { Self::maybe_log(verbosity, explored, fringe_sz, best_lb, current_ub); Self::process_one_node(&mut mdd, &shared, node, i); } } } }); } }).expect("Something went wrong with the worker threads"); let shared = self.shared.critical.lock(); if let Some(bn) = &shared.best_node { self.best_sol = Some(bn.longest_path()); } // return if self.verbosity >= 1 { println!("Final {}, Explored {}", shared.best_lb, shared.explored); } (shared.best_lb, &self.best_sol) } }