From 72ccd3cb89c447750c6187d9e5f3afc015a6d9d5 Mon Sep 17 00:00:00 2001 From: neki-dev Date: Wed, 24 Jul 2024 08:36:50 +0300 Subject: [PATCH] chore(*): first upload --- .eslintrc.js | 38 + .github/workflows/build.yml | 14 + .github/workflows/test.yml | 14 + .gitignore | 4 + dist/const.d.ts | 1 + dist/index.d.ts | 20 + dist/index.js | 132 + dist/index.test.d.ts | 1 + dist/index.worker.js | 143 + dist/node/__mocks__/node.d.ts | 3 + dist/node/index.d.ts | 17 + dist/node/index.test.d.ts | 1 + dist/node/types.d.ts | 6 + dist/process/const.d.ts | 37 + dist/process/index.d.ts | 18 + dist/process/index.test.d.ts | 1 + dist/task/index.d.ts | 20 + dist/task/types.d.ts | 12 + dist/types.d.ts | 9 + dist/worker/index.d.ts | 1 + dist/worker/node/index.d.ts | 16 + dist/worker/node/index.test.d.ts | 0 dist/worker/node/types.d.ts | 12 + dist/worker/process/const.d.ts | 37 + dist/worker/process/index.d.ts | 19 + dist/worker/process/index.test.d.ts | 0 dist/worker/task/index.d.ts | 19 + dist/worker/task/types.d.ts | 7 + dist/worker/types.d.ts | 33 + jest.config.js | 8 + package.json | 44 + src/__mocks__/grid.ts | 45 + src/const.ts | 1 + src/index.test.ts | 102 + src/index.ts | 130 + src/node/__mocks__/node.ts | 8 + src/node/index.test.ts | 60 + src/node/index.ts | 78 + src/node/types.ts | 7 + src/process/__mocks__/path.ts | 9 + src/process/const.ts | 15 + src/process/index.test.ts | 64 + src/process/index.ts | 150 + src/task/index.ts | 91 + src/task/types.ts | 15 + src/types.ts | 10 + src/worker/index.ts | 54 + src/worker/types.ts | 35 + tsconfig.json | 20 + webpack.config.js | 23 + yarn.lock | 4070 +++++++++++++++++++++++++++ 51 files changed, 5674 insertions(+) create mode 100644 .eslintrc.js create mode 100644 .github/workflows/build.yml create mode 100644 .github/workflows/test.yml create mode 100644 .gitignore create mode 100644 dist/const.d.ts create mode 100644 dist/index.d.ts create mode 100644 dist/index.js create mode 100644 dist/index.test.d.ts create mode 100644 dist/index.worker.js create mode 100644 dist/node/__mocks__/node.d.ts create mode 100644 dist/node/index.d.ts create mode 100644 dist/node/index.test.d.ts create mode 100644 dist/node/types.d.ts create mode 100644 dist/process/const.d.ts create mode 100644 dist/process/index.d.ts create mode 100644 dist/process/index.test.d.ts create mode 100644 dist/task/index.d.ts create mode 100644 dist/task/types.d.ts create mode 100644 dist/types.d.ts create mode 100644 dist/worker/index.d.ts create mode 100644 dist/worker/node/index.d.ts create mode 100644 dist/worker/node/index.test.d.ts create mode 100644 dist/worker/node/types.d.ts create mode 100644 dist/worker/process/const.d.ts create mode 100644 dist/worker/process/index.d.ts create mode 100644 dist/worker/process/index.test.d.ts create mode 100644 dist/worker/task/index.d.ts create mode 100644 dist/worker/task/types.d.ts create mode 100644 dist/worker/types.d.ts create mode 100644 jest.config.js create mode 100644 package.json create mode 100644 src/__mocks__/grid.ts create mode 100644 src/const.ts create mode 100644 src/index.test.ts create mode 100644 src/index.ts create mode 100644 src/node/__mocks__/node.ts create mode 100644 src/node/index.test.ts create mode 100644 src/node/index.ts create mode 100644 src/node/types.ts create mode 100644 src/process/__mocks__/path.ts create mode 100644 src/process/const.ts create mode 100644 src/process/index.test.ts create mode 100644 src/process/index.ts create mode 100644 src/task/index.ts create mode 100644 src/task/types.ts create mode 100644 src/types.ts create mode 100644 src/worker/index.ts create mode 100644 src/worker/types.ts create mode 100644 tsconfig.json create mode 100644 webpack.config.js create mode 100644 yarn.lock diff --git a/.eslintrc.js b/.eslintrc.js new file mode 100644 index 0000000..5a98cc5 --- /dev/null +++ b/.eslintrc.js @@ -0,0 +1,38 @@ +// eslint-disable-next-line no-undef +module.exports = { + root: true, + parser: "@typescript-eslint/parser", + plugins: ["@typescript-eslint", "import"], + extends: [ + "eslint:recommended", + "plugin:import/recommended", + "plugin:@typescript-eslint/eslint-recommended", + "plugin:@typescript-eslint/recommended", + ], + rules: { + // Basic + "no-multiple-empty-lines": ["error", { max: 1, maxBOF: 0, maxEOF: 1 }], + "no-multi-spaces": "error", + "object-curly-spacing": ["error", "always"], + "array-bracket-spacing": ["error", "never"], + "computed-property-spacing": ["error", "never"], + "comma-dangle": ["error", "always-multiline"], + "eol-last": ["error", "always"], + "no-trailing-spaces": "error", + "brace-style": ["error", "1tbs", { "allowSingleLine": true }], + "indent": ["error", 2, { "SwitchCase": 1 }], + "keyword-spacing": ["error", { before: true, after: true }], + "padded-blocks": ["error", "never"], + "comma-spacing": ["error", { "before": false, "after": true }], + "space-in-parens": ["error", "never"], + // TypeScript + "@typescript-eslint/semi": "error", + "@typescript-eslint/consistent-type-imports": "error", + "@typescript-eslint/no-unused-vars": "error", + "@typescript-eslint/no-explicit-any": "off", + "@typescript-eslint/ban-ts-comment": "off", + // Import + "import/no-cycle": "error", + "import/no-unresolved": "off", + }, +}; diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml new file mode 100644 index 0000000..fa03eb5 --- /dev/null +++ b/.github/workflows/build.yml @@ -0,0 +1,14 @@ +name: build +on: push +jobs: + build: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: actions/setup-node@v3 + with: + node-version: '20.x' + - name: Install + run: yarn install + - name: Build + run: yarn build \ No newline at end of file diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml new file mode 100644 index 0000000..b5ad992 --- /dev/null +++ b/.github/workflows/test.yml @@ -0,0 +1,14 @@ +name: test +on: push +jobs: + test: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: actions/setup-node@v3 + with: + node-version: '20.x' + - name: Install + run: yarn install + - name: Test + run: yarn test \ No newline at end of file diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..e212959 --- /dev/null +++ b/.gitignore @@ -0,0 +1,4 @@ +.git +.idea +node_modules/ +.DS_Store \ No newline at end of file diff --git a/dist/const.d.ts b/dist/const.d.ts new file mode 100644 index 0000000..1a4f513 --- /dev/null +++ b/dist/const.d.ts @@ -0,0 +1 @@ +export declare const PATHFINDING_WORKER_DIST_FILE_NAME = "./dist/index.worker.js"; diff --git a/dist/index.d.ts b/dist/index.d.ts new file mode 100644 index 0000000..9fe020e --- /dev/null +++ b/dist/index.d.ts @@ -0,0 +1,20 @@ +import { Worker } from "worker_threads"; +import type { PathfindingTaskConfig, Position } from "./types"; +import type { PathfindingTaskResultCallback } from "./task/types"; +export declare class Pathfinding { + readonly worker: Worker; + private pointsCost; + private lastTaskId; + private resultCallbacks; + constructor(grids: Record); + destroy(): void; + setWalkable(group: string, position: Position, state: boolean): void; + setPointCost(position: Position, cost: number): void; + resetPointCost(position: Position): void; + getPointCost(position: Position): number; + createTask(config: PathfindingTaskConfig, callback: PathfindingTaskResultCallback): number; + getTaskCallback(idTask: number): PathfindingTaskResultCallback | null; + cancelTask(idTask: number): void; + private listen; + private send; +} diff --git a/dist/index.js b/dist/index.js new file mode 100644 index 0000000..d373a58 --- /dev/null +++ b/dist/index.js @@ -0,0 +1,132 @@ +/* + * ATTENTION: The "eval" devtool has been used (maybe by default in mode: "development"). + * This devtool is neither made for production nor for readable output files. + * It uses "eval()" calls to create a separate source file in the browser devtools. + * If you are trying to read the output file, select a different devtool (https://webpack.js.org/configuration/devtool/) + * or disable the default devtool with "devtool: false". + * If you are looking for production-ready output files, see mode: "production" (https://webpack.js.org/configuration/mode/). + */ +/******/ (() => { // webpackBootstrap +/******/ "use strict"; +/******/ var __webpack_modules__ = ({ + +/***/ "./src/const.ts": +/*!**********************!*\ + !*** ./src/const.ts ***! + \**********************/ +/***/ ((__unused_webpack_module, exports) => { + +eval("\nObject.defineProperty(exports, \"__esModule\", ({ value: true }));\nexports.PATHFINDING_WORKER_DIST_FILE_NAME = void 0;\nexports.PATHFINDING_WORKER_DIST_FILE_NAME = \"./dist/index.worker.js\";\n\n\n//# sourceURL=webpack://pathfinding-worker/./src/const.ts?"); + +/***/ }), + +/***/ "./src/index.ts": +/*!**********************!*\ + !*** ./src/index.ts ***! + \**********************/ +/***/ (function(__unused_webpack_module, exports, __webpack_require__) { + +eval("\nvar __importDefault = (this && this.__importDefault) || function (mod) {\n return (mod && mod.__esModule) ? mod : { \"default\": mod };\n};\nObject.defineProperty(exports, \"__esModule\", ({ value: true }));\nexports.Pathfinding = void 0;\n// @ts-ignore\nconst worker_1 = __importDefault(__webpack_require__(/*! worker-loader!./worker */ \"./node_modules/worker-loader/dist/cjs.js!./src/worker/index.ts\"));\nconst worker_threads_1 = __webpack_require__(/*! worker_threads */ \"worker_threads\");\nconst const_1 = __webpack_require__(/*! ./const */ \"./src/const.ts\");\nconst types_1 = __webpack_require__(/*! ./worker/types */ \"./src/worker/types.ts\");\nclass Pathfinding {\n worker;\n pointsCost = [];\n lastTaskId = 0;\n resultCallbacks = new Map();\n constructor(grids) {\n // Trigger webpack worker build\n void worker_1.default;\n this.worker = new worker_threads_1.Worker(const_1.PATHFINDING_WORKER_DIST_FILE_NAME, {\n workerData: { grids },\n });\n this.listen(types_1.PathfindingWorkerEvent.CompleteTask, (payload) => {\n const callback = this.getTaskCallback(payload.idTask);\n if (callback) {\n callback(payload.result);\n }\n else {\n // Events occurs for canceled tasks, since the path calculation occurs sequentially in single process.\n // Need to figure out how to interrupt the calculation for a canceled task.\n }\n });\n }\n destroy() {\n this.worker.terminate();\n }\n setWalkable(group, position, state) {\n this.send(types_1.PathfindingWorkerEvent.SetWalkable, {\n position,\n group,\n state,\n });\n }\n setPointCost(position, cost) {\n if (this.getPointCost(position) === cost) {\n return;\n }\n if (!this.pointsCost[position.y]) {\n this.pointsCost[position.y] = [];\n }\n this.pointsCost[position.y][position.x] = cost;\n this.send(types_1.PathfindingWorkerEvent.UpdatePointCost, {\n position,\n cost,\n });\n }\n resetPointCost(position) {\n if (this.pointsCost[position.y]?.[position.x] === undefined) {\n return;\n }\n delete this.pointsCost[position.y][position.x];\n this.send(types_1.PathfindingWorkerEvent.UpdatePointCost, {\n position,\n cost: null,\n });\n }\n getPointCost(position) {\n return this.pointsCost[position.y]?.[position.x] ?? 1.0;\n }\n createTask(config, callback) {\n const idTask = ++this.lastTaskId;\n this.send(types_1.PathfindingWorkerEvent.CreateTask, {\n ...config,\n idTask,\n });\n this.resultCallbacks.set(idTask, callback);\n return idTask;\n }\n getTaskCallback(idTask) {\n return this.resultCallbacks.get(idTask) ?? null;\n }\n cancelTask(idTask) {\n this.send(types_1.PathfindingWorkerEvent.CancelTask, {\n idTask,\n });\n this.resultCallbacks.delete(idTask);\n }\n listen(event, callback) {\n this.worker.on(\"message\", (data) => {\n if (data.event === event) {\n callback(data.payload);\n }\n });\n }\n send(event, payload) {\n this.worker.postMessage({ event, payload });\n }\n}\nexports.Pathfinding = Pathfinding;\n\n\n//# sourceURL=webpack://pathfinding-worker/./src/index.ts?"); + +/***/ }), + +/***/ "./src/worker/types.ts": +/*!*****************************!*\ + !*** ./src/worker/types.ts ***! + \*****************************/ +/***/ ((__unused_webpack_module, exports) => { + +eval("\nObject.defineProperty(exports, \"__esModule\", ({ value: true }));\nexports.PathfindingWorkerEvent = void 0;\nvar PathfindingWorkerEvent;\n(function (PathfindingWorkerEvent) {\n PathfindingWorkerEvent[\"CreateTask\"] = \"CreateTask\";\n PathfindingWorkerEvent[\"CompleteTask\"] = \"CompleteTask\";\n PathfindingWorkerEvent[\"CancelTask\"] = \"CancelTask\";\n PathfindingWorkerEvent[\"UpdatePointCost\"] = \"UpdatePointCost\";\n PathfindingWorkerEvent[\"SetWalkable\"] = \"SetWalkable\";\n})(PathfindingWorkerEvent || (exports.PathfindingWorkerEvent = PathfindingWorkerEvent = {}));\n\n\n//# sourceURL=webpack://pathfinding-worker/./src/worker/types.ts?"); + +/***/ }), + +/***/ "./node_modules/worker-loader/dist/cjs.js!./src/worker/index.ts": +/*!**********************************************************************!*\ + !*** ./node_modules/worker-loader/dist/cjs.js!./src/worker/index.ts ***! + \**********************************************************************/ +/***/ ((__unused_webpack_module, __webpack_exports__, __webpack_require__) => { + +eval("__webpack_require__.r(__webpack_exports__);\n/* harmony export */ __webpack_require__.d(__webpack_exports__, {\n/* harmony export */ \"default\": () => (/* binding */ Worker_fn)\n/* harmony export */ });\nfunction Worker_fn() {\n return new Worker(__webpack_require__.p + \"index.worker.js\");\n}\n\n\n//# sourceURL=webpack://pathfinding-worker/./src/worker/index.ts?./node_modules/worker-loader/dist/cjs.js"); + +/***/ }), + +/***/ "worker_threads": +/*!*********************************!*\ + !*** external "worker_threads" ***! + \*********************************/ +/***/ ((module) => { + +module.exports = require("worker_threads"); + +/***/ }) + +/******/ }); +/************************************************************************/ +/******/ // The module cache +/******/ var __webpack_module_cache__ = {}; +/******/ +/******/ // The require function +/******/ function __webpack_require__(moduleId) { +/******/ // Check if module is in cache +/******/ var cachedModule = __webpack_module_cache__[moduleId]; +/******/ if (cachedModule !== undefined) { +/******/ return cachedModule.exports; +/******/ } +/******/ // Create a new module (and put it into the cache) +/******/ var module = __webpack_module_cache__[moduleId] = { +/******/ // no module.id needed +/******/ // no module.loaded needed +/******/ exports: {} +/******/ }; +/******/ +/******/ // Execute the module function +/******/ __webpack_modules__[moduleId].call(module.exports, module, module.exports, __webpack_require__); +/******/ +/******/ // Return the exports of the module +/******/ return module.exports; +/******/ } +/******/ +/************************************************************************/ +/******/ /* webpack/runtime/define property getters */ +/******/ (() => { +/******/ // define getter functions for harmony exports +/******/ __webpack_require__.d = (exports, definition) => { +/******/ for(var key in definition) { +/******/ if(__webpack_require__.o(definition, key) && !__webpack_require__.o(exports, key)) { +/******/ Object.defineProperty(exports, key, { enumerable: true, get: definition[key] }); +/******/ } +/******/ } +/******/ }; +/******/ })(); +/******/ +/******/ /* webpack/runtime/hasOwnProperty shorthand */ +/******/ (() => { +/******/ __webpack_require__.o = (obj, prop) => (Object.prototype.hasOwnProperty.call(obj, prop)) +/******/ })(); +/******/ +/******/ /* webpack/runtime/make namespace object */ +/******/ (() => { +/******/ // define __esModule on exports +/******/ __webpack_require__.r = (exports) => { +/******/ if(typeof Symbol !== 'undefined' && Symbol.toStringTag) { +/******/ Object.defineProperty(exports, Symbol.toStringTag, { value: 'Module' }); +/******/ } +/******/ Object.defineProperty(exports, '__esModule', { value: true }); +/******/ }; +/******/ })(); +/******/ +/******/ /* webpack/runtime/publicPath */ +/******/ (() => { +/******/ __webpack_require__.p = ""; +/******/ })(); +/******/ +/************************************************************************/ +/******/ +/******/ // startup +/******/ // Load entry module and return exports +/******/ // This entry module is referenced by other modules so it can't be inlined +/******/ var __webpack_exports__ = __webpack_require__("./src/index.ts"); +/******/ module.exports = __webpack_exports__; +/******/ +/******/ })() +; \ No newline at end of file diff --git a/dist/index.test.d.ts b/dist/index.test.d.ts new file mode 100644 index 0000000..cb0ff5c --- /dev/null +++ b/dist/index.test.d.ts @@ -0,0 +1 @@ +export {}; diff --git a/dist/index.worker.js b/dist/index.worker.js new file mode 100644 index 0000000..767246a --- /dev/null +++ b/dist/index.worker.js @@ -0,0 +1,143 @@ +/* + * ATTENTION: The "eval" devtool has been used (maybe by default in mode: "development"). + * This devtool is neither made for production nor for readable output files. + * It uses "eval()" calls to create a separate source file in the browser devtools. + * If you are trying to read the output file, select a different devtool (https://webpack.js.org/configuration/devtool/) + * or disable the default devtool with "devtool: false". + * If you are looking for production-ready output files, see mode: "production" (https://webpack.js.org/configuration/mode/). + */ +/******/ (() => { // webpackBootstrap +/******/ var __webpack_modules__ = ({ + +/***/ "./node_modules/heap/index.js": +/*!************************************!*\ + !*** ./node_modules/heap/index.js ***! + \************************************/ +/***/ ((module, __unused_webpack_exports, __webpack_require__) => { + +eval("module.exports = __webpack_require__(/*! ./lib/heap */ \"./node_modules/heap/lib/heap.js\");\n\n\n//# sourceURL=webpack://pathfinding-worker/./node_modules/heap/index.js?"); + +/***/ }), + +/***/ "./node_modules/heap/lib/heap.js": +/*!***************************************!*\ + !*** ./node_modules/heap/lib/heap.js ***! + \***************************************/ +/***/ (function(module, exports) { + +eval("var __WEBPACK_AMD_DEFINE_FACTORY__, __WEBPACK_AMD_DEFINE_ARRAY__, __WEBPACK_AMD_DEFINE_RESULT__;// Generated by CoffeeScript 1.8.0\n(function() {\n var Heap, defaultCmp, floor, heapify, heappop, heappush, heappushpop, heapreplace, insort, min, nlargest, nsmallest, updateItem, _siftdown, _siftup;\n\n floor = Math.floor, min = Math.min;\n\n\n /*\n Default comparison function to be used\n */\n\n defaultCmp = function(x, y) {\n if (x < y) {\n return -1;\n }\n if (x > y) {\n return 1;\n }\n return 0;\n };\n\n\n /*\n Insert item x in list a, and keep it sorted assuming a is sorted.\n \n If x is already in a, insert it to the right of the rightmost x.\n \n Optional args lo (default 0) and hi (default a.length) bound the slice\n of a to be searched.\n */\n\n insort = function(a, x, lo, hi, cmp) {\n var mid;\n if (lo == null) {\n lo = 0;\n }\n if (cmp == null) {\n cmp = defaultCmp;\n }\n if (lo < 0) {\n throw new Error('lo must be non-negative');\n }\n if (hi == null) {\n hi = a.length;\n }\n while (lo < hi) {\n mid = floor((lo + hi) / 2);\n if (cmp(x, a[mid]) < 0) {\n hi = mid;\n } else {\n lo = mid + 1;\n }\n }\n return ([].splice.apply(a, [lo, lo - lo].concat(x)), x);\n };\n\n\n /*\n Push item onto heap, maintaining the heap invariant.\n */\n\n heappush = function(array, item, cmp) {\n if (cmp == null) {\n cmp = defaultCmp;\n }\n array.push(item);\n return _siftdown(array, 0, array.length - 1, cmp);\n };\n\n\n /*\n Pop the smallest item off the heap, maintaining the heap invariant.\n */\n\n heappop = function(array, cmp) {\n var lastelt, returnitem;\n if (cmp == null) {\n cmp = defaultCmp;\n }\n lastelt = array.pop();\n if (array.length) {\n returnitem = array[0];\n array[0] = lastelt;\n _siftup(array, 0, cmp);\n } else {\n returnitem = lastelt;\n }\n return returnitem;\n };\n\n\n /*\n Pop and return the current smallest value, and add the new item.\n \n This is more efficient than heappop() followed by heappush(), and can be\n more appropriate when using a fixed size heap. Note that the value\n returned may be larger than item! That constrains reasonable use of\n this routine unless written as part of a conditional replacement:\n if item > array[0]\n item = heapreplace(array, item)\n */\n\n heapreplace = function(array, item, cmp) {\n var returnitem;\n if (cmp == null) {\n cmp = defaultCmp;\n }\n returnitem = array[0];\n array[0] = item;\n _siftup(array, 0, cmp);\n return returnitem;\n };\n\n\n /*\n Fast version of a heappush followed by a heappop.\n */\n\n heappushpop = function(array, item, cmp) {\n var _ref;\n if (cmp == null) {\n cmp = defaultCmp;\n }\n if (array.length && cmp(array[0], item) < 0) {\n _ref = [array[0], item], item = _ref[0], array[0] = _ref[1];\n _siftup(array, 0, cmp);\n }\n return item;\n };\n\n\n /*\n Transform list into a heap, in-place, in O(array.length) time.\n */\n\n heapify = function(array, cmp) {\n var i, _i, _j, _len, _ref, _ref1, _results, _results1;\n if (cmp == null) {\n cmp = defaultCmp;\n }\n _ref1 = (function() {\n _results1 = [];\n for (var _j = 0, _ref = floor(array.length / 2); 0 <= _ref ? _j < _ref : _j > _ref; 0 <= _ref ? _j++ : _j--){ _results1.push(_j); }\n return _results1;\n }).apply(this).reverse();\n _results = [];\n for (_i = 0, _len = _ref1.length; _i < _len; _i++) {\n i = _ref1[_i];\n _results.push(_siftup(array, i, cmp));\n }\n return _results;\n };\n\n\n /*\n Update the position of the given item in the heap.\n This function should be called every time the item is being modified.\n */\n\n updateItem = function(array, item, cmp) {\n var pos;\n if (cmp == null) {\n cmp = defaultCmp;\n }\n pos = array.indexOf(item);\n if (pos === -1) {\n return;\n }\n _siftdown(array, 0, pos, cmp);\n return _siftup(array, pos, cmp);\n };\n\n\n /*\n Find the n largest elements in a dataset.\n */\n\n nlargest = function(array, n, cmp) {\n var elem, result, _i, _len, _ref;\n if (cmp == null) {\n cmp = defaultCmp;\n }\n result = array.slice(0, n);\n if (!result.length) {\n return result;\n }\n heapify(result, cmp);\n _ref = array.slice(n);\n for (_i = 0, _len = _ref.length; _i < _len; _i++) {\n elem = _ref[_i];\n heappushpop(result, elem, cmp);\n }\n return result.sort(cmp).reverse();\n };\n\n\n /*\n Find the n smallest elements in a dataset.\n */\n\n nsmallest = function(array, n, cmp) {\n var elem, i, los, result, _i, _j, _len, _ref, _ref1, _results;\n if (cmp == null) {\n cmp = defaultCmp;\n }\n if (n * 10 <= array.length) {\n result = array.slice(0, n).sort(cmp);\n if (!result.length) {\n return result;\n }\n los = result[result.length - 1];\n _ref = array.slice(n);\n for (_i = 0, _len = _ref.length; _i < _len; _i++) {\n elem = _ref[_i];\n if (cmp(elem, los) < 0) {\n insort(result, elem, 0, null, cmp);\n result.pop();\n los = result[result.length - 1];\n }\n }\n return result;\n }\n heapify(array, cmp);\n _results = [];\n for (i = _j = 0, _ref1 = min(n, array.length); 0 <= _ref1 ? _j < _ref1 : _j > _ref1; i = 0 <= _ref1 ? ++_j : --_j) {\n _results.push(heappop(array, cmp));\n }\n return _results;\n };\n\n _siftdown = function(array, startpos, pos, cmp) {\n var newitem, parent, parentpos;\n if (cmp == null) {\n cmp = defaultCmp;\n }\n newitem = array[pos];\n while (pos > startpos) {\n parentpos = (pos - 1) >> 1;\n parent = array[parentpos];\n if (cmp(newitem, parent) < 0) {\n array[pos] = parent;\n pos = parentpos;\n continue;\n }\n break;\n }\n return array[pos] = newitem;\n };\n\n _siftup = function(array, pos, cmp) {\n var childpos, endpos, newitem, rightpos, startpos;\n if (cmp == null) {\n cmp = defaultCmp;\n }\n endpos = array.length;\n startpos = pos;\n newitem = array[pos];\n childpos = 2 * pos + 1;\n while (childpos < endpos) {\n rightpos = childpos + 1;\n if (rightpos < endpos && !(cmp(array[childpos], array[rightpos]) < 0)) {\n childpos = rightpos;\n }\n array[pos] = array[childpos];\n pos = childpos;\n childpos = 2 * pos + 1;\n }\n array[pos] = newitem;\n return _siftdown(array, startpos, pos, cmp);\n };\n\n Heap = (function() {\n Heap.push = heappush;\n\n Heap.pop = heappop;\n\n Heap.replace = heapreplace;\n\n Heap.pushpop = heappushpop;\n\n Heap.heapify = heapify;\n\n Heap.updateItem = updateItem;\n\n Heap.nlargest = nlargest;\n\n Heap.nsmallest = nsmallest;\n\n function Heap(cmp) {\n this.cmp = cmp != null ? cmp : defaultCmp;\n this.nodes = [];\n }\n\n Heap.prototype.push = function(x) {\n return heappush(this.nodes, x, this.cmp);\n };\n\n Heap.prototype.pop = function() {\n return heappop(this.nodes, this.cmp);\n };\n\n Heap.prototype.peek = function() {\n return this.nodes[0];\n };\n\n Heap.prototype.contains = function(x) {\n return this.nodes.indexOf(x) !== -1;\n };\n\n Heap.prototype.replace = function(x) {\n return heapreplace(this.nodes, x, this.cmp);\n };\n\n Heap.prototype.pushpop = function(x) {\n return heappushpop(this.nodes, x, this.cmp);\n };\n\n Heap.prototype.heapify = function() {\n return heapify(this.nodes, this.cmp);\n };\n\n Heap.prototype.updateItem = function(x) {\n return updateItem(this.nodes, x, this.cmp);\n };\n\n Heap.prototype.clear = function() {\n return this.nodes = [];\n };\n\n Heap.prototype.empty = function() {\n return this.nodes.length === 0;\n };\n\n Heap.prototype.size = function() {\n return this.nodes.length;\n };\n\n Heap.prototype.clone = function() {\n var heap;\n heap = new Heap();\n heap.nodes = this.nodes.slice(0);\n return heap;\n };\n\n Heap.prototype.toArray = function() {\n return this.nodes.slice(0);\n };\n\n Heap.prototype.insert = Heap.prototype.push;\n\n Heap.prototype.top = Heap.prototype.peek;\n\n Heap.prototype.front = Heap.prototype.peek;\n\n Heap.prototype.has = Heap.prototype.contains;\n\n Heap.prototype.copy = Heap.prototype.clone;\n\n return Heap;\n\n })();\n\n (function(root, factory) {\n if (true) {\n return !(__WEBPACK_AMD_DEFINE_ARRAY__ = [], __WEBPACK_AMD_DEFINE_FACTORY__ = (factory),\n\t\t__WEBPACK_AMD_DEFINE_RESULT__ = (typeof __WEBPACK_AMD_DEFINE_FACTORY__ === 'function' ?\n\t\t(__WEBPACK_AMD_DEFINE_FACTORY__.apply(exports, __WEBPACK_AMD_DEFINE_ARRAY__)) : __WEBPACK_AMD_DEFINE_FACTORY__),\n\t\t__WEBPACK_AMD_DEFINE_RESULT__ !== undefined && (module.exports = __WEBPACK_AMD_DEFINE_RESULT__));\n } else {}\n })(this, function() {\n return Heap;\n });\n\n}).call(this);\n\n\n//# sourceURL=webpack://pathfinding-worker/./node_modules/heap/lib/heap.js?"); + +/***/ }), + +/***/ "./src/node/index.ts": +/*!***************************!*\ + !*** ./src/node/index.ts ***! + \***************************/ +/***/ ((__unused_webpack_module, exports) => { + +"use strict"; +eval("\nObject.defineProperty(exports, \"__esModule\", ({ value: true }));\nexports.PathfindingNode = void 0;\nclass PathfindingNode {\n position;\n distance;\n parent = null;\n cost;\n constructor({ position, cost = 1.0, distance, }) {\n this.position = { ...position };\n this.distance = distance;\n this.cost = cost;\n }\n getBetterGuessDistance() {\n return this.cost + this.distance;\n }\n getCost() {\n return this.cost;\n }\n setCost(cost) {\n this.cost = cost;\n }\n getParent() {\n return this.parent;\n }\n setParent(parent) {\n this.parent = parent;\n }\n compute() {\n const path = [{ ...this.position }];\n const cost = this.parent ? this.parent.getCost() : 0;\n let parent = this.getParent();\n while (parent) {\n path.push({ ...parent.position });\n parent = parent.getParent();\n }\n path.reverse();\n return { path, cost };\n }\n getNextCost(shift, points) {\n const nextPosition = {\n x: this.position.x + shift.x,\n y: this.position.y + shift.y,\n };\n const cost = points[nextPosition.y]?.[nextPosition.x] ?? 1.0;\n if (Math.abs(shift.x) + Math.abs(shift.y) !== 1) {\n return (cost * Math.SQRT2 +\n (points[this.position.y]?.[nextPosition.x] ?? 0.0) +\n (points[nextPosition.y]?.[this.position.x] ?? 0.0));\n }\n return cost;\n }\n}\nexports.PathfindingNode = PathfindingNode;\n\n\n//# sourceURL=webpack://pathfinding-worker/./src/node/index.ts?"); + +/***/ }), + +/***/ "./src/process/const.ts": +/*!******************************!*\ + !*** ./src/process/const.ts ***! + \******************************/ +/***/ ((__unused_webpack_module, exports) => { + +"use strict"; +eval("\nObject.defineProperty(exports, \"__esModule\", ({ value: true }));\nexports.PATHFINDING_PROCESS_NEXT_DIRECTIINS_DIAGONAL = exports.PATHFINDING_PROCESS_NEXT_DIRECTIINS_STRAIGHT = exports.PATHFINDING_PROCESS_LOOP_RATE = void 0;\nexports.PATHFINDING_PROCESS_LOOP_RATE = 200;\nexports.PATHFINDING_PROCESS_NEXT_DIRECTIINS_STRAIGHT = {\n R: { x: 1, y: 0 }, // →\n L: { x: -1, y: 0 }, // ←\n D: { x: 0, y: 1 }, // ↓\n U: { x: 0, y: -1 }, // ↑\n};\nexports.PATHFINDING_PROCESS_NEXT_DIRECTIINS_DIAGONAL = {\n RD: { x: 1, y: 1 }, // ↘\n RU: { x: 1, y: -1 }, // ↗\n LU: { x: -1, y: -1 }, // ↖\n LD: { x: -1, y: 1 }, // ↙\n};\n\n\n//# sourceURL=webpack://pathfinding-worker/./src/process/const.ts?"); + +/***/ }), + +/***/ "./src/process/index.ts": +/*!******************************!*\ + !*** ./src/process/index.ts ***! + \******************************/ +/***/ ((__unused_webpack_module, exports, __webpack_require__) => { + +"use strict"; +eval("\nObject.defineProperty(exports, \"__esModule\", ({ value: true }));\nexports.PathfindingProcess = void 0;\nconst const_1 = __webpack_require__(/*! ./const */ \"./src/process/const.ts\");\nclass PathfindingProcess {\n grids;\n pointsCost = [];\n taskQueue = [];\n timer;\n constructor(grids) {\n this.grids = grids;\n this.timer = setInterval(() => {\n try {\n this.next();\n }\n catch (error) {\n console.error(error);\n }\n }, const_1.PATHFINDING_PROCESS_LOOP_RATE);\n }\n destroy() {\n clearTimeout(this.timer);\n }\n createTask(task) {\n this.taskQueue.push(task);\n }\n cancelTask(idTask) {\n const taskIndex = this.taskQueue.findIndex((task) => task.id === idTask);\n if (taskIndex !== -1) {\n this.taskQueue.splice(taskIndex, 1);\n }\n }\n setPointCost(position, cost) {\n if (!this.pointsCost[position.y]) {\n this.pointsCost[position.y] = [];\n }\n this.pointsCost[position.y][position.x] = cost;\n }\n resetPointCost(position) {\n if (this.pointsCost[position.y]) {\n delete this.pointsCost[position.y][position.x];\n }\n }\n setWalkable(group, position, state) {\n const grid = this.grids[group];\n if (!grid) {\n return;\n }\n grid[position.y][position.x] = state;\n }\n next() {\n const task = this.taskQueue[0];\n if (!task) {\n return;\n }\n const currentNode = task.takeLastNode();\n if (currentNode) {\n if (currentNode.position.x === task.to.x &&\n currentNode.position.y === task.to.y) {\n this.taskQueue.shift();\n task.complete(currentNode.compute());\n }\n else {\n this.getNextDirections(task, currentNode).forEach((offset) => {\n const position = {\n x: currentNode.position.x + offset.x,\n y: currentNode.position.y + offset.y,\n };\n const nextCost = task.getNextCost(currentNode, offset, this.pointsCost);\n const nextNode = task.pickNode(position);\n if (nextNode) {\n if (nextCost < nextNode.getCost()) {\n task.useNode(currentNode, nextNode, nextCost);\n }\n }\n else {\n task.addNode(currentNode, position, nextCost);\n }\n });\n }\n }\n else {\n this.taskQueue.shift();\n task.complete({\n path: null,\n cost: Infinity,\n });\n }\n this.next();\n }\n getNextDirections(task, node) {\n const straightClear = {};\n const allowedDirs = [];\n Object.entries(const_1.PATHFINDING_PROCESS_NEXT_DIRECTIINS_STRAIGHT).forEach(([key, direction]) => {\n if (this.isWalkable(node, task.group, direction)) {\n straightClear[key] = true;\n allowedDirs.push(direction);\n }\n });\n Object.entries(const_1.PATHFINDING_PROCESS_NEXT_DIRECTIINS_DIAGONAL).forEach(([key, direction]) => {\n const clear = straightClear[key[0]] && straightClear[key[1]];\n if (clear && this.isWalkable(node, task.group, direction)) {\n allowedDirs.push(direction);\n }\n });\n return allowedDirs;\n }\n isWalkable(node, group, direction) {\n const position = {\n x: node.position.x + direction.x,\n y: node.position.y + direction.y,\n };\n return this.grids[group]?.[position.y]?.[position.x];\n }\n}\nexports.PathfindingProcess = PathfindingProcess;\n\n\n//# sourceURL=webpack://pathfinding-worker/./src/process/index.ts?"); + +/***/ }), + +/***/ "./src/task/index.ts": +/*!***************************!*\ + !*** ./src/task/index.ts ***! + \***************************/ +/***/ (function(__unused_webpack_module, exports, __webpack_require__) { + +"use strict"; +eval("\nvar __importDefault = (this && this.__importDefault) || function (mod) {\n return (mod && mod.__esModule) ? mod : { \"default\": mod };\n};\nObject.defineProperty(exports, \"__esModule\", ({ value: true }));\nexports.PathfindingTask = void 0;\nconst heap_1 = __importDefault(__webpack_require__(/*! heap */ \"./node_modules/heap/index.js\"));\nconst node_1 = __webpack_require__(/*! ../node */ \"./src/node/index.ts\");\nclass PathfindingTask {\n from;\n to;\n id;\n group;\n tree = [];\n nodes;\n complete;\n constructor({ idTask, from, to, group }, onComplete) {\n this.id = idTask;\n this.from = { ...from };\n this.to = { ...to };\n this.group = group;\n this.complete = onComplete;\n this.nodes = new heap_1.default((nodeA, nodeB) => nodeA.getBetterGuessDistance() - nodeB.getBetterGuessDistance());\n const node = new node_1.PathfindingNode({\n position: this.from,\n distance: this.getDistanceFrom(this.from),\n });\n this.pushNode(node);\n }\n getDistanceFrom(position) {\n return Math.sqrt((position.x - this.to.x) ** 2 + (position.y - this.to.y) ** 2);\n }\n addNode(parent, position, cost) {\n const node = new node_1.PathfindingNode({\n position,\n distance: this.getDistanceFrom(position),\n cost,\n });\n node.setParent(parent);\n this.pushNode(node);\n }\n pushNode(node) {\n this.nodes.push(node);\n if (!this.tree[node.position.y]) {\n this.tree[node.position.y] = [];\n }\n this.tree[node.position.y][node.position.x] = node;\n }\n pickNode(position) {\n return this.tree[position.y]?.[position.x];\n }\n takeLastNode() {\n return this.nodes.pop() ?? null;\n }\n useNode(current, next, cost) {\n next.setCost(cost);\n next.setParent(current);\n this.nodes.updateItem(next);\n }\n getNextCost(currentNode, shift, points) {\n return currentNode.getCost() + currentNode.getNextCost(shift, points);\n }\n}\nexports.PathfindingTask = PathfindingTask;\n\n\n//# sourceURL=webpack://pathfinding-worker/./src/task/index.ts?"); + +/***/ }), + +/***/ "./node_modules/ts-loader/index.js!./src/worker/index.ts": +/*!***************************************************************!*\ + !*** ./node_modules/ts-loader/index.js!./src/worker/index.ts ***! + \***************************************************************/ +/***/ ((__unused_webpack_module, exports, __webpack_require__) => { + +"use strict"; +eval("\nObject.defineProperty(exports, \"__esModule\", ({ value: true }));\nconst worker_threads_1 = __webpack_require__(/*! worker_threads */ \"worker_threads\");\nconst process_1 = __webpack_require__(/*! ../process */ \"./src/process/index.ts\");\nconst task_1 = __webpack_require__(/*! ../task */ \"./src/task/index.ts\");\nconst types_1 = __webpack_require__(/*! ./types */ \"./src/worker/types.ts\");\nconst listeners = new Map();\nconst process = new process_1.PathfindingProcess(worker_threads_1.workerData.grids);\nlisten(types_1.PathfindingWorkerEvent.CreateTask, (payload) => {\n const task = new task_1.PathfindingTask(payload, (result) => {\n send(types_1.PathfindingWorkerEvent.CompleteTask, {\n idTask: payload.idTask,\n result,\n });\n });\n process.createTask(task);\n});\nlisten(types_1.PathfindingWorkerEvent.CancelTask, (payload) => {\n process.cancelTask(payload.idTask);\n});\nlisten(types_1.PathfindingWorkerEvent.UpdatePointCost, (payload) => {\n if (payload.cost === null) {\n process.resetPointCost(payload.position);\n }\n else {\n process.setPointCost(payload.position, payload.cost);\n }\n});\nlisten(types_1.PathfindingWorkerEvent.SetWalkable, (payload) => {\n process.setWalkable(payload.group, payload.position, payload.state);\n});\nworker_threads_1.parentPort?.on(\"message\", (data) => {\n listeners.get(data.event)?.(data.payload);\n});\nfunction listen(event, callback) {\n listeners.set(event, callback);\n}\nfunction send(event, payload) {\n worker_threads_1.parentPort?.postMessage({ event, payload });\n}\n\n\n//# sourceURL=webpack://pathfinding-worker/./src/worker/index.ts?./node_modules/ts-loader/index.js"); + +/***/ }), + +/***/ "./src/worker/types.ts": +/*!*****************************!*\ + !*** ./src/worker/types.ts ***! + \*****************************/ +/***/ ((__unused_webpack_module, exports) => { + +"use strict"; +eval("\nObject.defineProperty(exports, \"__esModule\", ({ value: true }));\nexports.PathfindingWorkerEvent = void 0;\nvar PathfindingWorkerEvent;\n(function (PathfindingWorkerEvent) {\n PathfindingWorkerEvent[\"CreateTask\"] = \"CreateTask\";\n PathfindingWorkerEvent[\"CompleteTask\"] = \"CompleteTask\";\n PathfindingWorkerEvent[\"CancelTask\"] = \"CancelTask\";\n PathfindingWorkerEvent[\"UpdatePointCost\"] = \"UpdatePointCost\";\n PathfindingWorkerEvent[\"SetWalkable\"] = \"SetWalkable\";\n})(PathfindingWorkerEvent || (exports.PathfindingWorkerEvent = PathfindingWorkerEvent = {}));\n\n\n//# sourceURL=webpack://pathfinding-worker/./src/worker/types.ts?"); + +/***/ }), + +/***/ "worker_threads": +/*!*********************************!*\ + !*** external "worker_threads" ***! + \*********************************/ +/***/ ((module) => { + +"use strict"; +module.exports = require("worker_threads"); + +/***/ }) + +/******/ }); +/************************************************************************/ +/******/ // The module cache +/******/ var __webpack_module_cache__ = {}; +/******/ +/******/ // The require function +/******/ function __webpack_require__(moduleId) { +/******/ // Check if module is in cache +/******/ var cachedModule = __webpack_module_cache__[moduleId]; +/******/ if (cachedModule !== undefined) { +/******/ return cachedModule.exports; +/******/ } +/******/ // Create a new module (and put it into the cache) +/******/ var module = __webpack_module_cache__[moduleId] = { +/******/ // no module.id needed +/******/ // no module.loaded needed +/******/ exports: {} +/******/ }; +/******/ +/******/ // Execute the module function +/******/ __webpack_modules__[moduleId].call(module.exports, module, module.exports, __webpack_require__); +/******/ +/******/ // Return the exports of the module +/******/ return module.exports; +/******/ } +/******/ +/************************************************************************/ +/******/ +/******/ // startup +/******/ // Load entry module and return exports +/******/ // This entry module can't be inlined because the eval devtool is used. +/******/ var __webpack_exports__ = __webpack_require__("./node_modules/ts-loader/index.js!./src/worker/index.ts"); +/******/ +/******/ })() +; \ No newline at end of file diff --git a/dist/node/__mocks__/node.d.ts b/dist/node/__mocks__/node.d.ts new file mode 100644 index 0000000..ebf577a --- /dev/null +++ b/dist/node/__mocks__/node.d.ts @@ -0,0 +1,3 @@ +import { PathfindingNode } from '..'; +import type { PathfindingNodeConfig } from '../types'; +export declare const mockNode: (config?: PathfindingNodeConfig) => PathfindingNode; diff --git a/dist/node/index.d.ts b/dist/node/index.d.ts new file mode 100644 index 0000000..620d803 --- /dev/null +++ b/dist/node/index.d.ts @@ -0,0 +1,17 @@ +import type { Position } from "../types"; +import type { PathfindingTaskResult } from "../task/types"; +import type { PathfindingNodeConfig } from "./types"; +export declare class PathfindingNode { + readonly position: Position; + readonly distance: number; + private parent; + private cost; + constructor({ position, cost, distance, }: PathfindingNodeConfig); + getBetterGuessDistance(): number; + getCost(): number; + setCost(cost: number): void; + getParent(): PathfindingNode | null; + setParent(parent: PathfindingNode): void; + compute(): PathfindingTaskResult; + getNextCost(shift: Position, points: number[][]): number; +} diff --git a/dist/node/index.test.d.ts b/dist/node/index.test.d.ts new file mode 100644 index 0000000..cb0ff5c --- /dev/null +++ b/dist/node/index.test.d.ts @@ -0,0 +1 @@ +export {}; diff --git a/dist/node/types.d.ts b/dist/node/types.d.ts new file mode 100644 index 0000000..c6e29d0 --- /dev/null +++ b/dist/node/types.d.ts @@ -0,0 +1,6 @@ +import type { Position } from "../types"; +export type PathfindingNodeConfig = { + position: Position; + distance: number; + cost?: number; +}; diff --git a/dist/process/const.d.ts b/dist/process/const.d.ts new file mode 100644 index 0000000..b5d2db1 --- /dev/null +++ b/dist/process/const.d.ts @@ -0,0 +1,37 @@ +export declare const PATHFINDING_PROCESS_LOOP_RATE = 200; +export declare const PATHFINDING_PROCESS_NEXT_DIRECTIINS_STRAIGHT: { + R: { + x: number; + y: number; + }; + L: { + x: number; + y: number; + }; + D: { + x: number; + y: number; + }; + U: { + x: number; + y: number; + }; +}; +export declare const PATHFINDING_PROCESS_NEXT_DIRECTIINS_DIAGONAL: { + RD: { + x: number; + y: number; + }; + RU: { + x: number; + y: number; + }; + LU: { + x: number; + y: number; + }; + LD: { + x: number; + y: number; + }; +}; diff --git a/dist/process/index.d.ts b/dist/process/index.d.ts new file mode 100644 index 0000000..ae84cc4 --- /dev/null +++ b/dist/process/index.d.ts @@ -0,0 +1,18 @@ +import type { Position } from "../types"; +import type { PathfindingTask } from "../task"; +export declare class PathfindingProcess { + private grids; + private pointsCost; + private taskQueue; + private timer; + constructor(grids: Record); + destroy(): void; + createTask(task: PathfindingTask): void; + cancelTask(idTask: number): void; + setPointCost(position: Position, cost: number): void; + resetPointCost(position: Position): void; + setWalkable(group: string, position: Position, state: boolean): void; + private next; + private getNextDirections; + private isWalkable; +} diff --git a/dist/process/index.test.d.ts b/dist/process/index.test.d.ts new file mode 100644 index 0000000..cb0ff5c --- /dev/null +++ b/dist/process/index.test.d.ts @@ -0,0 +1 @@ +export {}; diff --git a/dist/task/index.d.ts b/dist/task/index.d.ts new file mode 100644 index 0000000..48688f5 --- /dev/null +++ b/dist/task/index.d.ts @@ -0,0 +1,20 @@ +import { PathfindingNode } from "../node"; +import type { PathfindingTaskConfig, PathfindingTaskResult } from "./types"; +import type { Position } from "../types"; +export declare class PathfindingTask { + readonly from: Position; + readonly to: Position; + readonly id: number; + readonly group: string; + private tree; + private nodes; + readonly complete: (result: PathfindingTaskResult) => void; + constructor({ idTask, from, to, group }: PathfindingTaskConfig, onComplete: (result: PathfindingTaskResult) => void); + private getDistanceFrom; + addNode(parent: PathfindingNode, position: Position, cost: number): void; + private pushNode; + pickNode(position: Position): PathfindingNode; + takeLastNode(): PathfindingNode | null; + useNode(current: PathfindingNode, next: PathfindingNode, cost: number): void; + getNextCost(currentNode: PathfindingNode, shift: Position, points: number[][]): number; +} diff --git a/dist/task/types.d.ts b/dist/task/types.d.ts new file mode 100644 index 0000000..a29c5e2 --- /dev/null +++ b/dist/task/types.d.ts @@ -0,0 +1,12 @@ +import type { Position } from "../types"; +export type PathfindingTaskConfig = { + idTask: number; + from: Position; + to: Position; + group: string; +}; +export type PathfindingTaskResult = { + path: Position[] | null; + cost: number; +}; +export type PathfindingTaskResultCallback = (result: PathfindingTaskResult) => void; diff --git a/dist/types.d.ts b/dist/types.d.ts new file mode 100644 index 0000000..8aaef97 --- /dev/null +++ b/dist/types.d.ts @@ -0,0 +1,9 @@ +export type PathfindingTaskConfig = { + from: Position; + to: Position; + group: string; +}; +export type Position = { + x: number; + y: number; +}; diff --git a/dist/worker/index.d.ts b/dist/worker/index.d.ts new file mode 100644 index 0000000..cb0ff5c --- /dev/null +++ b/dist/worker/index.d.ts @@ -0,0 +1 @@ +export {}; diff --git a/dist/worker/node/index.d.ts b/dist/worker/node/index.d.ts new file mode 100644 index 0000000..6e7489d --- /dev/null +++ b/dist/worker/node/index.d.ts @@ -0,0 +1,16 @@ +import { Position } from "../../types"; +import type { NavigatorNodeConfig, NavigatorNodeResult } from "./types"; +export declare class NavigatorNode { + readonly position: Position; + readonly distance: number; + private parent; + private cost; + constructor({ position, cost, distance, parent, }: NavigatorNodeConfig); + getBetterGuessDistance(): number; + getCost(): number; + setCost(cost: number): void; + getParent(): NavigatorNode | null; + setParent(parent: NavigatorNode): void; + getResult(): NavigatorNodeResult; + getNextCost(shift: Position, points: number[][]): number; +} diff --git a/dist/worker/node/index.test.d.ts b/dist/worker/node/index.test.d.ts new file mode 100644 index 0000000..e69de29 diff --git a/dist/worker/node/types.d.ts b/dist/worker/node/types.d.ts new file mode 100644 index 0000000..21a3a1c --- /dev/null +++ b/dist/worker/node/types.d.ts @@ -0,0 +1,12 @@ +import type { NavigatorNode } from "."; +import { Position } from "../../types"; +export type NavigatorNodeConfig = { + position: Position; + distance: number; + cost?: number; + parent?: NavigatorNode | null; +}; +export type NavigatorNodeResult = { + path: Position[]; + cost: number; +}; diff --git a/dist/worker/process/const.d.ts b/dist/worker/process/const.d.ts new file mode 100644 index 0000000..e522d11 --- /dev/null +++ b/dist/worker/process/const.d.ts @@ -0,0 +1,37 @@ +export declare const PROCESS_LOOP_RATE = 200; +export declare const PROCESS_NEXT_DIRECTIINS_STRAIGHT: { + R: { + x: number; + y: number; + }; + L: { + x: number; + y: number; + }; + D: { + x: number; + y: number; + }; + U: { + x: number; + y: number; + }; +}; +export declare const PROCESS_NEXT_DIRECTIINS_DIAGONAL: { + RD: { + x: number; + y: number; + }; + RU: { + x: number; + y: number; + }; + LU: { + x: number; + y: number; + }; + LD: { + x: number; + y: number; + }; +}; diff --git a/dist/worker/process/index.d.ts b/dist/worker/process/index.d.ts new file mode 100644 index 0000000..accf9c0 --- /dev/null +++ b/dist/worker/process/index.d.ts @@ -0,0 +1,19 @@ +import type { NavigatorGridGroup, Position } from "../../types"; +import type { NavigatorTask } from "../task"; +export declare class NavigatorProcess { + private grids; + private pointsCost; + private taskQueue; + private timer; + constructor(grids: Record); + destroy(): void; + createTask(task: NavigatorTask): void; + cancelTask(idTask: number): void; + setPointCost(position: Position, cost: number): void; + resetPointCost(position: Position): void; + setWalkable(group: NavigatorGridGroup, position: Position, state: boolean): void; + private next; + private getNextDirections; + private isWalkable; + private completeTask; +} diff --git a/dist/worker/process/index.test.d.ts b/dist/worker/process/index.test.d.ts new file mode 100644 index 0000000..e69de29 diff --git a/dist/worker/task/index.d.ts b/dist/worker/task/index.d.ts new file mode 100644 index 0000000..81d2680 --- /dev/null +++ b/dist/worker/task/index.d.ts @@ -0,0 +1,19 @@ +import { NavigatorNode } from "../node"; +import type { NavigatorTaskConfig } from "./types"; +import { Position } from "../../types"; +export declare class NavigatorTask { + readonly from: Position; + readonly to: Position; + readonly id: number; + readonly group: string; + private tree; + private nodes; + constructor({ idTask, from, to, group }: NavigatorTaskConfig); + private getDistanceFrom; + addNode(parent: NavigatorNode, position: Position, cost: number): void; + private pushNode; + pickNode(position: Position): NavigatorNode; + takeLastNode(): NavigatorNode | null; + useNode(current: NavigatorNode, next: NavigatorNode, cost: number): void; + getNextCost(currentNode: NavigatorNode, shift: Position, points: number[][]): number; +} diff --git a/dist/worker/task/types.d.ts b/dist/worker/task/types.d.ts new file mode 100644 index 0000000..42d9386 --- /dev/null +++ b/dist/worker/task/types.d.ts @@ -0,0 +1,7 @@ +import { Position } from "../../types"; +export type NavigatorTaskConfig = { + idTask: number; + from: Position; + to: Position; + group: string; +}; diff --git a/dist/worker/types.d.ts b/dist/worker/types.d.ts new file mode 100644 index 0000000..69df6c1 --- /dev/null +++ b/dist/worker/types.d.ts @@ -0,0 +1,33 @@ +import type { Position } from "../types"; +import type { PathfindingTaskResult } from "../task/types"; +export declare enum PathfindingWorkerEvent { + CreateTask = "CreateTask", + CompleteTask = "CompleteTask", + CancelTask = "CancelTask", + UpdatePointCost = "UpdatePointCost", + SetWalkable = "SetWalkable" +} +export type PathfindingWorkerEventPayload = { + [PathfindingWorkerEvent.CreateTask]: { + idTask: number; + from: Position; + to: Position; + group: string; + }; + [PathfindingWorkerEvent.CancelTask]: { + idTask: number; + }; + [PathfindingWorkerEvent.UpdatePointCost]: { + position: Position; + cost: number | null; + }; + [PathfindingWorkerEvent.SetWalkable]: { + position: Position; + state: boolean; + group: string; + }; + [PathfindingWorkerEvent.CompleteTask]: { + idTask: number; + result: PathfindingTaskResult; + }; +}; diff --git a/jest.config.js b/jest.config.js new file mode 100644 index 0000000..9894faa --- /dev/null +++ b/jest.config.js @@ -0,0 +1,8 @@ +module.exports = { + preset: 'ts-jest', + testEnvironment: 'node', + verbose: true, + moduleNameMapper: { + '^worker-loader!': 'identity-obj-proxy', + }, +}; diff --git a/package.json b/package.json new file mode 100644 index 0000000..3b402d2 --- /dev/null +++ b/package.json @@ -0,0 +1,44 @@ +{ + "name": "pathfinding-worker", + "description": "", + "version": "0.1.0", + "keywords": [], + "license": "MIT", + "author": { + "name": "Nikita Galadiy", + "email": "dev@neki.guru", + "url": "https://neki.guru/" + }, + "main": "./dist/index.js", + "scripts": { + "build": "webpack --mode production", + "watch": "webpack --mode development --watch --stats-children", + "test": "jest", + "lint": "eslint \"./src/**/*.ts\" --fix" + }, + "dependencies": { + "heap": "0.2.7" + }, + "devDependencies": { + "@types/heap": "0.2.34", + "@types/jest": "29.5.12", + "@types/node": "20.14.11", + "@typescript-eslint/eslint-plugin": "7.16.1", + "@typescript-eslint/parser": "7.16.1", + "eslint": "8.56.0", + "eslint-plugin-import": "2.29.1", + "identity-obj-proxy": "^3.0.0", + "jest": "29.7.0", + "ts-jest": "29.1.2", + "ts-loader": "9.5.1", + "typescript": "5.5.3", + "typescript-eslint": "7.16.1", + "webpack": "5.93.0", + "webpack-cli": "5.1.4", + "worker-loader": "3.0.8" + }, + "repository": { + "type": "git", + "url": "git+https://github.com/neki-dev/pathfinding-worker.git" + } +} diff --git a/src/__mocks__/grid.ts b/src/__mocks__/grid.ts new file mode 100644 index 0000000..1553d89 --- /dev/null +++ b/src/__mocks__/grid.ts @@ -0,0 +1,45 @@ +const _ = true; +const o = false; + +export const mockedGrid = [ + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, o, o, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, o, o, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, o, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, o, _, _, _, _, _, _, _, _, _, _, _, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, o, o, o, _, _, _, _, _, _, _, _, _, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, o, o, o, o, o, o, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, o, o, o, o, o, o, o, o, o, o, _, _, _, _, _, _, _, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, o, o, o, o, o, o, o, o, o, o, _, _, _, _, _, _, _, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, o, o, o, o, o, _, _, _, _, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, o, _, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, o, o, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, o, o, o, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, o, o, o, o, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, o, o, o, o, _, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, o, o, o, o, o, o, o, o, _, _, _, _, o, _, _, _, _, _, o, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, o, o, o, o, o, o, o, o, o, o, _, _, o, o, _, _, o, _, o, o, o, o, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, o, o, o, o, o, o, o, o, o, o, _, _, _, o, o, o, o, o, o, o, o, o, o, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, o, o, o, o, o, o, o, o, o, o, _, _, _, o, o, o, o, o, o, o, o, o, o, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, o, o, o, o, o, o, o, o, o, _, _, _, _, o, o, o, o, o, o, o, o, o, o, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, o, o, o, o, o, o, _, _, _, _, _, _, o, o, o, o, o, o, o, o, o, o, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, o, o, o, _, _, _, _, _, _, _, _, _, o, o, o, o, o, o, o, o, o, o, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, o, o, o, o, _, _, _, _, _, _, _, _, o, o, o, o, o, o, o, o, o, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, o, o, o, o, o, _, _, _, _, _, _, _, _, o, o, o, o, _, _, _, o, o, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, o, o, o, o, o, _, _, _, _, _, _, _, _, o, o, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, o, o, o, o, _, _, _, _, _, _, _, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, o, o, o, _, _, _, _, _, _, _, _, _, o, _, _, _, _, _, _, _, _, _, _, _, _, _, o, _, _, _, _, _], + [_, _, _, _, _, _, _, _, o, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, o, o, o, o, o, _, _, _, _], + [_, _, _, _, _, _, o, o, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, o, o, o, o, o, _, _, _, _], + [_, _, _, _, _, _, o, o, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, o, o, o, o, _, _, _, _], + [_, _, _, _, _, _, o, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, o, o, o, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, o, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], + [_, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _, _], +]; diff --git a/src/const.ts b/src/const.ts new file mode 100644 index 0000000..9787b0f --- /dev/null +++ b/src/const.ts @@ -0,0 +1 @@ +export const PATHFINDING_WORKER_DIST_FILE_NAME = "./dist/index.worker.js"; diff --git a/src/index.test.ts b/src/index.test.ts new file mode 100644 index 0000000..e34f32e --- /dev/null +++ b/src/index.test.ts @@ -0,0 +1,102 @@ +import { Pathfinding } from "."; + +import { mockedGrid } from './__mocks__/grid'; +import { PathfindingWorkerEvent } from "./worker/types"; + +describe('Pathfinding', () => { + let pathfinding: Pathfinding; + + beforeEach(() => { + pathfinding = new Pathfinding({ + 'groupA': mockedGrid, + }); + pathfinding.worker.postMessage = jest.fn(); + }); + + afterEach(() => { + // @ts-ignore + pathfinding.worker.postMessage.mockClear(); + pathfinding.destroy(); + }); + + it('should create task', () => { + const resultCallback = jest.fn(); + const idTask = pathfinding.createTask({ + from: { x: 0, y: 0 }, + to: { x: 100, y: 100 }, + group: 'groupA', + }, resultCallback); + + expect(pathfinding.getTaskCallback(idTask)).toBe(resultCallback); + expect(pathfinding.worker.postMessage).toHaveBeenCalledWith({ + event: PathfindingWorkerEvent.CreateTask, + payload: { + idTask, + from: { x: 0, y: 0 }, + to: { x: 100, y: 100 }, + group: 'groupA', + }, + }); + }); + + it('should cancel task', () => { + const idTask = 1; + + pathfinding.cancelTask(idTask); + + expect(pathfinding.getTaskCallback(idTask)).toBe(null); + expect(pathfinding.worker.postMessage).toHaveBeenCalledWith({ + event: PathfindingWorkerEvent.CancelTask, + payload: { idTask }, + }); + }); + + it('should recieve task result', () => { + const resultCallback = jest.fn(); + const idTask = pathfinding.createTask({ + from: { x: 0, y: 0 }, + to: { x: 100, y: 100 }, + group: 'groupA', + }, resultCallback); + + pathfinding.worker.emit('message', { + event: PathfindingWorkerEvent.CompleteTask, + payload: { idTask }, + }); + + expect(resultCallback).toHaveBeenCalled(); + }); + + it('should set point cost', () => { + pathfinding.setPointCost({ x: 0, y: 0 }, 10); + + expect(pathfinding.worker.postMessage).toHaveBeenCalledWith({ + event: PathfindingWorkerEvent.UpdatePointCost, + payload: { + position: { x: 0, y: 0 }, + cost: 10, + }, + }); + }); + + it('should reset point cost', () => { + pathfinding.setPointCost({ x: 0, y: 0 }, 10); + pathfinding.resetPointCost({ x: 0, y: 0 }); + + expect(pathfinding.worker.postMessage).toHaveBeenCalledWith({ + event: PathfindingWorkerEvent.UpdatePointCost, + payload: { + position: { x: 0, y: 0 }, + cost: null, + }, + }); + }); + + it('should destroy', () => { + pathfinding.worker.terminate = jest.fn(); + + pathfinding.destroy(); + + expect(pathfinding.worker.terminate).toHaveBeenCalled(); + }); +}); diff --git a/src/index.ts b/src/index.ts new file mode 100644 index 0000000..8ec9458 --- /dev/null +++ b/src/index.ts @@ -0,0 +1,130 @@ +// @ts-ignore +import PathfindingWorker from "worker-loader!./worker"; +import { Worker } from "worker_threads"; + +import type { PathfindingTaskConfig, Position } from "./types"; +import { PATHFINDING_WORKER_DIST_FILE_NAME } from "./const"; +import type { PathfindingWorkerEventPayload } from "./worker/types"; +import { PathfindingWorkerEvent } from "./worker/types"; +import type { PathfindingTaskResultCallback } from "./task/types"; + +export class Pathfinding { + readonly worker: Worker; + + private pointsCost: number[][] = []; + + private lastTaskId: number = 0; + + private resultCallbacks: Map = + new Map(); + + constructor(grids: Record) { + // Trigger webpack worker build + void PathfindingWorker; + + this.worker = new Worker(PATHFINDING_WORKER_DIST_FILE_NAME, { + workerData: { grids }, + }); + + this.listen(PathfindingWorkerEvent.CompleteTask, (payload) => { + const callback = this.getTaskCallback(payload.idTask); + if (callback) { + callback(payload.result); + } else { + // Events occurs for canceled tasks, since the path calculation occurs sequentially in single process. + // Need to figure out how to interrupt the calculation for a canceled task. + } + }); + } + + public destroy(): void { + this.worker.terminate(); + } + + public setWalkable(group: string, position: Position, state: boolean): void { + this.send(PathfindingWorkerEvent.SetWalkable, { + position, + group, + state, + }); + } + + public setPointCost(position: Position, cost: number): void { + if (this.getPointCost(position) === cost) { + return; + } + + if (!this.pointsCost[position.y]) { + this.pointsCost[position.y] = []; + } + this.pointsCost[position.y][position.x] = cost; + + this.send(PathfindingWorkerEvent.UpdatePointCost, { + position, + cost, + }); + } + + public resetPointCost(position: Position): void { + if (this.pointsCost[position.y]?.[position.x] === undefined) { + return; + } + + delete this.pointsCost[position.y][position.x]; + + this.send(PathfindingWorkerEvent.UpdatePointCost, { + position, + cost: null, + }); + } + + public getPointCost(position: Position): number { + return this.pointsCost[position.y]?.[position.x] ?? 1.0; + } + + public createTask( + config: PathfindingTaskConfig, + callback: PathfindingTaskResultCallback, + ): number { + const idTask = ++this.lastTaskId; + + this.send(PathfindingWorkerEvent.CreateTask, { + ...config, + idTask, + }); + + this.resultCallbacks.set(idTask, callback); + + return idTask; + } + + public getTaskCallback(idTask: number): PathfindingTaskResultCallback | null { + return this.resultCallbacks.get(idTask) ?? null; + } + + public cancelTask(idTask: number): void { + this.send(PathfindingWorkerEvent.CancelTask, { + idTask, + }); + + this.resultCallbacks.delete(idTask); + } + + private listen( + event: K, + callback: (payload: PathfindingWorkerEventPayload[K]) => void, + ): void { + this.worker.on("message", (data) => { + if (data.event === event) { + callback(data.payload); + } + }); + } + + private send( + event: K, + payload: PathfindingWorkerEventPayload[K], + ) { + this.worker.postMessage({ event, payload }); + } +} diff --git a/src/node/__mocks__/node.ts b/src/node/__mocks__/node.ts new file mode 100644 index 0000000..188e752 --- /dev/null +++ b/src/node/__mocks__/node.ts @@ -0,0 +1,8 @@ +import { PathfindingNode } from '..'; + +import type { PathfindingNodeConfig } from '../types'; + +export const mockNode = (config: PathfindingNodeConfig = { + position: { x: 0, y: 0 }, + distance: 1, +}) => new PathfindingNode(config); diff --git a/src/node/index.test.ts b/src/node/index.test.ts new file mode 100644 index 0000000..3244b23 --- /dev/null +++ b/src/node/index.test.ts @@ -0,0 +1,60 @@ +import { mockNode } from './__mocks__/node'; + +import type { PathfindingNode } from '.'; + +describe('PathfindingNode', () => { + let node: PathfindingNode; + + beforeEach(() => { + node = mockNode(); + }); + + it('should return better guess distance', () => { + expect(node.getBetterGuessDistance()).toBe(2); + }); + + it('should get current cost', () => { + expect(node.getCost()).toBe(1); + }); + + it('should get next cost', () => { + expect(node.getNextCost(({ x: 1, y: 0 }), [])).toBe(1); + expect(node.getNextCost(({ x: 1, y: 1 }), [])).toBe(1.4142135623730951); + expect(node.getNextCost(({ x: 1, y: 0 }), [[1, 2]])).toBe(2); + }); + + it('should change current cost', () => { + node.setCost(10); + + expect(node.getCost()).toBe(10); + }); + + it('should change parent', () => { + const parent = mockNode(); + + node.setParent(parent); + + expect(node.getParent()).toBe(parent); + }); + + it('should return result', () => { + expect(node.compute()).toEqual({ + cost: 0, + path: [{ x: 0, y: 0 }], + }); + }); + + it('should return result with parent', () => { + const parent = mockNode({ + position: ({ x: 1, y: 1 }), + distance: 1, + }); + + node.setParent(parent); + + expect(node.compute()).toEqual({ + cost: 1, + path: [{ x: 1, y: 1 }, { x: 0, y: 0 }], + }); + }); +}); diff --git a/src/node/index.ts b/src/node/index.ts new file mode 100644 index 0000000..c41f7fb --- /dev/null +++ b/src/node/index.ts @@ -0,0 +1,78 @@ +import type { Position } from "../types"; +import type { PathfindingTaskResult } from "../task/types"; + +import type { PathfindingNodeConfig } from "./types"; + +export class PathfindingNode { + readonly position: Position; + + readonly distance: number; + + private parent: PathfindingNode | null = null; + + private cost: number; + + constructor({ + position, + cost = 1.0, + distance, + }: PathfindingNodeConfig) { + this.position = { ...position }; + this.distance = distance; + this.cost = cost; + } + + public getBetterGuessDistance(): number { + return this.cost + this.distance; + } + + public getCost(): number { + return this.cost; + } + + public setCost(cost: number): void { + this.cost = cost; + } + + public getParent(): PathfindingNode | null { + return this.parent; + } + + public setParent(parent: PathfindingNode): void { + this.parent = parent; + } + + public compute(): PathfindingTaskResult { + const path: Position[] = [{ ...this.position }]; + const cost = this.parent ? this.parent.getCost() : 0; + + let parent = this.getParent(); + + while (parent) { + path.push({ ...parent.position }); + parent = parent.getParent(); + } + + path.reverse(); + + return { path, cost }; + } + + public getNextCost(shift: Position, points: number[][]): number { + const nextPosition = { + x: this.position.x + shift.x, + y: this.position.y + shift.y, + }; + const cost = points[nextPosition.y]?.[nextPosition.x] ?? 1.0; + + if (Math.abs(shift.x) + Math.abs(shift.y) !== 1) { + return ( + cost * Math.SQRT2 + + (points[this.position.y]?.[nextPosition.x] ?? 0.0) + + (points[nextPosition.y]?.[this.position.x] ?? 0.0) + ); + } + + return cost; + } +} diff --git a/src/node/types.ts b/src/node/types.ts new file mode 100644 index 0000000..d6f18bd --- /dev/null +++ b/src/node/types.ts @@ -0,0 +1,7 @@ +import type { Position } from "../types"; + +export type PathfindingNodeConfig = { + position: Position; + distance: number; + cost?: number; +}; diff --git a/src/process/__mocks__/path.ts b/src/process/__mocks__/path.ts new file mode 100644 index 0000000..1bf9991 --- /dev/null +++ b/src/process/__mocks__/path.ts @@ -0,0 +1,9 @@ +export const mockedPath = [ + { x: 6, y: 16 }, + { x: 6, y: 17 }, + { x: 6, y: 18 }, + { x: 6, y: 19 }, + { x: 6, y: 20 }, + { x: 6, y: 21 }, + { x: 7, y: 22 }, +]; diff --git a/src/process/const.ts b/src/process/const.ts new file mode 100644 index 0000000..5a62aac --- /dev/null +++ b/src/process/const.ts @@ -0,0 +1,15 @@ +export const PATHFINDING_PROCESS_LOOP_RATE = 200; + +export const PATHFINDING_PROCESS_NEXT_DIRECTIINS_STRAIGHT = { + R: { x: 1, y: 0 }, // → + L: { x: -1, y: 0 }, // ← + D: { x: 0, y: 1 }, // ↓ + U: { x: 0, y: -1 }, // ↑ +}; + +export const PATHFINDING_PROCESS_NEXT_DIRECTIINS_DIAGONAL = { + RD: { x: 1, y: 1 }, // ↘ + RU: { x: 1, y: -1 }, // ↗ + LU: { x: -1, y: -1 }, // ↖ + LD: { x: -1, y: 1 }, // ↙ +}; diff --git a/src/process/index.test.ts b/src/process/index.test.ts new file mode 100644 index 0000000..93ba28f --- /dev/null +++ b/src/process/index.test.ts @@ -0,0 +1,64 @@ +import { parentPort } from 'worker_threads'; + +import { mockedGrid } from '../__mocks__/grid'; +import { mockedPath } from './__mocks__/path'; +import { PathfindingTask } from '../task'; + +import { PathfindingProcess } from '.'; + +describe('PathfindingProcess', () => { + let process: PathfindingProcess; + + beforeAll(() => { + process = new PathfindingProcess({ + 'groupA': mockedGrid, + }); + }); + + afterAll(() => { + process.destroy(); + }); + + beforeEach(() => { + // @ts-ignore + parentPort?.postMessage.mockClear(); + }); + + it('should complete task with path', () => { + const callback = jest.fn(); + const task = new PathfindingTask({ + idTask: 1, + from: { x: 6, y: 16 }, + to: { x: 7, y: 22 }, + group: 'groupA', + }, callback); + + process.createTask(task); + // @ts-ignore: Emitate remote call + process.next(); + + expect(callback).toHaveBeenCalledWith({ + cost: 6, + path: mockedPath, + }); + }); + + it('should complete task without path', () => { + const callback = jest.fn(); + const task = new PathfindingTask({ + idTask: 1, + from: { x: 0, y: 0 }, + to: { x: 99, y: 99 }, + group: 'groupA', + }, callback); + + process.createTask(task); + // @ts-ignore: Emitate remote call + process.next(); + + expect(callback).toHaveBeenCalledWith({ + cost: Infinity, + path: null, + }); + }); +}); diff --git a/src/process/index.ts b/src/process/index.ts new file mode 100644 index 0000000..e0c50fe --- /dev/null +++ b/src/process/index.ts @@ -0,0 +1,150 @@ +import { + PATHFINDING_PROCESS_LOOP_RATE, + PATHFINDING_PROCESS_NEXT_DIRECTIINS_DIAGONAL, + PATHFINDING_PROCESS_NEXT_DIRECTIINS_STRAIGHT, +} from "./const"; + +import type { Position } from "../types"; +import type { PathfindingNode } from "../node"; +import type { PathfindingTask } from "../task"; + +export class PathfindingProcess { + private grids: Record; + + private pointsCost: number[][] = []; + + private taskQueue: PathfindingTask[] = []; + + private timer: NodeJS.Timeout; + + constructor(grids: Record) { + this.grids = grids; + this.timer = setInterval(() => { + try { + this.next(); + } catch (error) { + console.error(error); + } + }, PATHFINDING_PROCESS_LOOP_RATE); + } + + public destroy(): void { + clearTimeout(this.timer); + } + + public createTask(task: PathfindingTask): void { + this.taskQueue.push(task); + } + + public cancelTask(idTask: number): void { + const taskIndex = this.taskQueue.findIndex((task) => task.id === idTask); + if (taskIndex !== -1) { + this.taskQueue.splice(taskIndex, 1); + } + } + + public setPointCost(position: Position, cost: number): void { + if (!this.pointsCost[position.y]) { + this.pointsCost[position.y] = []; + } + this.pointsCost[position.y][position.x] = cost; + } + + public resetPointCost(position: Position): void { + if (this.pointsCost[position.y]) { + delete this.pointsCost[position.y][position.x]; + } + } + + public setWalkable(group: string, position: Position, state: boolean) { + const grid = this.grids[group]; + if (!grid) { + return; + } + + grid[position.y][position.x] = state; + } + + private next(): void { + const task = this.taskQueue[0]; + if (!task) { + return; + } + + const currentNode = task.takeLastNode(); + if (currentNode) { + if ( + currentNode.position.x === task.to.x && + currentNode.position.y === task.to.y + ) { + this.taskQueue.shift(); + task.complete(currentNode.compute()); + } else { + this.getNextDirections(task, currentNode).forEach((offset) => { + const position = { + x: currentNode.position.x + offset.x, + y: currentNode.position.y + offset.y, + }; + const nextCost = task.getNextCost( + currentNode, + offset, + this.pointsCost, + ); + const nextNode = task.pickNode(position); + + if (nextNode) { + if (nextCost < nextNode.getCost()) { + task.useNode(currentNode, nextNode, nextCost); + } + } else { + task.addNode(currentNode, position, nextCost); + } + }); + } + } else { + this.taskQueue.shift(); + task.complete({ + path: null, + cost: Infinity, + }); + } + + this.next(); + } + + private getNextDirections( + task: PathfindingTask, + node: PathfindingNode, + ): Position[] { + const straightClear: Record = {}; + const allowedDirs: Position[] = []; + + Object.entries(PATHFINDING_PROCESS_NEXT_DIRECTIINS_STRAIGHT).forEach( + ([key, direction]) => { + if (this.isWalkable(node, task.group, direction)) { + straightClear[key] = true; + allowedDirs.push(direction); + } + }, + ); + + Object.entries(PATHFINDING_PROCESS_NEXT_DIRECTIINS_DIAGONAL).forEach( + ([key, direction]) => { + const clear = straightClear[key[0]] && straightClear[key[1]]; + if (clear && this.isWalkable(node, task.group, direction)) { + allowedDirs.push(direction); + } + }, + ); + + return allowedDirs; + } + + private isWalkable(node: PathfindingNode, group: string, direction: Position) { + const position = { + x: node.position.x + direction.x, + y: node.position.y + direction.y, + }; + return this.grids[group]?.[position.y]?.[position.x]; + } +} diff --git a/src/task/index.ts b/src/task/index.ts new file mode 100644 index 0000000..efa37ca --- /dev/null +++ b/src/task/index.ts @@ -0,0 +1,91 @@ +import Heap from "heap"; + +import { PathfindingNode } from "../node"; + +import type { PathfindingTaskConfig, PathfindingTaskResult } from "./types"; +import type { Position } from "../types"; + +export class PathfindingTask { + readonly from: Position; + + readonly to: Position; + + readonly id: number; + + readonly group: string; + + private tree: PathfindingNode[][] = []; + + private nodes: Heap; + + public readonly complete: (result: PathfindingTaskResult) => void; + + constructor({ idTask, from, to, group }: PathfindingTaskConfig, onComplete: (result: PathfindingTaskResult) => void) { + this.id = idTask; + this.from = { ...from }; + this.to = { ...to }; + this.group = group; + this.complete = onComplete; + + this.nodes = new Heap( + (nodeA, nodeB) => + nodeA.getBetterGuessDistance() - nodeB.getBetterGuessDistance(), + ); + + const node = new PathfindingNode({ + position: this.from, + distance: this.getDistanceFrom(this.from), + }); + + this.pushNode(node); + } + + private getDistanceFrom(position: Position): number { + return Math.sqrt( + (position.x - this.to.x) ** 2 + (position.y - this.to.y) ** 2, + ); + } + + public addNode(parent: PathfindingNode, position: Position, cost: number): void { + const node = new PathfindingNode({ + position, + distance: this.getDistanceFrom(position), + cost, + }); + + node.setParent(parent); + this.pushNode(node); + } + + private pushNode(node: PathfindingNode): void { + this.nodes.push(node); + + if (!this.tree[node.position.y]) { + this.tree[node.position.y] = []; + } + this.tree[node.position.y][node.position.x] = node; + } + + public pickNode(position: Position): PathfindingNode { + return this.tree[position.y]?.[position.x]; + } + + public takeLastNode(): PathfindingNode | null { + return this.nodes.pop() ?? null; + } + + public useNode(current: PathfindingNode, next: PathfindingNode, cost: number): void { + next.setCost(cost); + next.setParent(current); + + this.nodes.updateItem(next); + } + + public getNextCost( + currentNode: PathfindingNode, + shift: Position, + points: number[][], + ): number { + return currentNode.getCost() + currentNode.getNextCost(shift, points); + } +} diff --git a/src/task/types.ts b/src/task/types.ts new file mode 100644 index 0000000..8d45889 --- /dev/null +++ b/src/task/types.ts @@ -0,0 +1,15 @@ +import type { Position } from "../types"; + +export type PathfindingTaskConfig = { + idTask: number; + from: Position; + to: Position; + group: string; +}; + +export type PathfindingTaskResult = { + path: Position[] | null; + cost: number; +}; + +export type PathfindingTaskResultCallback = (result: PathfindingTaskResult) => void; diff --git a/src/types.ts b/src/types.ts new file mode 100644 index 0000000..dcc43a2 --- /dev/null +++ b/src/types.ts @@ -0,0 +1,10 @@ +export type PathfindingTaskConfig = { + from: Position; + to: Position; + group: string; +}; + +export type Position = { + x: number; + y: number; +}; diff --git a/src/worker/index.ts b/src/worker/index.ts new file mode 100644 index 0000000..e2a876c --- /dev/null +++ b/src/worker/index.ts @@ -0,0 +1,54 @@ +import { parentPort, workerData } from "worker_threads"; + +import { PathfindingProcess } from "../process"; +import { PathfindingTask } from "../task"; +import type { PathfindingWorkerEventPayload } from "./types"; +import { PathfindingWorkerEvent } from "./types"; + +const listeners = new Map void>(); +const process = new PathfindingProcess(workerData.grids); + +listen(PathfindingWorkerEvent.CreateTask, (payload) => { + const task = new PathfindingTask(payload, (result) => { + send(PathfindingWorkerEvent.CompleteTask, { + idTask: payload.idTask, + result, + }); + }); + + process.createTask(task); +}); + +listen(PathfindingWorkerEvent.CancelTask, (payload) => { + process.cancelTask(payload.idTask); +}); + +listen(PathfindingWorkerEvent.UpdatePointCost, (payload) => { + if (payload.cost === null) { + process.resetPointCost(payload.position); + } else { + process.setPointCost(payload.position, payload.cost); + } +}); + +listen(PathfindingWorkerEvent.SetWalkable, (payload) => { + process.setWalkable(payload.group, payload.position, payload.state); +}); + +parentPort?.on("message", (data) => { + listeners.get(data.event)?.(data.payload); +}); + +function listen( + event: K, + callback: (payload: PathfindingWorkerEventPayload[K]) => void, +) { + listeners.set(event, callback); +} + +function send( + event: K, + payload: PathfindingWorkerEventPayload[K], +) { + parentPort?.postMessage({ event, payload }); +} diff --git a/src/worker/types.ts b/src/worker/types.ts new file mode 100644 index 0000000..bd16784 --- /dev/null +++ b/src/worker/types.ts @@ -0,0 +1,35 @@ +import type { Position } from "../types"; +import type { PathfindingTaskResult } from "../task/types"; + +export enum PathfindingWorkerEvent { + CreateTask = "CreateTask", + CompleteTask = "CompleteTask", + CancelTask = "CancelTask", + UpdatePointCost = "UpdatePointCost", + SetWalkable = "SetWalkable", +} + +export type PathfindingWorkerEventPayload = { + [PathfindingWorkerEvent.CreateTask]: { + idTask: number; + from: Position; + to: Position; + group: string; + }; + [PathfindingWorkerEvent.CancelTask]: { + idTask: number; + }; + [PathfindingWorkerEvent.UpdatePointCost]: { + position: Position; + cost: number | null; + }; + [PathfindingWorkerEvent.SetWalkable]: { + position: Position; + state: boolean; + group: string; + }; + [PathfindingWorkerEvent.CompleteTask]: { + idTask: number; + result: PathfindingTaskResult; + }; +}; diff --git a/tsconfig.json b/tsconfig.json new file mode 100644 index 0000000..728df87 --- /dev/null +++ b/tsconfig.json @@ -0,0 +1,20 @@ +{ + "compilerOptions": { + "outDir": "./dist", + "module": "commonjs", + "target": "esnext", + "moduleResolution": "node", + "declaration": true, + "resolveJsonModule": true, + "esModuleInterop": true, + "strict": true, + "types": ["jest", "node"], + }, + "include": [ + "./src/**/*.ts" + ], + "exclude": [ + "./src/**/__tests__/**", + "./src/**/__mocks__/**" + ] +} \ No newline at end of file diff --git a/webpack.config.js b/webpack.config.js new file mode 100644 index 0000000..d6c4e83 --- /dev/null +++ b/webpack.config.js @@ -0,0 +1,23 @@ +const path = require("path"); + +module.exports = { + target: "node", + resolve: { + extensions: [".ts", ".js"], + }, + entry: [path.resolve(__dirname, "src/index.ts")], + output: { + path: path.resolve(__dirname, 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