ixa/

plan.rs

//! A priority queue that stores arbitrary data sorted by time and priority
//!
//! Defines a `Queue<T, P>` that is intended to store a queue of items of type
//! T - sorted by `f64` time and definable priority `P` - called 'plans'.
//! This queue has methods for adding plans, cancelling plans, and retrieving
//! the earliest plan in the queue. Adding a plan is *O*(log(*n*)) while
//! cancellation and retrieval are *O*(1).
//!
//! This queue is used by `Context` to store future events where some callback
//! closure `FnOnce(&mut Context)` will be executed at a given point in time.

use crate::trace;
use crate::{HashMap, HashMapExt};
use std::{cmp::Ordering, collections::BinaryHeap};

/// A priority queue that stores arbitrary data sorted by time
///
/// Items of type `T` are stored in order by `f64` time and called `Plan<T>`.
/// Plans can have priorities given by some specified orderable type `P`.
/// When plans are created they are sequentially assigned a `PlanId` that is a
/// wrapped `u64`. If two plans are scheduled for the same time then the plan
/// with the lowest priority is placed earlier. If two plans have the same time
/// and priority then the plan that is scheduled first (i.e., that has the
/// lowest id) is placed earlier.
///
/// The time, plan id, and priority are stored in a binary heap of `Entry<P>`
/// objects. The data payload of the event is stored in a hash map by plan id.
/// Plan cancellation occurs by removing the corresponding entry from the data
/// hash map.
pub struct Queue<T, P: Eq + PartialEq + Ord> {
    queue: BinaryHeap<PlanSchedule<P>>,
    data_map: HashMap<u64, T>,
    plan_counter: u64,
}

impl<T, P: Eq + PartialEq + Ord> Queue<T, P> {
    /// Create a new empty `Queue<T>`
    #[must_use]
    pub fn new() -> Queue<T, P> {
        Queue {
            queue: BinaryHeap::new(),
            data_map: HashMap::new(),
            plan_counter: 0,
        }
    }

    /// Add a plan to the queue at the specified time
    ///
    /// Returns a `PlanId` for the newly-added plan that can be used to cancel it
    /// if needed.
    pub fn add_plan(&mut self, time: f64, data: T, priority: P) -> PlanId {
        trace!("adding plan at {time}");
        // Add plan to queue, store data, and increment counter
        let plan_id = self.plan_counter;
        self.queue.push(PlanSchedule {
            plan_id,
            time,
            priority,
        });
        self.data_map.insert(plan_id, data);
        self.plan_counter += 1;
        PlanId(plan_id)
    }

    /// Cancel a plan that has been added to the queue
    pub fn cancel_plan(&mut self, plan_id: &PlanId) -> Option<T> {
        trace!("cancel plan {plan_id:?}");
        // Delete the plan from the map, but leave in the queue
        // It will be skipped when the plan is popped from the queue
        self.data_map.remove(&plan_id.0)
    }

    #[must_use]
    pub fn is_empty(&self) -> bool {
        self.queue.is_empty()
    }

    #[must_use]
    pub fn next_time(&self) -> Option<f64> {
        self.queue.peek().map(|e| e.time)
    }

    pub(crate) fn clear(&mut self) {
        self.data_map.clear();
        self.queue.clear();
        self.plan_counter = 0;
    }

    #[must_use]
    pub(crate) fn peek(&self) -> Option<(&PlanSchedule<P>, &T)> {
        // Iterate over queue until we find a plan with data or queue is empty
        for entry in &self.queue {
            // Skip plans that have been cancelled and thus have no data
            if let Some(data) = self.data_map.get(&entry.plan_id) {
                return Some((entry, data));
            }
        }
        None
    }

    /// Retrieve the earliest plan in the queue
    ///
    /// Returns the next plan if it exists or else `None` if the queue is empty
    pub fn get_next_plan(&mut self) -> Option<Plan<T>> {
        trace!("getting next plan");
        loop {
            // Pop from queue until we find a plan with data or queue is empty
            match self.queue.pop() {
                Some(entry) => {
                    // Skip plans that have been cancelled and thus have no data
                    if let Some(data) = self.data_map.remove(&entry.plan_id) {
                        return Some(Plan {
                            time: entry.time,
                            data,
                        });
                    }
                }
                None => {
                    return None;
                }
            }
        }
    }

    /// Returns a list of length `at_most`, or unbounded if `at_most=0`, of active scheduled
    /// `PlanSchedule`s ordered as they are in the queue itself.
    #[must_use]
    pub fn list_schedules(&self, at_most: usize) -> Vec<&PlanSchedule<P>> {
        let mut items = vec![];

        // Iterate over queue until we find a plan with data or queue is empty
        for entry in &self.queue {
            // Skip plans that have been cancelled and thus have no data
            if self.data_map.contains_key(&entry.plan_id) {
                items.push(entry);
                if items.len() == at_most {
                    break;
                }
            }
        }
        items
    }

    #[doc(hidden)]
    pub(crate) fn remaining_plan_count(&self) -> usize {
        self.queue.len()
    }
}

impl<T, P: Eq + PartialEq + Ord> Default for Queue<T, P> {
    fn default() -> Self {
        Self::new()
    }
}

/// A time, id, and priority object used to order plans in the `Queue<T>`
///
/// `Entry` objects are sorted in increasing order of time, priority and then
/// plan id
#[derive(PartialEq, Debug)]
pub struct PlanSchedule<P: Eq + PartialEq + Ord> {
    pub plan_id: u64,
    pub time: f64,
    pub priority: P,
}

#[allow(clippy::expl_impl_clone_on_copy)] // Clippy false positive
impl<P: Eq + PartialEq + Ord + Clone> Clone for PlanSchedule<P> {
    fn clone(&self) -> Self {
        PlanSchedule {
            priority: self.priority.clone(),
            ..*self
        }
    }
}

impl<P: Eq + PartialEq + Ord + Copy + Clone> Copy for PlanSchedule<P> {}

impl<P: Eq + PartialEq + Ord> Eq for PlanSchedule<P> {}

impl<P: Eq + PartialEq + Ord> PartialOrd for PlanSchedule<P> {
    fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
        Some(self.cmp(other))
    }
}

/// Entry objects are ordered in increasing order by time, priority, and then
/// plan id
impl<P: Eq + PartialEq + Ord> Ord for PlanSchedule<P> {
    fn cmp(&self, other: &Self) -> Ordering {
        let time_ordering = self.time.partial_cmp(&other.time).unwrap().reverse();
        match time_ordering {
            // Break time ties in order of priority and then plan id
            Ordering::Equal => {
                let priority_ordering = self
                    .priority
                    .partial_cmp(&other.priority)
                    .unwrap()
                    .reverse();
                match priority_ordering {
                    Ordering::Equal => self.plan_id.cmp(&other.plan_id).reverse(),
                    _ => priority_ordering,
                }
            }
            _ => time_ordering,
        }
    }
}

/// A unique identifier for a plan added to a `Queue<T>`
#[derive(Clone, Copy, Debug, Hash, Eq, PartialEq)]
pub struct PlanId(pub(crate) u64);

/// A plan that holds data of type `T` intended to be used at the specified time
pub struct Plan<T> {
    pub time: f64,
    pub data: T,
}

#[cfg(test)]
#[allow(clippy::float_cmp)]
mod tests {
    use super::Queue;

    #[test]
    fn empty_queue() {
        let mut plan_queue = Queue::<(), ()>::new();
        assert!(plan_queue.get_next_plan().is_none());
    }

    #[test]
    fn add_plans() {
        let mut plan_queue = Queue::new();
        plan_queue.add_plan(1.0, 1, ());
        plan_queue.add_plan(3.0, 3, ());
        plan_queue.add_plan(2.0, 2, ());
        assert!(!plan_queue.is_empty());

        let next_plan = plan_queue.get_next_plan().unwrap();
        assert_eq!(next_plan.time, 1.0);
        assert_eq!(next_plan.data, 1);

        assert!(!plan_queue.is_empty());
        let next_plan = plan_queue.get_next_plan().unwrap();
        assert_eq!(next_plan.time, 2.0);
        assert_eq!(next_plan.data, 2);

        assert!(!plan_queue.is_empty());
        let next_plan = plan_queue.get_next_plan().unwrap();
        assert_eq!(next_plan.time, 3.0);
        assert_eq!(next_plan.data, 3);

        assert!(plan_queue.is_empty());
        assert!(plan_queue.get_next_plan().is_none());
    }

    #[test]
    fn add_plans_at_same_time_with_same_priority() {
        let mut plan_queue = Queue::new();
        plan_queue.add_plan(1.0, 1, ());
        plan_queue.add_plan(1.0, 2, ());
        assert!(!plan_queue.is_empty());

        let next_plan = plan_queue.get_next_plan().unwrap();
        assert_eq!(next_plan.time, 1.0);
        assert_eq!(next_plan.data, 1);

        assert!(!plan_queue.is_empty());
        let next_plan = plan_queue.get_next_plan().unwrap();
        assert_eq!(next_plan.time, 1.0);
        assert_eq!(next_plan.data, 2);

        assert!(plan_queue.is_empty());
        assert!(plan_queue.get_next_plan().is_none());
    }

    #[test]
    fn add_plans_at_same_time_with_different_priority() {
        let mut plan_queue = Queue::new();
        plan_queue.add_plan(1.0, 1, 1);
        plan_queue.add_plan(1.0, 2, 0);

        assert!(!plan_queue.is_empty());
        let next_plan = plan_queue.get_next_plan().unwrap();
        assert_eq!(next_plan.time, 1.0);
        assert_eq!(next_plan.data, 2);

        let next_plan = plan_queue.get_next_plan().unwrap();
        assert_eq!(next_plan.time, 1.0);
        assert_eq!(next_plan.data, 1);

        assert!(plan_queue.is_empty());
        assert!(plan_queue.get_next_plan().is_none());
    }

    #[test]
    fn add_and_cancel_plans() {
        let mut plan_queue = Queue::new();
        plan_queue.add_plan(1.0, 1, ());
        let plan_to_cancel = plan_queue.add_plan(2.0, 2, ());
        plan_queue.add_plan(3.0, 3, ());
        plan_queue.cancel_plan(&plan_to_cancel);
        assert!(!plan_queue.is_empty());

        let next_plan = plan_queue.get_next_plan().unwrap();
        assert_eq!(next_plan.time, 1.0);
        assert_eq!(next_plan.data, 1);

        assert!(!plan_queue.is_empty());
        let next_plan = plan_queue.get_next_plan().unwrap();
        assert_eq!(next_plan.time, 3.0);
        assert_eq!(next_plan.data, 3);

        assert!(plan_queue.is_empty());
        assert!(plan_queue.get_next_plan().is_none());
    }

    #[test]
    fn add_and_get_plans() {
        let mut plan_queue = Queue::new();
        plan_queue.add_plan(1.0, 1, ());
        plan_queue.add_plan(2.0, 2, ());
        assert!(!plan_queue.is_empty());

        let next_plan = plan_queue.get_next_plan().unwrap();
        assert_eq!(next_plan.time, 1.0);
        assert_eq!(next_plan.data, 1);

        plan_queue.add_plan(1.5, 3, ());

        assert!(!plan_queue.is_empty());
        let next_plan = plan_queue.get_next_plan().unwrap();
        assert_eq!(next_plan.time, 1.5);
        assert_eq!(next_plan.data, 3);

        assert!(!plan_queue.is_empty());
        let next_plan = plan_queue.get_next_plan().unwrap();
        assert_eq!(next_plan.time, 2.0);
        assert_eq!(next_plan.data, 2);

        assert!(plan_queue.is_empty());
        assert!(plan_queue.get_next_plan().is_none());
    }

    #[test]
    fn cancel_invalid_plan() {
        let mut plan_queue = Queue::new();
        let plan_to_cancel = plan_queue.add_plan(1.0, (), ());
        // is_empty just checks for a plan existing, not whether it is valid/has data
        assert!(!plan_queue.is_empty());
        plan_queue.get_next_plan();
        assert!(plan_queue.is_empty());
        let result = plan_queue.cancel_plan(&plan_to_cancel);
        assert!(result.is_none());
    }
}