@crazyhappyone/auto-graph 0.2.11 → 0.2.12

package/dist/cli/index.js

@@ -4161,7 +4161,10 @@ function findObstacleFreePath(source, target, obstacles, options = {}, diagnosti
       detail: {
         xsCount: xs.length,
         ysCount: ys.length,
-        maxNodes
+        maxNodes,
+        obstacleCount: obstacles.length,
+        stage: "corridor-filtered",
+        ...corridorMargin === void 0 ? {} : { corridorMargin }
       }
     });
     return null;
@@ -4207,7 +4210,14 @@ function findObstacleFreePath(source, target, obstacles, options = {}, diagnosti
       severity: "warning",
       code: "routing.astar.grid_overflow",
       message: `A* full-retry grid overflow: ${xsFull.length * ysFull.length} nodes > ${maxNodes} limit. Falling back to heuristic routing.`,
-      detail: { xsCount: xsFull.length, ysCount: ysFull.length, maxNodes }
+      detail: {
+        xsCount: xsFull.length,
+        ysCount: ysFull.length,
+        maxNodes,
+        obstacleCount: obstacles.length,
+        stage: "full-retry",
+        ...corridorMargin === void 0 ? {} : { corridorMargin }
+      }
     });
     return null;
   }
@@ -4450,6 +4460,64 @@ function areCollinear(a, b, c) {
   return a.x === b.x && b.x === c.x || a.y === b.y && b.y === c.y;
 }
 
+// src/routing/budget.ts
+var MIN_CORNER_BUDGET = 600;
+var MAX_CORNER_BUDGET = 3e3;
+var MIN_NODE_BUDGET = 4e3;
+var MAX_NODE_BUDGET = 64e3;
+var CORNERS_PER_OBSTACLE = 12;
+var CORNER_HEADROOM = 2;
+var GRID_SAFETY_FACTOR = 3;
+var CORRIDOR_SCALING_K = 0.5;
+var CORRIDOR_SCALING_BASE = 200;
+function computeRoutingBudget(cornerObstacles, allObstacles, corridorMargin, overrides = {}) {
+  const adaptiveMaxCorners = deriveMaxCorners(
+    cornerObstacles.length,
+    corridorMargin
+  );
+  const adaptiveMaxNodes = deriveMaxNodes(
+    allObstacles.length,
+    corridorMargin
+  );
+  return {
+    maxCorners: resolveBudget(
+      overrides.maxCorners,
+      adaptiveMaxCorners,
+      MIN_CORNER_BUDGET,
+      MAX_CORNER_BUDGET
+    ),
+    maxNodes: resolveBudget(
+      overrides.maxNodes,
+      adaptiveMaxNodes,
+      MIN_NODE_BUDGET,
+      MAX_NODE_BUDGET
+    ),
+    cornerObstacleCount: cornerObstacles.length,
+    gridObstacleCount: allObstacles.length,
+    corridorMargin
+  };
+}
+function deriveMaxCorners(obstacleCount, corridorMargin) {
+  const base = 2 + obstacleCount * CORNERS_PER_OBSTACLE * CORNER_HEADROOM;
+  const corridorFactor = corridorScalingFactor(corridorMargin);
+  return Math.ceil(base * corridorFactor);
+}
+function deriveMaxNodes(obstacleCount, corridorMargin) {
+  const base = 4 * obstacleCount * obstacleCount + 4 * obstacleCount + 100;
+  const corridorFactor = corridorScalingFactor(corridorMargin);
+  return Math.ceil(base * GRID_SAFETY_FACTOR * corridorFactor);
+}
+function corridorScalingFactor(corridorMargin) {
+  return 1 + corridorMargin / CORRIDOR_SCALING_BASE * CORRIDOR_SCALING_K;
+}
+function resolveBudget(override, adaptive, min, max) {
+  const chosen = override !== void 0 && Number.isFinite(override) && override >= 1 ? override : adaptive;
+  return clamp(chosen, min, max);
+}
+function clamp(value, min, max) {
+  return Math.max(min, Math.min(max, value));
+}
+
 // src/routing/visibility-router.ts
 function findCornerGraphPath(source, target, obstacles, options = {}, diagnostics) {
   const margin = options.margin ?? 0;
@@ -4463,7 +4531,12 @@ function findCornerGraphPath(source, target, obstacles, options = {}, diagnostic
       severity: "warning",
       code: "routing.visibility.corner_overflow",
       message: `Corner graph overflow: ${vertices.length} vertices > ${maxCorners}. Falling back to grid A*.`,
-      detail: { vertexCount: vertices.length, maxCorners }
+      detail: {
+        vertexCount: vertices.length,
+        maxCorners,
+        obstacleCount: obstacles.length,
+        ...options.corridorMargin === void 0 ? {} : { corridorMargin: options.corridorMargin }
+      }
     });
     return null;
   }
@@ -4848,11 +4921,22 @@ function routeEdge(input) {
         corridorMargin
       );
       const cornerObstacles = corridorObstacles.length === 0 && allObstacles.length > 0 ? allObstacles : corridorObstacles;
+      const budget = computeRoutingBudget(
+        cornerObstacles,
+        allObstacles,
+        corridorMargin,
+        { maxCorners: input.maxCorners, maxNodes: input.maxNodes }
+      );
       let cornerPath = findCornerGraphPath(
         source,
         target,
         cornerObstacles,
-        { endpointObstacles, margin: 2 },
+        {
+          endpointObstacles,
+          margin: 2,
+          maxCorners: budget.maxCorners,
+          corridorMargin
+        },
         diagnostics
       );
       if (cornerPath === null && cornerObstacles.length < allObstacles.length) {
@@ -4860,7 +4944,12 @@ function routeEdge(input) {
           source,
           target,
           allObstacles,
-          { endpointObstacles, margin: 2 },
+          {
+            endpointObstacles,
+            margin: 2,
+            maxCorners: budget.maxCorners,
+            corridorMargin
+          },
           diagnostics
         );
       }
@@ -4868,7 +4957,12 @@ function routeEdge(input) {
         source,
         target,
         allObstacles,
-        { endpointObstacles, margin: 0, corridorMargin },
+        {
+          endpointObstacles,
+          margin: 0,
+          corridorMargin,
+          maxNodes: budget.maxNodes
+        },
         diagnostics
       );
       if (path !== null && path.length >= 2) {
@@ -4900,7 +4994,12 @@ function routeEdge(input) {
             source,
             target,
             allObstacles,
-            { endpointObstacles, margin: 2 },
+            {
+              endpointObstacles,
+              margin: 2,
+              maxCorners: budget.maxCorners,
+              corridorMargin
+            },
             diagnostics
           ) : null;
           if (fullCornerPath !== null && fullCornerPath.length >= 2) {
@@ -4936,7 +5035,12 @@ function routeEdge(input) {
             source,
             target,
             allObstacles,
-            { endpointObstacles, margin: 0, corridorMargin },
+            {
+              endpointObstacles,
+              margin: 0,
+              corridorMargin,
+              maxNodes: budget.maxNodes
+            },
             diagnostics
           );
           if (gridPath !== null && gridPath.length >= 2) {