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refactor(router/thetastar): Factor out returning status

This commit is contained in:
Mikolaj Wielgus 2025-08-23 15:27:54 +02:00
parent fca8e44269
commit 6cb01dbb2a
1 changed files with 26 additions and 33 deletions
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59
src/router/thetastar.rs
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@ -278,36 +278,34 @@ where
return Err(ThetastarError::NotFound);
};
let Ok(maybe_result) =
if let Ok(maybe_result) =
strategy.visit_navnode(&self.graph, navnode, &self.path_tracker)
else {
return Ok(ControlFlow::Continue(self.state));
};
{
if let Some(result) = maybe_result {
let path = self.path_tracker.reconstruct_path_to(navnode);
let cost = self.scores[&navnode];
if let Some(result) = maybe_result {
let path = self.path_tracker.reconstruct_path_to(navnode);
let cost = self.scores[&navnode];
return Ok(ControlFlow::Break((cost, path, result)));
}
return Ok(ControlFlow::Break((cost, path, result)));
}
match self.cost_to_goal_estimate_scores.entry(navnode) {
Entry::Occupied(mut entry) => {
// If the node has already been visited with an equal or lower
// estimated score than now, then we do not need to re-visit it.
if *entry.get() <= estimate_score {
return Ok(ControlFlow::Continue(self.state));
match self.cost_to_goal_estimate_scores.entry(navnode) {
Entry::Occupied(mut entry) => {
// If the node has already been visited with an equal or lower
// estimated score than now, then we do not need to re-visit it.
if *entry.get() <= estimate_score {
return Ok(ControlFlow::Continue(self.state));
}
entry.insert(estimate_score);
}
Entry::Vacant(entry) => {
entry.insert(estimate_score);
}
entry.insert(estimate_score);
}
Entry::Vacant(entry) => {
entry.insert(estimate_score);
}
self.edge_ids = self.graph.edges(navnode).map(|edge| edge.id()).collect();
self.state = ThetastarState::VisitFrontierNavedge(navnode);
}
self.edge_ids = self.graph.edges(navnode).map(|edge| edge.id()).collect();
self.state = ThetastarState::VisitFrontierNavedge(navnode);
Ok(ControlFlow::Continue(self.state))
}
ThetastarState::VisitFrontierNavedge(visited_navnode) => {
if let Some(visited_navedge) = self.edge_ids.pop() {
@ -315,10 +313,8 @@ where
visited_navnode,
visited_navedge,
);
Ok(ControlFlow::Continue(self.state))
} else {
self.state = ThetastarState::Scanning;
Ok(ControlFlow::Continue(self.state))
}
}
ThetastarState::BacktrackAndProbeOnLineOfSight(curr_navnode, visited_navedge) => {
@ -344,7 +340,6 @@ where
parent_navnode,
visited_navedge,
);
Ok(ControlFlow::Continue(self.state))
}
ControlFlow::Break(Some(los_cost)) => {
let next = probed_navnode;
@ -377,7 +372,6 @@ where
self.push_to_frontier(next, next_score, parent_navnode, strategy);
self.state = ThetastarState::Probing(curr_navnode);
Ok(ControlFlow::Continue(self.state))
}
ControlFlow::Break(None) => {
// Come back to initial navnode if drawing failed
@ -387,19 +381,19 @@ where
initial_source_navnode,
&self.path_tracker,
);
self.state = ThetastarState::ProbeOnNavedge(
initial_source_navnode,
visited_navedge,
);
Ok(ControlFlow::Continue(self.state))
}
}
} else {
// Come back from current navnode if drawing from it failed.
strategy.visit_navnode(&self.graph, initial_source_navnode, &self.path_tracker);
self.state =
ThetastarState::ProbeOnNavedge(initial_source_navnode, visited_navedge);
Ok(ControlFlow::Continue(self.state))
}
}
ThetastarState::ProbeOnNavedge(visited_navnode, visited_navedge) => {
@ -434,19 +428,18 @@ where
self.push_to_frontier(next, next_score, visited_navnode, strategy);
self.state = ThetastarState::Probing(visited_navnode);
Ok(ControlFlow::Continue(self.state))
} else {
self.state = ThetastarState::VisitFrontierNavedge(visited_navnode);
Ok(ControlFlow::Continue(self.state))
}
}
ThetastarState::Probing(visited_navnode) => {
strategy.remove_probe(&self.graph);
self.state = ThetastarState::VisitFrontierNavedge(visited_navnode);
Ok(ControlFlow::Continue(self.state))
}
}
Ok(ControlFlow::Continue(self.state))
}
}