osrm-backend/src/extractor/extractor.cpp

#include "extractor/extractor.hpp"

#include "extractor/extraction_containers.hpp"
#include "extractor/extraction_node.hpp"
#include "extractor/extraction_way.hpp"
#include "extractor/extractor_callbacks.hpp"
#include "extractor/restriction_parser.hpp"
#include "extractor/scripting_environment.hpp"

#include "extractor/raster_source.hpp"
#include "util/make_unique.hpp"
#include "util/simple_logger.hpp"
#include "util/timing_util.hpp"
#include "util/lua_util.hpp"
#include "util/graph_loader.hpp"

#include "util/typedefs.hpp"

#include "util/static_graph.hpp"
#include "util/static_rtree.hpp"
#include "extractor/compressed_edge_container.hpp"
#include "extractor/restriction_map.hpp"

#include "extractor/tarjan_scc.hpp"
#include "contractor/crc32_processor.hpp"

#include <boost/filesystem.hpp>
#include <boost/filesystem/fstream.hpp>
#include <boost/optional/optional.hpp>

#include <luabind/luabind.hpp>

#include <osmium/io/any_input.hpp>

#include <tbb/parallel_for.h>
#include <tbb/task_scheduler_init.h>

#include <cstdlib>

#include <algorithm>
#include <atomic>
#include <chrono>
#include <fstream>
#include <iostream>
#include <thread>
#include <unordered_map>
#include <vector>

/**
 * TODO: Refactor this function into smaller functions for better readability.
 *
 * This function is the entry point for the whole extraction process. The goal of the extraction
 * step is to filter and convert the OSM geometry to something more fitting for routing.
 * That includes:
 *  - extracting turn restrictions
 *  - splitting ways into (directional!) edge segments
 *  - checking if nodes are barriers or traffic signal
 *  - discarding all tag information: All relevant type information for nodes/ways
 *    is extracted at this point.
 *
 * The result of this process are the following files:
 *  .names : Names of all streets, stored as long consecutive string with prefix sum based index
 *  .osrm  : Nodes and edges in a intermediate format that easy to digest for osrm-prepare
 *  .restrictions : Turn restrictions that are used my osrm-prepare to construct the edge-expanded
 * graph
 *
 */
int extractor::run()
{
    try
    {
        LogPolicy::GetInstance().Unmute();
        TIMER_START(extracting);

        const unsigned recommended_num_threads = tbb::task_scheduler_init::default_num_threads();
        const auto number_of_threads =
            std::min(recommended_num_threads, config.requested_num_threads);
        tbb::task_scheduler_init init(number_of_threads);

        SimpleLogger().Write() << "Input file: " << config.input_path.filename().string();
        SimpleLogger().Write() << "Profile: " << config.profile_path.filename().string();
        SimpleLogger().Write() << "Threads: " << number_of_threads;

        // setup scripting environment
        ScriptingEnvironment scripting_environment(config.profile_path.string().c_str());

        ExtractionContainers extraction_containers;
        auto extractor_callbacks = osrm::make_unique<ExtractorCallbacks>(extraction_containers);

        const osmium::io::File input_file(config.input_path.string());
        osmium::io::Reader reader(input_file);
        const osmium::io::Header header = reader.header();

        std::atomic<unsigned> number_of_nodes{0};
        std::atomic<unsigned> number_of_ways{0};
        std::atomic<unsigned> number_of_relations{0};
        std::atomic<unsigned> number_of_others{0};

        SimpleLogger().Write() << "Parsing in progress..";
        TIMER_START(parsing);

        lua_State *segment_state = scripting_environment.GetLuaState();

        if (lua_function_exists(segment_state, "source_function"))
        {
            // bind a single instance of SourceContainer class to relevant lua state
            SourceContainer sources;
            luabind::globals(segment_state)["sources"] = sources;

            luabind::call_function<void>(segment_state, "source_function");
        }

        std::string generator = header.get("generator");
        if (generator.empty())
        {
            generator = "unknown tool";
        }
        SimpleLogger().Write() << "input file generated by " << generator;

        // write .timestamp data file
        std::string timestamp = header.get("osmosis_replication_timestamp");
        if (timestamp.empty())
        {
            timestamp = "n/a";
        }
        SimpleLogger().Write() << "timestamp: " << timestamp;

        boost::filesystem::ofstream timestamp_out(config.timestamp_file_name);
        timestamp_out.write(timestamp.c_str(), timestamp.length());
        timestamp_out.close();

        // initialize vectors holding parsed objects
        tbb::concurrent_vector<std::pair<std::size_t, ExtractionNode>> resulting_nodes;
        tbb::concurrent_vector<std::pair<std::size_t, ExtractionWay>> resulting_ways;
        tbb::concurrent_vector<boost::optional<InputRestrictionContainer>> resulting_restrictions;

        // setup restriction parser
        const RestrictionParser restriction_parser(scripting_environment.GetLuaState());

        while (const osmium::memory::Buffer buffer = reader.read())
        {
            // create a vector of iterators into the buffer
            std::vector<osmium::memory::Buffer::const_iterator> osm_elements;
            for (auto iter = std::begin(buffer), end = std::end(buffer); iter != end; ++iter)
            {
                osm_elements.push_back(iter);
            }

            // clear resulting vectors
            resulting_nodes.clear();
            resulting_ways.clear();
            resulting_restrictions.clear();

            // parse OSM entities in parallel, store in resulting vectors
            tbb::parallel_for(
                tbb::blocked_range<std::size_t>(0, osm_elements.size()),
                [&](const tbb::blocked_range<std::size_t> &range)
                {
                    ExtractionNode result_node;
                    ExtractionWay result_way;
                    lua_State *local_state = scripting_environment.GetLuaState();

                    for (auto x = range.begin(), end = range.end(); x != end; ++x)
                    {
                        const auto entity = osm_elements[x];

                        switch (entity->type())
                        {
                        case osmium::item_type::node:
                            result_node.clear();
                            ++number_of_nodes;
                            luabind::call_function<void>(
                                local_state, "node_function",
                                boost::cref(static_cast<const osmium::Node &>(*entity)),
                                boost::ref(result_node));
                            resulting_nodes.push_back(std::make_pair(x, result_node));
                            break;
                        case osmium::item_type::way:
                            result_way.clear();
                            ++number_of_ways;
                            luabind::call_function<void>(
                                local_state, "way_function",
                                boost::cref(static_cast<const osmium::Way &>(*entity)),
                                boost::ref(result_way));
                            resulting_ways.push_back(std::make_pair(x, result_way));
                            break;
                        case osmium::item_type::relation:
                            ++number_of_relations;
                            resulting_restrictions.push_back(restriction_parser.TryParse(
                                static_cast<const osmium::Relation &>(*entity)));
                            break;
                        default:
                            ++number_of_others;
                            break;
                        }
                    }
                });

            // put parsed objects thru extractor callbacks
            for (const auto &result : resulting_nodes)
            {
                extractor_callbacks->ProcessNode(
                    static_cast<const osmium::Node &>(*(osm_elements[result.first])),
                    result.second);
            }
            for (const auto &result : resulting_ways)
            {
                extractor_callbacks->ProcessWay(
                    static_cast<const osmium::Way &>(*(osm_elements[result.first])), result.second);
            }
            for (const auto &result : resulting_restrictions)
            {
                extractor_callbacks->ProcessRestriction(result);
            }
        }
        TIMER_STOP(parsing);
        SimpleLogger().Write() << "Parsing finished after " << TIMER_SEC(parsing) << " seconds";

        SimpleLogger().Write() << "Raw input contains " << number_of_nodes.load() << " nodes, "
                               << number_of_ways.load() << " ways, and "
                               << number_of_relations.load() << " relations, and "
                               << number_of_others.load() << " unknown entities";

        extractor_callbacks.reset();

        if (extraction_containers.all_edges_list.empty())
        {
            SimpleLogger().Write(logWARNING) << "The input data is empty, exiting.";
            return 1;
        }

        extraction_containers.PrepareData(config.output_file_name, config.restriction_file_name,
                                          config.names_file_name, segment_state);

        TIMER_STOP(extracting);
        SimpleLogger().Write() << "extraction finished after " << TIMER_SEC(extracting) << "s";
    }
    catch (const std::exception &e)
    {
        SimpleLogger().Write(logWARNING) << e.what();
        return 1;
    }

    try
    {
        // Transform the node-based graph that OSM is based on into an edge-based graph
        // that is better for routing.  Every edge becomes a node, and every valid
        // movement (e.g. turn from A->B, and B->A) becomes an edge
        //
        //
        //    // Create a new lua state

        SimpleLogger().Write() << "Generating edge-expanded graph representation";

        TIMER_START(expansion);

        std::vector<EdgeBasedNode> node_based_edge_list;
        DeallocatingVector<EdgeBasedEdge> edge_based_edge_list;
        std::vector<bool> node_is_startpoint;
        std::vector<QueryNode> internal_to_external_node_map;
        auto graph_size =
            BuildEdgeExpandedGraph(internal_to_external_node_map, node_based_edge_list,
                                   node_is_startpoint, edge_based_edge_list);

        auto number_of_node_based_nodes = graph_size.first;
        auto max_edge_id = graph_size.second;

        TIMER_STOP(expansion);

        SimpleLogger().Write() << "building r-tree ...";
        TIMER_START(rtree);

        FindComponents(max_edge_id, edge_based_edge_list, node_based_edge_list);

        BuildRTree(std::move(node_based_edge_list), std::move(node_is_startpoint),
                   internal_to_external_node_map);

        TIMER_STOP(rtree);

        SimpleLogger().Write() << "writing node map ...";
        WriteNodeMapping(internal_to_external_node_map);

        WriteEdgeBasedGraph(config.edge_graph_output_path, max_edge_id, edge_based_edge_list);

        SimpleLogger().Write() << "Expansion  : "
                               << (number_of_node_based_nodes / TIMER_SEC(expansion))
                               << " nodes/sec and " << ((max_edge_id + 1) / TIMER_SEC(expansion))
                               << " edges/sec";
        SimpleLogger().Write() << "To prepare the data for routing, run: "
                               << "./osrm-prepare " << config.output_file_name << std::endl;
    }
    catch (const std::exception &e)
    {
        SimpleLogger().Write(logWARNING) << e.what();
        return 1;
    }

    return 0;
}

/**
    \brief Setups scripting environment (lua-scripting)
    Also initializes speed profile.
*/
void extractor::SetupScriptingEnvironment(lua_State *lua_state,
                                          SpeedProfileProperties &speed_profile)
{
    // open utility libraries string library;
    luaL_openlibs(lua_state);

    // adjust lua load path
    luaAddScriptFolderToLoadPath(lua_state, config.profile_path.string().c_str());

    // Now call our function in a lua script
    if (0 != luaL_dofile(lua_state, config.profile_path.string().c_str()))
    {
        std::stringstream msg;
        msg << lua_tostring(lua_state, -1) << " occurred in scripting block";
        throw osrm::exception(msg.str());
    }

    if (0 != luaL_dostring(lua_state, "return traffic_signal_penalty\n"))
    {
        std::stringstream msg;
        msg << lua_tostring(lua_state, -1) << " occurred in scripting block";
        throw osrm::exception(msg.str());
    }
    speed_profile.traffic_signal_penalty = 10 * lua_tointeger(lua_state, -1);
    SimpleLogger().Write(logDEBUG) << "traffic_signal_penalty: "
                                   << speed_profile.traffic_signal_penalty;

    if (0 != luaL_dostring(lua_state, "return u_turn_penalty\n"))
    {
        std::stringstream msg;
        msg << lua_tostring(lua_state, -1) << " occurred in scripting block";
        throw osrm::exception(msg.str());
    }

    speed_profile.u_turn_penalty = 10 * lua_tointeger(lua_state, -1);
    speed_profile.has_turn_penalty_function = lua_function_exists(lua_state, "turn_function");
}

void extractor::FindComponents(unsigned max_edge_id,
                               const DeallocatingVector<EdgeBasedEdge> &input_edge_list,
                               std::vector<EdgeBasedNode> &input_nodes) const
{
    struct UncontractedEdgeData
    {
    };
    struct InputEdge
    {
        unsigned source;
        unsigned target;
        UncontractedEdgeData data;

        bool operator<(const InputEdge &rhs) const
        {
            return source < rhs.source || (source == rhs.source && target < rhs.target);
        }

        bool operator==(const InputEdge &rhs) const
        {
            return source == rhs.source && target == rhs.target;
        }
    };
    using UncontractedGraph = StaticGraph<UncontractedEdgeData>;
    std::vector<InputEdge> edges;
    edges.reserve(input_edge_list.size() * 2);

    for (const auto &edge : input_edge_list)
    {
        BOOST_ASSERT_MSG(static_cast<unsigned int>(std::max(edge.weight, 1)) > 0,
                         "edge distance < 1");
        if (edge.forward)
        {
            edges.push_back({edge.source, edge.target, {}});
        }

        if (edge.backward)
        {
            edges.push_back({edge.target, edge.source, {}});
        }
    }

    // connect forward and backward nodes of each edge
    for (const auto &node : input_nodes)
    {
        if (node.reverse_edge_based_node_id != SPECIAL_NODEID)
        {
            edges.push_back({node.forward_edge_based_node_id, node.reverse_edge_based_node_id, {}});
            edges.push_back({node.reverse_edge_based_node_id, node.forward_edge_based_node_id, {}});
        }
    }

    tbb::parallel_sort(edges.begin(), edges.end());
    auto new_end = std::unique(edges.begin(), edges.end());
    edges.resize(new_end - edges.begin());

    auto uncontractor_graph = std::make_shared<UncontractedGraph>(max_edge_id + 1, edges);

    TarjanSCC<UncontractedGraph> component_search(
        std::const_pointer_cast<const UncontractedGraph>(uncontractor_graph));
    component_search.run();

    for (auto &node : input_nodes)
    {
        auto forward_component = component_search.get_component_id(node.forward_edge_based_node_id);
        BOOST_ASSERT(node.reverse_edge_based_node_id == SPECIAL_EDGEID ||
                     forward_component ==
                         component_search.get_component_id(node.reverse_edge_based_node_id));

        const unsigned component_size = component_search.get_component_size(forward_component);
        node.component.is_tiny = component_size < config.small_component_size;
        node.component.id = 1 + forward_component;
    }
}

/**
  \brief Build load restrictions from .restriction file
  */
std::shared_ptr<RestrictionMap> extractor::LoadRestrictionMap()
{
    boost::filesystem::ifstream input_stream(config.restriction_file_name,
                                             std::ios::in | std::ios::binary);

    std::vector<TurnRestriction> restriction_list;
    loadRestrictionsFromFile(input_stream, restriction_list);

    SimpleLogger().Write() << " - " << restriction_list.size() << " restrictions.";

    return std::make_shared<RestrictionMap>(restriction_list);
}

/**
  \brief Load node based graph from .osrm file
  */
std::shared_ptr<NodeBasedDynamicGraph>
extractor::LoadNodeBasedGraph(std::unordered_set<NodeID> &barrier_nodes,
                              std::unordered_set<NodeID> &traffic_lights,
                              std::vector<QueryNode> &internal_to_external_node_map)
{
    std::vector<NodeBasedEdge> edge_list;

    boost::filesystem::ifstream input_stream(config.output_file_name,
                                             std::ios::in | std::ios::binary);

    std::vector<NodeID> barrier_list;
    std::vector<NodeID> traffic_light_list;
    NodeID number_of_node_based_nodes = loadNodesFromFile(
        input_stream, barrier_list, traffic_light_list, internal_to_external_node_map);

    SimpleLogger().Write() << " - " << barrier_list.size() << " bollard nodes, "
                           << traffic_light_list.size() << " traffic lights";

    // insert into unordered sets for fast lookup
    barrier_nodes.insert(barrier_list.begin(), barrier_list.end());
    traffic_lights.insert(traffic_light_list.begin(), traffic_light_list.end());

    barrier_list.clear();
    barrier_list.shrink_to_fit();
    traffic_light_list.clear();
    traffic_light_list.shrink_to_fit();

    loadEdgesFromFile(input_stream, edge_list);

    if (edge_list.empty())
    {
        SimpleLogger().Write(logWARNING) << "The input data is empty, exiting.";
        return std::shared_ptr<NodeBasedDynamicGraph>();
    }

    return NodeBasedDynamicGraphFromEdges(number_of_node_based_nodes, edge_list);
}

/**
 \brief Building an edge-expanded graph from node-based input and turn restrictions
*/
std::pair<std::size_t, std::size_t>
extractor::BuildEdgeExpandedGraph(std::vector<QueryNode> &internal_to_external_node_map,
                                  std::vector<EdgeBasedNode> &node_based_edge_list,
                                  std::vector<bool> &node_is_startpoint,
                                  DeallocatingVector<EdgeBasedEdge> &edge_based_edge_list)
{
    lua_State *lua_state = luaL_newstate();
    luabind::open(lua_state);

    SpeedProfileProperties speed_profile;
    SetupScriptingEnvironment(lua_state, speed_profile);

    std::unordered_set<NodeID> barrier_nodes;
    std::unordered_set<NodeID> traffic_lights;

    auto restriction_map = LoadRestrictionMap();
    auto node_based_graph =
        LoadNodeBasedGraph(barrier_nodes, traffic_lights, internal_to_external_node_map);

    CompressedEdgeContainer compressed_edge_container;
    GraphCompressor graph_compressor(speed_profile);
    graph_compressor.Compress(barrier_nodes, traffic_lights, *restriction_map, *node_based_graph,
                              compressed_edge_container);

    EdgeBasedGraphFactory edge_based_graph_factory(
        node_based_graph, compressed_edge_container, barrier_nodes, traffic_lights,
        std::const_pointer_cast<RestrictionMap const>(restriction_map),
        internal_to_external_node_map, speed_profile);

    compressed_edge_container.SerializeInternalVector(config.geometry_output_path);

    edge_based_graph_factory.Run(config.edge_output_path, lua_state,
                                 config.edge_segment_lookup_path, config.edge_penalty_path,
                                 config.generate_edge_lookup
#ifdef DEBUG_GEOMETRY
                                 ,
                                 config.debug_turns_path
#endif
                                 );
    lua_close(lua_state);

    edge_based_graph_factory.GetEdgeBasedEdges(edge_based_edge_list);
    edge_based_graph_factory.GetEdgeBasedNodes(node_based_edge_list);
    edge_based_graph_factory.GetStartPointMarkers(node_is_startpoint);
    auto max_edge_id = edge_based_graph_factory.GetHighestEdgeID();

    const std::size_t number_of_node_based_nodes = node_based_graph->GetNumberOfNodes();
    return std::make_pair(number_of_node_based_nodes, max_edge_id);
}

/**
  \brief Writing info on original (node-based) nodes
 */
void extractor::WriteNodeMapping(const std::vector<QueryNode> &internal_to_external_node_map)
{
    boost::filesystem::ofstream node_stream(config.node_output_path, std::ios::binary);
    const unsigned size_of_mapping = internal_to_external_node_map.size();
    node_stream.write((char *)&size_of_mapping, sizeof(unsigned));
    if (size_of_mapping > 0)
    {
        node_stream.write((char *)internal_to_external_node_map.data(),
                          size_of_mapping * sizeof(QueryNode));
    }
    node_stream.close();
}

/**
    \brief Building rtree-based nearest-neighbor data structure

    Saves tree into '.ramIndex' and leaves into '.fileIndex'.
 */
void extractor::BuildRTree(std::vector<EdgeBasedNode> node_based_edge_list,
                           std::vector<bool> node_is_startpoint,
                           const std::vector<QueryNode> &internal_to_external_node_map)
{
    SimpleLogger().Write() << "constructing r-tree of " << node_based_edge_list.size()
                           << " edge elements build on-top of "
                           << internal_to_external_node_map.size() << " coordinates";

    BOOST_ASSERT(node_is_startpoint.size() == node_based_edge_list.size());

    // Filter node based edges based on startpoint
    auto out_iter = node_based_edge_list.begin();
    auto in_iter = node_based_edge_list.begin();
    for (auto index : osrm::irange<std::size_t>(0, node_is_startpoint.size()))
    {
        BOOST_ASSERT(in_iter != node_based_edge_list.end());
        if (node_is_startpoint[index])
        {
            *out_iter = *in_iter;
            out_iter++;
        }
        in_iter++;
    }
    auto new_size = out_iter - node_based_edge_list.begin();
    node_based_edge_list.resize(new_size);

    TIMER_START(construction);
    StaticRTree<EdgeBasedNode> rtree(node_based_edge_list, config.rtree_nodes_output_path,
                                     config.rtree_leafs_output_path, internal_to_external_node_map);

    TIMER_STOP(construction);
    SimpleLogger().Write() << "finished r-tree construction in " << TIMER_SEC(construction)
                           << " seconds";
}

void extractor::WriteEdgeBasedGraph(std::string const &output_file_filename,
                                    size_t const max_edge_id,
                                    DeallocatingVector<EdgeBasedEdge> const &edge_based_edge_list)
{

    std::ofstream file_out_stream;
    file_out_stream.open(output_file_filename.c_str(), std::ios::binary);
    const FingerPrint fingerprint = FingerPrint::GetValid();
    file_out_stream.write((char *)&fingerprint, sizeof(FingerPrint));

    std::cout << "[extractor] Writing edge-based-graph egdes       ... " << std::flush;
    TIMER_START(write_edges);

    size_t number_of_used_edges = edge_based_edge_list.size();
    file_out_stream.write((char *)&number_of_used_edges, sizeof(size_t));
    file_out_stream.write((char *)&max_edge_id, sizeof(size_t));

    for (const auto &edge : edge_based_edge_list)
    {
        file_out_stream.write((char *)&edge, sizeof(EdgeBasedEdge));
    }

    TIMER_STOP(write_edges);
    std::cout << "ok, after " << TIMER_SEC(write_edges) << "s" << std::endl;

    SimpleLogger().Write() << "Processed " << number_of_used_edges << " edges";
    file_out_stream.close();
}