Split routing_base into CH and non-CH parts
This commit is contained in:
Michael Krasnyk
@@ -0,0 +1,475 @@
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#ifndef OSRM_ENGINE_ROUTING_BASE_CH_HPP
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#define OSRM_ENGINE_ROUTING_BASE_CH_HPP
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#include "extractor/guidance/turn_instruction.hpp"
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#include "engine/algorithm.hpp"
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#include "engine/datafacade/contiguous_internalmem_datafacade.hpp"
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#include "engine/internal_route_result.hpp"
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#include "engine/routing_algorithms/routing_base.hpp"
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#include "engine/search_engine_data.hpp"
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#include "util/coordinate_calculation.hpp"
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#include "util/guidance/turn_bearing.hpp"
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#include "util/typedefs.hpp"
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#include <boost/assert.hpp>
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#include <cstddef>
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#include <cstdint>
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#include <algorithm>
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#include <functional>
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#include <iterator>
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#include <memory>
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#include <numeric>
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#include <stack>
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#include <utility>
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#include <vector>
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namespace osrm
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{
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namespace engine
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{
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namespace routing_algorithms
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{
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namespace ch
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{
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// Stalling
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template <bool DIRECTION, typename HeapT>
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bool stallAtNode(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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const NodeID node,
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const EdgeWeight weight,
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const HeapT &query_heap)
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{
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for (auto edge : facade.GetAdjacentEdgeRange(node))
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{
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const auto &data = facade.GetEdgeData(edge);
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if (DIRECTION == REVERSE_DIRECTION ? data.forward : data.backward)
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{
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const NodeID to = facade.GetTarget(edge);
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const EdgeWeight edge_weight = data.weight;
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BOOST_ASSERT_MSG(edge_weight > 0, "edge_weight invalid");
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if (query_heap.WasInserted(to))
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{
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if (query_heap.GetKey(to) + edge_weight < weight)
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{
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return true;
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}
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}
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}
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}
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return false;
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}
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template <bool DIRECTION>
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void relaxOutgoingEdges(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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const NodeID node,
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const EdgeWeight weight,
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SearchEngineData::QueryHeap &heap)
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{
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for (const auto edge : facade.GetAdjacentEdgeRange(node))
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{
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const auto &data = facade.GetEdgeData(edge);
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if (DIRECTION == FORWARD_DIRECTION ? data.forward : data.backward)
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{
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const NodeID to = facade.GetTarget(edge);
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const EdgeWeight edge_weight = data.weight;
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BOOST_ASSERT_MSG(edge_weight > 0, "edge_weight invalid");
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const EdgeWeight to_weight = weight + edge_weight;
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// New Node discovered -> Add to Heap + Node Info Storage
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if (!heap.WasInserted(to))
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{
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heap.Insert(to, to_weight, node);
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}
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// Found a shorter Path -> Update weight
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else if (to_weight < heap.GetKey(to))
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{
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// new parent
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heap.GetData(to).parent = node;
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heap.DecreaseKey(to, to_weight);
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}
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}
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}
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}
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/*
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min_edge_offset is needed in case we use multiple
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nodes as start/target nodes with different (even negative) offsets.
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In that case the termination criterion is not correct
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anymore.
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Example:
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forward heap: a(-100), b(0),
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reverse heap: c(0), d(100)
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a --- d
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\ /
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/ \
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b --- c
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This is equivalent to running a bi-directional Dijkstra on the following graph:
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a --- d
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/ \ / \
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y x z
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\ / \ /
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b --- c
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The graph is constructed by inserting nodes y and z that are connected to the initial nodes
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using edges (y, a) with weight -100, (y, b) with weight 0 and,
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(d, z) with weight 100, (c, z) with weight 0 corresponding.
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Since we are dealing with a graph that contains _negative_ edges,
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we need to add an offset to the termination criterion.
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*/
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static constexpr bool ENABLE_STALLING = true;
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static constexpr bool DISABLE_STALLING = false;
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template <bool DIRECTION, bool STALLING = ENABLE_STALLING>
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void routingStep(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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SearchEngineData::QueryHeap &forward_heap,
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SearchEngineData::QueryHeap &reverse_heap,
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NodeID &middle_node_id,
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EdgeWeight &upper_bound,
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EdgeWeight min_edge_offset,
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const bool force_loop_forward,
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const bool force_loop_reverse)
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{
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const NodeID node = forward_heap.DeleteMin();
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const EdgeWeight weight = forward_heap.GetKey(node);
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if (reverse_heap.WasInserted(node))
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{
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const EdgeWeight new_weight = reverse_heap.GetKey(node) + weight;
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if (new_weight < upper_bound)
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{
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// if loops are forced, they are so at the source
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if ((force_loop_forward && forward_heap.GetData(node).parent == node) ||
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(force_loop_reverse && reverse_heap.GetData(node).parent == node) ||
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// in this case we are looking at a bi-directional way where the source
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// and target phantom are on the same edge based node
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new_weight < 0)
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{
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// check whether there is a loop present at the node
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for (const auto edge : facade.GetAdjacentEdgeRange(node))
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{
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const auto &data = facade.GetEdgeData(edge);
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if (DIRECTION == FORWARD_DIRECTION ? data.forward : data.backward)
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{
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const NodeID to = facade.GetTarget(edge);
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if (to == node)
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{
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const EdgeWeight edge_weight = data.weight;
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const EdgeWeight loop_weight = new_weight + edge_weight;
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if (loop_weight >= 0 && loop_weight < upper_bound)
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{
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middle_node_id = node;
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upper_bound = loop_weight;
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}
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}
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}
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}
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}
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else
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{
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BOOST_ASSERT(new_weight >= 0);
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middle_node_id = node;
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upper_bound = new_weight;
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}
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}
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}
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// make sure we don't terminate too early if we initialize the weight
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// for the nodes in the forward heap with the forward/reverse offset
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BOOST_ASSERT(min_edge_offset <= 0);
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if (weight + min_edge_offset > upper_bound)
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{
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forward_heap.DeleteAll();
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return;
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}
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// Stalling
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if (STALLING && stallAtNode<DIRECTION>(facade, node, weight, forward_heap))
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{
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return;
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}
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relaxOutgoingEdges<DIRECTION>(facade, node, weight, forward_heap);
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}
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template <bool UseDuration>
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EdgeWeight
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getLoopWeight(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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NodeID node)
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{
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EdgeWeight loop_weight = UseDuration ? MAXIMAL_EDGE_DURATION : INVALID_EDGE_WEIGHT;
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for (auto edge : facade.GetAdjacentEdgeRange(node))
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{
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const auto &data = facade.GetEdgeData(edge);
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if (data.forward)
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{
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const NodeID to = facade.GetTarget(edge);
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if (to == node)
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{
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const auto value = UseDuration ? data.duration : data.weight;
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loop_weight = std::min(loop_weight, value);
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}
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}
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}
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return loop_weight;
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}
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/**
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* Given a sequence of connected `NodeID`s in the CH graph, performs a depth-first unpacking of
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* the shortcut
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* edges. For every "original" edge found, it calls the `callback` with the two NodeIDs for the
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* edge, and the EdgeData
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* for that edge.
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*
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* The primary purpose of this unpacking is to expand a path through the CH into the original
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* route through the
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* pre-contracted graph.
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*
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* Because of the depth-first-search, the `callback` will effectively be called in sequence for
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* the original route
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* from beginning to end.
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*
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* @param packed_path_begin iterator pointing to the start of the NodeID list
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* @param packed_path_end iterator pointing to the end of the NodeID list
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* @param callback void(const std::pair<NodeID, NodeID>, const EdgeID &) called for each
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* original edge found.
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*/
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template <typename BidirectionalIterator, typename Callback>
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void unpackPath(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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BidirectionalIterator packed_path_begin,
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BidirectionalIterator packed_path_end,
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Callback &&callback)
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{
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// make sure we have at least something to unpack
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if (packed_path_begin == packed_path_end)
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return;
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std::stack<std::pair<NodeID, NodeID>> recursion_stack;
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// We have to push the path in reverse order onto the stack because it's LIFO.
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for (auto current = std::prev(packed_path_end); current != packed_path_begin;
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current = std::prev(current))
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{
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recursion_stack.emplace(*std::prev(current), *current);
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}
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std::pair<NodeID, NodeID> edge;
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while (!recursion_stack.empty())
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{
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edge = recursion_stack.top();
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recursion_stack.pop();
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// Look for an edge on the forward CH graph (.forward)
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EdgeID smaller_edge_id = facade.FindSmallestEdge(
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edge.first, edge.second, [](const auto &data) { return data.forward; });
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// If we didn't find one there, the we might be looking at a part of the path that
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// was found using the backward search. Here, we flip the node order (.second, .first)
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// and only consider edges with the `.backward` flag.
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if (SPECIAL_EDGEID == smaller_edge_id)
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{
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smaller_edge_id = facade.FindSmallestEdge(
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edge.second, edge.first, [](const auto &data) { return data.backward; });
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}
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// If we didn't find anything *still*, then something is broken and someone has
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// called this function with bad values.
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BOOST_ASSERT_MSG(smaller_edge_id != SPECIAL_EDGEID, "Invalid smaller edge ID");
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const auto &data = facade.GetEdgeData(smaller_edge_id);
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BOOST_ASSERT_MSG(data.weight != std::numeric_limits<EdgeWeight>::max(),
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"edge weight invalid");
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// If the edge is a shortcut, we need to add the two halfs to the stack.
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if (data.shortcut)
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{ // unpack
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const NodeID middle_node_id = data.turn_id;
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// Note the order here - we're adding these to a stack, so we
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// want the first->middle to get visited before middle->second
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recursion_stack.emplace(middle_node_id, edge.second);
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recursion_stack.emplace(edge.first, middle_node_id);
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}
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else
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{
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// We found an original edge, call our callback.
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std::forward<Callback>(callback)(edge, smaller_edge_id);
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}
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}
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}
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template <typename RandomIter, typename FacadeT>
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void unpackPath(const FacadeT &facade,
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RandomIter packed_path_begin,
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RandomIter packed_path_end,
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const PhantomNodes &phantom_nodes,
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std::vector<PathData> &unpacked_path)
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{
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const auto nodes_number = std::distance(packed_path_begin, packed_path_end);
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BOOST_ASSERT(nodes_number > 0);
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std::vector<EdgeID> unpacked_edges;
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auto source_node = *packed_path_begin, target_node = *packed_path_begin;
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if (nodes_number > 1)
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{
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target_node = *std::prev(packed_path_end);
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unpacked_edges.reserve(std::distance(packed_path_begin, packed_path_end));
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unpackPath(
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facade,
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packed_path_begin,
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packed_path_end,
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[&facade, &unpacked_edges](std::pair<NodeID, NodeID> & /* edge */,
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const auto &edge_id) { unpacked_edges.push_back(edge_id); });
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}
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annotatePath(facade, source_node, target_node, unpacked_edges, phantom_nodes, unpacked_path);
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}
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/**
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* Unpacks a single edge (NodeID->NodeID) from the CH graph down to it's original non-shortcut
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* route.
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* @param from the node the CH edge starts at
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* @param to the node the CH edge finishes at
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* @param unpacked_path the sequence of original NodeIDs that make up the expanded CH edge
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*/
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void unpackEdge(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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const NodeID from,
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const NodeID to,
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std::vector<NodeID> &unpacked_path);
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void retrievePackedPathFromHeap(const SearchEngineData::QueryHeap &forward_heap,
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const SearchEngineData::QueryHeap &reverse_heap,
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const NodeID middle_node_id,
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std::vector<NodeID> &packed_path);
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void retrievePackedPathFromSingleHeap(const SearchEngineData::QueryHeap &search_heap,
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const NodeID middle_node_id,
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std::vector<NodeID> &packed_path);
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// assumes that heaps are already setup correctly.
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// ATTENTION: This only works if no additional offset is supplied next to the Phantom Node
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// Offsets.
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// In case additional offsets are supplied, you might have to force a loop first.
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// A forced loop might be necessary, if source and target are on the same segment.
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// If this is the case and the offsets of the respective direction are larger for the source
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// than the target
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// then a force loop is required (e.g. source_phantom.forward_segment_id ==
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// target_phantom.forward_segment_id
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// && source_phantom.GetForwardWeightPlusOffset() > target_phantom.GetForwardWeightPlusOffset())
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// requires
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// a force loop, if the heaps have been initialized with positive offsets.
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void search(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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SearchEngineData::QueryHeap &forward_heap,
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SearchEngineData::QueryHeap &reverse_heap,
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std::int32_t &weight,
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std::vector<NodeID> &packed_leg,
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const bool force_loop_forward,
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const bool force_loop_reverse,
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const int duration_upper_bound = INVALID_EDGE_WEIGHT);
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// Alias to be compatible with the overload for CoreCH that needs 4 heaps
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inline void search(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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SearchEngineData::QueryHeap &forward_heap,
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SearchEngineData::QueryHeap &reverse_heap,
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SearchEngineData::QueryHeap &,
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SearchEngineData::QueryHeap &,
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std::int32_t &weight,
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std::vector<NodeID> &packed_leg,
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const bool force_loop_forward,
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const bool force_loop_reverse,
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const int duration_upper_bound = INVALID_EDGE_WEIGHT)
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{
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search(facade,
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forward_heap,
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reverse_heap,
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weight,
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packed_leg,
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force_loop_forward,
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force_loop_reverse,
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duration_upper_bound);
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}
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// assumes that heaps are already setup correctly.
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// A forced loop might be necessary, if source and target are on the same segment.
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// If this is the case and the offsets of the respective direction are larger for the source
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// than the target
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// then a force loop is required (e.g. source_phantom.forward_segment_id ==
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// target_phantom.forward_segment_id
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// && source_phantom.GetForwardWeightPlusOffset() > target_phantom.GetForwardWeightPlusOffset())
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// requires
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// a force loop, if the heaps have been initialized with positive offsets.
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void search(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CoreCH> &facade,
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SearchEngineData::QueryHeap &forward_heap,
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SearchEngineData::QueryHeap &reverse_heap,
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SearchEngineData::QueryHeap &forward_core_heap,
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SearchEngineData::QueryHeap &reverse_core_heap,
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int &weight,
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std::vector<NodeID> &packed_leg,
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const bool force_loop_forward,
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const bool force_loop_reverse,
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int duration_upper_bound = INVALID_EDGE_WEIGHT);
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bool needsLoopForward(const PhantomNode &source_phantom, const PhantomNode &target_phantom);
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bool needsLoopBackwards(const PhantomNode &source_phantom, const PhantomNode &target_phantom);
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double getPathDistance(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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const std::vector<NodeID> &packed_path,
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const PhantomNode &source_phantom,
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const PhantomNode &target_phantom);
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// Requires the heaps for be empty
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// If heaps should be adjusted to be initialized outside of this function,
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// the addition of force_loop parameters might be required
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double
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getNetworkDistance(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CoreCH> &facade,
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SearchEngineData::QueryHeap &forward_heap,
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SearchEngineData::QueryHeap &reverse_heap,
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SearchEngineData::QueryHeap &forward_core_heap,
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SearchEngineData::QueryHeap &reverse_core_heap,
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const PhantomNode &source_phantom,
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const PhantomNode &target_phantom,
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int duration_upper_bound = INVALID_EDGE_WEIGHT);
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// Requires the heaps for be empty
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// If heaps should be adjusted to be initialized outside of this function,
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// the addition of force_loop parameters might be required
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double
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getNetworkDistance(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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SearchEngineData::QueryHeap &forward_heap,
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SearchEngineData::QueryHeap &reverse_heap,
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const PhantomNode &source_phantom,
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const PhantomNode &target_phantom,
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int duration_upper_bound = INVALID_EDGE_WEIGHT);
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// Alias to be compatible with the overload for CoreCH that needs 4 heaps
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inline double
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getNetworkDistance(const datafacade::ContiguousInternalMemoryDataFacade<algorithm::CH> &facade,
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SearchEngineData::QueryHeap &forward_heap,
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SearchEngineData::QueryHeap &reverse_heap,
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||||
SearchEngineData::QueryHeap &,
|
||||
SearchEngineData::QueryHeap &,
|
||||
const PhantomNode &source_phantom,
|
||||
const PhantomNode &target_phantom,
|
||||
int duration_upper_bound = INVALID_EDGE_WEIGHT)
|
||||
{
|
||||
return getNetworkDistance(
|
||||
facade, forward_heap, reverse_heap, source_phantom, target_phantom, duration_upper_bound);
|
||||
}
|
||||
|
||||
} // namespace ch
|
||||
} // namespace routing_algorithms
|
||||
} // namespace engine
|
||||
} // namespace osrm
|
||||
|
||||
#endif // OSRM_ENGINE_ROUTING_BASE_CH_HPP
|
||||
Reference in New Issue
Block a user