/*
open source routing machine
Copyright (C) Dennis Luxen, others 2010
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU AFFERO General Public License as published by
the Free Software Foundation; either version 3 of the License, or
any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU Affero General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
or see http://www.gnu.org/licenses/agpl.txt.
*/
#include "EdgeBasedGraphFactory.h"
EdgeBasedGraphFactory::EdgeBasedGraphFactory(
int number_of_nodes,
std::vector<ImportEdge> & input_edge_list,
std::vector<NodeID> & barrier_node_list,
std::vector<NodeID> & traffic_light_node_list,
std::vector<TurnRestriction> & input_restrictions_list,
std::vector<NodeInfo> & m_node_info_list,
SpeedProfileProperties speed_profile
) : speed_profile(speed_profile),
m_turn_restrictions_count(0),
m_node_info_list(m_node_info_list)
{
BOOST_FOREACH(const TurnRestriction & restriction, input_restrictions_list) {
std::pair<NodeID, NodeID> restriction_source =
std::make_pair(restriction.fromNode, restriction.viaNode);
unsigned index;
RestrictionMap::iterator restriction_iter = m_restriction_map.find(restriction_source);
if(restriction_iter == m_restriction_map.end()) {
index = m_restriction_bucket_list.size();
m_restriction_bucket_list.resize(index+1);
m_restriction_map[restriction_source] = index;
} else {
index = restriction_iter->second;
//Map already contains an is_only_*-restriction
if(m_restriction_bucket_list.at(index).begin()->second) {
continue;
} else if(restriction.flags.isOnly) {
//We are going to insert an is_only_*-restriction. There can be only one.
m_turn_restrictions_count -= m_restriction_bucket_list.at(index).size();
m_restriction_bucket_list.at(index).clear();
}
}
++m_turn_restrictions_count;
m_restriction_bucket_list.at(index).push_back(
std::make_pair( restriction.toNode, restriction.flags.isOnly)
);
}
m_barrier_nodes.insert(
barrier_node_list.begin(),
barrier_node_list.end()
);
m_traffic_lights.insert(
traffic_light_node_list.begin(),
traffic_light_node_list.end()
);
DeallocatingVector< NodeBasedEdge > edges_list;
NodeBasedEdge edge;
BOOST_FOREACH(const ImportEdge & import_edge, input_edge_list) {
if(!import_edge.isForward()) {
edge.source = import_edge.target();
edge.target = import_edge.source();
edge.data.backward = import_edge.isForward();
edge.data.forward = import_edge.isBackward();
} else {
edge.source = import_edge.source();
edge.target = import_edge.target();
edge.data.forward = import_edge.isForward();
edge.data.backward = import_edge.isBackward();
}
if(edge.source == edge.target) {
continue;
}
edge.data.distance = (std::max)((int)import_edge.weight(), 1 );
assert( edge.data.distance > 0 );
edge.data.shortcut = false;
edge.data.roundabout = import_edge.isRoundabout();
edge.data.ignoreInGrid = import_edge.ignoreInGrid();
edge.data.nameID = import_edge.name();
edge.data.type = import_edge.type();
edge.data.isAccessRestricted = import_edge.isAccessRestricted();
edge.data.edgeBasedNodeID = edges_list.size();
edge.data.contraFlow = import_edge.isContraFlow();
edges_list.push_back( edge );
if( edge.data.backward ) {
std::swap( edge.source, edge.target );
edge.data.forward = import_edge.isBackward();
edge.data.backward = import_edge.isForward();
edge.data.edgeBasedNodeID = edges_list.size();
edges_list.push_back( edge );
}
}
std::vector<ImportEdge>().swap(input_edge_list);
std::sort( edges_list.begin(), edges_list.end() );
m_node_based_graph = boost::make_shared<NodeBasedDynamicGraph>(
number_of_nodes, edges_list
);
}
void EdgeBasedGraphFactory::GetEdgeBasedEdges(
DeallocatingVector< EdgeBasedEdge >& output_edge_list
) {
BOOST_ASSERT_MSG(
0 == output_edge_list.size(),
"Vector is not empty"
);
m_edge_based_edge_list.swap(output_edge_list);
}
void EdgeBasedGraphFactory::GetEdgeBasedNodes( std::vector<EdgeBasedNode> & nodes) {
#ifndef NDEBUG
BOOST_FOREACH(const EdgeBasedNode & node, m_edge_based_node_list){
assert(node.lat1 != INT_MAX); assert(node.lon1 != INT_MAX);
assert(node.lat2 != INT_MAX); assert(node.lon2 != INT_MAX);
}
#endif
nodes.swap(m_edge_based_node_list);
}
NodeID EdgeBasedGraphFactory::CheckForEmanatingIsOnlyTurn(
const NodeID u,
const NodeID v
) const {
const std::pair < NodeID, NodeID > restriction_source = std::make_pair(u, v);
RestrictionMap::const_iterator restriction_iter = m_restriction_map.find(restriction_source);
if (restriction_iter != m_restriction_map.end()) {
const unsigned index = restriction_iter->second;
BOOST_FOREACH(
const RestrictionSource & restriction_target,
m_restriction_bucket_list.at(index)
) {
if(restriction_target.second) {
return restriction_target.first;
}
}
}
return UINT_MAX;
}
bool EdgeBasedGraphFactory::CheckIfTurnIsRestricted(
const NodeID u,
const NodeID v,
const NodeID w
) const {
//only add an edge if turn is not a U-turn except it is the end of dead-end street.
const std::pair < NodeID, NodeID > restriction_source = std::make_pair(u, v);
RestrictionMap::const_iterator restriction_iter = m_restriction_map.find(restriction_source);
if (restriction_iter != m_restriction_map.end()) {
const unsigned index = restriction_iter->second;
BOOST_FOREACH(
const RestrictionTarget & restriction_target,
m_restriction_bucket_list.at(index)
) {
if(w == restriction_target.first) {
return true;
}
}
}
return false;
}
void EdgeBasedGraphFactory::InsertEdgeBasedNode(
EdgeIterator e1,
NodeIterator u,
NodeIterator v,
bool belongsToTinyComponent) {
EdgeData & data = m_node_based_graph->GetEdgeData(e1);
EdgeBasedNode currentNode;
currentNode.nameID = data.nameID;
currentNode.lat1 = m_node_info_list[u].lat;
currentNode.lon1 = m_node_info_list[u].lon;
currentNode.lat2 = m_node_info_list[v].lat;
currentNode.lon2 = m_node_info_list[v].lon;
currentNode.belongsToTinyComponent = belongsToTinyComponent;
currentNode.id = data.edgeBasedNodeID;
currentNode.ignoreInGrid = data.ignoreInGrid;
currentNode.weight = data.distance;
m_edge_based_node_list.push_back(currentNode);
}
void EdgeBasedGraphFactory::Run(
const char * original_edge_data_filename,
lua_State *lua_state
) {
SimpleLogger().Write() << "Identifying components of the road network";
Percent p(m_node_based_graph->GetNumberOfNodes());
unsigned skipped_turns_counter = 0;
unsigned node_based_edge_counter = 0;
unsigned original_edges_counter = 0;
std::ofstream edge_data_file(
original_edge_data_filename,
std::ios::binary
);
//writes a dummy value that is updated later
edge_data_file.write(
(char*)&original_edges_counter,
sizeof(unsigned)
);
unsigned current_component = 0, current_component_size = 0;
//Run a BFS on the undirected graph and identify small components
std::queue<std::pair<NodeID, NodeID> > bfs_queue;
std::vector<unsigned> component_index_list(
m_node_based_graph->GetNumberOfNodes(),
UINT_MAX
);
std::vector<NodeID> component_size_list;
//put unexplorered node with parent pointer into queue
for(
NodeID node = 0,
last_node = m_node_based_graph->GetNumberOfNodes();
node < last_node;
++node
) {
if(UINT_MAX == component_index_list[node]) {
bfs_queue.push(std::make_pair(node, node));
//mark node as read
component_index_list[node] = current_component;
p.printIncrement();
while(!bfs_queue.empty()) {
//fetch element from BFS queue
std::pair<NodeID, NodeID> current_queue_item = bfs_queue.front();
bfs_queue.pop();
// SimpleLogger().Write() << "sizeof queue: " << bfs_queue.size() <<
// ", current_component_sizes: " << current_component_size <<
//", settled nodes: " << settledNodes++ << ", max: " << endNodes;
const NodeID v = current_queue_item.first; //current node
const NodeID u = current_queue_item.second; //parent
//increment size counter of current component
++current_component_size;
const bool is_barrier_node = (m_barrier_nodes.find(v) != m_barrier_nodes.end());
if(!is_barrier_node) {
const NodeID to_node_of_only_restriction = CheckForEmanatingIsOnlyTurn(u, v);
//relaxieren edge outgoing edge like below where edge-expanded graph
for(
EdgeIterator e2 = m_node_based_graph->BeginEdges(v);
e2 < m_node_based_graph->EndEdges(v);
++e2
) {
NodeIterator w = m_node_based_graph->GetTarget(e2);
if(
to_node_of_only_restriction != UINT_MAX &&
w != to_node_of_only_restriction
) {
//We are at an only_-restriction but not at the right turn.
continue;
}
if( u != w ) {
//only add an edge if turn is not a U-turn except
//when it is at the end of a dead-end street.
if (!CheckIfTurnIsRestricted(u, v, w) ) {
//only add an edge if turn is not prohibited
if(UINT_MAX == component_index_list[w]) {
//insert next (node, parent) only if w has
//not yet been explored
//mark node as read
component_index_list[w] = current_component;
bfs_queue.push(std::make_pair(w,v));
p.printIncrement();
}
}
}
}
}
}
//push size into vector
component_size_list.push_back(current_component_size);
//reset counters;
current_component_size = 0;
++current_component;
}
}
SimpleLogger().Write() <<
"identified: " << component_size_list.size() << " many components";
SimpleLogger().Write() <<
"generating edge-expanded nodes";
p.reinit(m_node_based_graph->GetNumberOfNodes());
//loop over all edges and generate new set of nodes.
for(
NodeIterator u = 0,
number_of_nodes = m_node_based_graph->GetNumberOfNodes();
u < number_of_nodes;
++u
) {
p.printIncrement();
for(
EdgeIterator e1 = m_node_based_graph->BeginEdges(u),
last_edge = m_node_based_graph->EndEdges(u);
e1 < last_edge;
++e1
) {
NodeIterator v = m_node_based_graph->GetTarget(e1);
if(m_node_based_graph->GetEdgeData(e1).type != SHRT_MAX) {
BOOST_ASSERT_MSG(e1 != UINT_MAX, "edge id invalid");
BOOST_ASSERT_MSG(u != UINT_MAX, "souce node invalid");
BOOST_ASSERT_MSG(v != UINT_MAX, "target node invalid");
//Note: edges that end on barrier nodes or on a turn restriction
//may actually be in two distinct components. We choose the smallest
const unsigned size_of_component = std::min(
component_size_list[component_index_list[u]],
component_size_list[component_index_list[v]]
);
InsertEdgeBasedNode( e1, u, v, size_of_component < 1000 );
}
}
}
SimpleLogger().Write()
<< "Generated " << m_edge_based_node_list.size() << " nodes in " <<
"edge-expanded graph";
SimpleLogger().Write() <<
"generating edge-expanded edges";
std::vector<NodeID>().swap(component_size_list);
BOOST_ASSERT_MSG(
0 == component_size_list.capacity(),
"component size vector not deallocated"
);
std::vector<NodeID>().swap(component_index_list);
BOOST_ASSERT_MSG(
0 == component_index_list.capacity(),
"component index vector not deallocated"
);
std::vector<OriginalEdgeData> original_edge_data_vector;
original_edge_data_vector.reserve(10000);
//Loop over all turns and generate new set of edges.
//Three nested loop look super-linear, but we are dealing with a (kind of)
//linear number of turns only.
p.reinit(m_node_based_graph->GetNumberOfNodes());
for(
NodeIterator u = 0,
last_node = m_node_based_graph->GetNumberOfNodes();
u < last_node;
++u
) {
for(
EdgeIterator e1 = m_node_based_graph->BeginEdges(u),
last_edge_u = m_node_based_graph->EndEdges(u);
e1 < last_edge_u;
++e1
) {
++node_based_edge_counter;
NodeIterator v = m_node_based_graph->GetTarget(e1);
bool is_barrier_node = (m_barrier_nodes.find(v) != m_barrier_nodes.end());
NodeID to_node_of_only_restriction = CheckForEmanatingIsOnlyTurn(u, v);
for(
EdgeIterator e2 = m_node_based_graph->BeginEdges(v),
last_edge_v = m_node_based_graph->EndEdges(v);
e2 < last_edge_v;
++e2
) {
const NodeIterator w = m_node_based_graph->GetTarget(e2);
if(
to_node_of_only_restriction != UINT_MAX &&
w != to_node_of_only_restriction
) {
//We are at an only_-restriction but not at the right turn.
++skipped_turns_counter;
continue;
}
if(u == w && 1 != m_node_based_graph->GetOutDegree(v) ) {
continue;
}
if( !is_barrier_node ) {
//only add an edge if turn is not a U-turn except when it is
//at the end of a dead-end street
if (
!CheckIfTurnIsRestricted(u, v, w) ||
(to_node_of_only_restriction != UINT_MAX && w == to_node_of_only_restriction)
) { //only add an edge if turn is not prohibited
const EdgeData edge_data1 = m_node_based_graph->GetEdgeData(e1);
const EdgeData edge_data2 = m_node_based_graph->GetEdgeData(e2);
assert(edge_data1.edgeBasedNodeID < m_node_based_graph->GetNumberOfEdges());
assert(edge_data2.edgeBasedNodeID < m_node_based_graph->GetNumberOfEdges());
if(!edge_data1.forward || !edge_data2.forward) {
continue;
}
unsigned distance = edge_data1.distance;
if(m_traffic_lights.find(v) != m_traffic_lights.end()) {
distance += speed_profile.trafficSignalPenalty;
}
const unsigned penalty =
GetTurnPenalty(u, v, w, lua_state);
TurnInstruction turnInstruction = AnalyzeTurn(u, v, w);
if(turnInstruction == TurnInstructions.UTurn){
distance += speed_profile.uTurnPenalty;
}
distance += penalty;
assert(edge_data1.edgeBasedNodeID != edge_data2.edgeBasedNodeID);
original_edge_data_vector.push_back(
OriginalEdgeData(
v,
edge_data2.nameID,
turnInstruction
)
);
++original_edges_counter;
if(original_edge_data_vector.size() > 100000) {
edge_data_file.write(
(char*)&(original_edge_data_vector[0]),
original_edge_data_vector.size()*sizeof(OriginalEdgeData)
);
original_edge_data_vector.clear();
}
m_edge_based_edge_list.push_back(
EdgeBasedEdge(
edge_data1.edgeBasedNodeID,
edge_data2.edgeBasedNodeID,
m_edge_based_edge_list.size(),
distance,
true,
false
)
);
} else {
++skipped_turns_counter;
}
}
}
}
p.printIncrement();
}
edge_data_file.write(
(char*)&(original_edge_data_vector[0]),
original_edge_data_vector.size()*sizeof(OriginalEdgeData)
);
edge_data_file.seekp(std::ios::beg);
edge_data_file.write(
(char*)&original_edges_counter,
sizeof(unsigned)
);
edge_data_file.close();
SimpleLogger().Write() <<
"Generated " << m_edge_based_node_list.size() << " edge based nodes";
SimpleLogger().Write() <<
"Node-based graph contains " << node_based_edge_counter << " edges";
SimpleLogger().Write() <<
"Edge-expanded graph ...";
SimpleLogger().Write() <<
" contains " << m_edge_based_edge_list.size() << " edges";
SimpleLogger().Write() <<
" skips " << skipped_turns_counter << " turns, "
"defined by " << m_turn_restrictions_count << " restrictions";
}
int EdgeBasedGraphFactory::GetTurnPenalty(
const NodeID u,
const NodeID v,
const NodeID w,
lua_State *lua_state
) const {
const double angle = GetAngleBetweenThreeFixedPointCoordinates (
m_node_info_list[u],
m_node_info_list[v],
m_node_info_list[w]
);
if( speed_profile.has_turn_penalty_function ) {
try {
//call lua profile to compute turn penalty
return luabind::call_function<int>(
lua_state,
"turn_function",
180.-angle
);
} catch (const luabind::error &er) {
SimpleLogger().Write(logWARNING) << er.what();
}
}
return 0;
}
TurnInstruction EdgeBasedGraphFactory::AnalyzeTurn(
const NodeID u,
const NodeID v,
const NodeID w
) const {
if(u == w) {
return TurnInstructions.UTurn;
}
EdgeIterator edge1 = m_node_based_graph->FindEdge(u, v);
EdgeIterator edge2 = m_node_based_graph->FindEdge(v, w);
EdgeData & data1 = m_node_based_graph->GetEdgeData(edge1);
EdgeData & data2 = m_node_based_graph->GetEdgeData(edge2);
if(!data1.contraFlow && data2.contraFlow) {
return TurnInstructions.EnterAgainstAllowedDirection;
}
if(data1.contraFlow && !data2.contraFlow) {
return TurnInstructions.LeaveAgainstAllowedDirection;
}
//roundabouts need to be handled explicitely
if(data1.roundabout && data2.roundabout) {
//Is a turn possible? If yes, we stay on the roundabout!
if( 1 == m_node_based_graph->GetOutDegree(v) ) {
//No turn possible.
return TurnInstructions.NoTurn;
}
return TurnInstructions.StayOnRoundAbout;
}
//Does turn start or end on roundabout?
if(data1.roundabout || data2.roundabout) {
//We are entering the roundabout
if( (!data1.roundabout) && data2.roundabout) {
return TurnInstructions.EnterRoundAbout;
}
//We are leaving the roundabout
if(data1.roundabout && (!data2.roundabout) ) {
return TurnInstructions.LeaveRoundAbout;
}
}
//If street names stay the same and if we are certain that it is not a
//a segment of a roundabout, we skip it.
if( data1.nameID == data2.nameID ) {
//TODO: Here we should also do a small graph exploration to check for
// more complex situations
if( 0 != data1.nameID ) {
return TurnInstructions.NoTurn;
} else if (m_node_based_graph->GetOutDegree(v) <= 2) {
return TurnInstructions.NoTurn;
}
}
const double angle = GetAngleBetweenThreeFixedPointCoordinates (
m_node_info_list[u],
m_node_info_list[v],
m_node_info_list[w]
);
return TurnInstructions.GetTurnDirectionOfInstruction(angle);
}
unsigned EdgeBasedGraphFactory::GetNumberOfNodes() const {
return m_node_based_graph->GetNumberOfEdges();
}