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#include "routing/index_graph.hpp"
#include "routing/restrictions_serialization.hpp"
#include "base/assert.hpp"
#include "base/checked_cast.hpp"
#include "base/exception.hpp"
#include <algorithm>
#include <limits>
namespace
{
using namespace base;
using namespace routing;
using namespace std;
bool IsUTurn(Segment const & u, Segment const & v)
{
return u.GetFeatureId() == v.GetFeatureId() && u.GetSegmentIdx() == v.GetSegmentIdx() &&
u.IsForward() != v.IsForward();
}
bool IsRestricted(RestrictionVec const & restrictions, Segment const & u, Segment const & v,
bool isOutgoing)
{
uint32_t const featureIdFrom = isOutgoing ? u.GetFeatureId() : v.GetFeatureId();
uint32_t const featureIdTo = isOutgoing ? v.GetFeatureId() : u.GetFeatureId();
if (!binary_search(restrictions.cbegin(), restrictions.cend(),
Restriction(Restriction::Type::No, {featureIdFrom, featureIdTo})))
{
return false;
}
if (featureIdFrom != featureIdTo)
return true;
// @TODO(bykoianko) According to current code if a feature id is marked as a feature with
// restrictricted U-turn it's restricted to make a U-turn on the both ends of the feature.
// Generally speaking it's wrong. In osm there's information about the end of the feature
// where the U-turn is restricted. It's necessary to pass the data to mwm and to use it here.
// Please see test LineGraph_RestrictionF1F1No for details.
//
// Another example when it's necessary to be aware about feature end participated in restriction
// is
// *---F1---*
// | |
// *--F3--A B--F4--*
// | |
// *---F2---*
// In case of restriction F1-A-F2 or F1-B-F2 of any type (No, Only) the important information
// is lost.
return IsUTurn(u, v);
}
} // namespace
namespace routing
{
IndexGraph::IndexGraph(shared_ptr<Geometry> geometry, shared_ptr<EdgeEstimator> estimator)
: m_geometry(geometry), m_estimator(move(estimator))
{
ASSERT(m_geometry, ());
ASSERT(m_estimator, ());
}
void IndexGraph::GetEdgeList(Segment const & segment, bool isOutgoing, vector<SegmentEdge> & edges)
{
RoadPoint const roadPoint = segment.GetRoadPoint(isOutgoing);
Joint::Id const jointId = m_roadIndex.GetJointId(roadPoint);
if (jointId != Joint::kInvalidId)
{
m_jointIndex.ForEachPoint(jointId, [&](RoadPoint const & rp) {
GetNeighboringEdges(segment, rp, isOutgoing, edges);
});
}
else
{
GetNeighboringEdges(segment, roadPoint, isOutgoing, edges);
}
}
void IndexGraph::Build(uint32_t numJoints)
{
m_jointIndex.Build(m_roadIndex, numJoints);
}
void IndexGraph::Import(vector<Joint> const & joints)
{
m_roadIndex.Import(joints);
CHECK_LESS_OR_EQUAL(joints.size(), numeric_limits<uint32_t>::max(), ());
Build(checked_cast<uint32_t>(joints.size()));
}
void IndexGraph::SetRestrictions(RestrictionVec && restrictions)
{
ASSERT(is_sorted(restrictions.cbegin(), restrictions.cend()), ());
m_restrictions = move(restrictions);
}
void IndexGraph::SetRoadAccess(RoadAccess && roadAccess) { m_roadAccess = move(roadAccess); }
void IndexGraph::GetOutgoingEdgesList(Segment const & segment, vector<SegmentEdge> & edges)
{
edges.clear();
GetEdgeList(segment, true /* isOutgoing */, edges);
}
void IndexGraph::GetIngoingEdgesList(Segment const & segment, vector<SegmentEdge> & edges)
{
edges.clear();
GetEdgeList(segment, false /* isOutgoing */, edges);
}
RouteWeight IndexGraph::HeuristicCostEstimate(Segment const & from, Segment const & to)
{
return RouteWeight(
m_estimator->CalcHeuristic(GetPoint(from, true /* front */), GetPoint(to, true /* front */)));
}
RouteWeight IndexGraph::CalcSegmentWeight(Segment const & segment)
{
return RouteWeight(
m_estimator->CalcSegmentWeight(segment, m_geometry->GetRoad(segment.GetFeatureId())));
}
void IndexGraph::GetNeighboringEdges(Segment const & from, RoadPoint const & rp, bool isOutgoing,
vector<SegmentEdge> & edges)
{
RoadGeometry const & road = m_geometry->GetRoad(rp.GetFeatureId());
if (!road.IsValid())
return;
bool const bidirectional = !road.IsOneWay();
if ((isOutgoing || bidirectional) && rp.GetPointId() + 1 < road.GetPointsCount())
{
GetNeighboringEdge(from,
Segment(from.GetMwmId(), rp.GetFeatureId(), rp.GetPointId(), isOutgoing),
isOutgoing, edges);
}
if ((!isOutgoing || bidirectional) && rp.GetPointId() > 0)
{
GetNeighboringEdge(
from, Segment(from.GetMwmId(), rp.GetFeatureId(), rp.GetPointId() - 1, !isOutgoing),
isOutgoing, edges);
}
}
void IndexGraph::GetNeighboringEdge(Segment const & from, Segment const & to, bool isOutgoing,
vector<SegmentEdge> & edges)
{
// Blocking U-turns on internal feature points.
RoadPoint const rp = from.GetRoadPoint(isOutgoing);
if (IsUTurn(from, to) && m_roadIndex.GetJointId(rp) == Joint::kInvalidId
&& !m_geometry->GetRoad(from.GetFeatureId()).IsEndPointId(rp.GetPointId()))
{
return;
}
if (IsRestricted(m_restrictions, from, to, isOutgoing))
return;
if (m_roadAccess.GetFeatureType(to.GetFeatureId()) == RoadAccess::Type::No)
return;
if (m_roadAccess.GetPointType(rp) == RoadAccess::Type::No)
return;
RouteWeight const weight = CalcSegmentWeight(isOutgoing ? to : from) +
GetPenalties(isOutgoing ? from : to, isOutgoing ? to : from);
edges.emplace_back(to, weight);
}
RouteWeight IndexGraph::GetPenalties(Segment const & u, Segment const & v)
{
bool const fromPassThroughAllowed = m_geometry->GetRoad(u.GetFeatureId()).IsPassThroughAllowed();
bool const toPassThroughAllowed = m_geometry->GetRoad(v.GetFeatureId()).IsPassThroughAllowed();
// Route crosses border of pass-through/non-pass-through area if |u| and |v| have different
// pass through restrictions.
int32_t const passThroughPenalty = fromPassThroughAllowed == toPassThroughAllowed ? 0 : 1;
// We do not distinguish between RoadAccess::Type::Private and RoadAccess::Type::Destination for now.
bool const fromAccessAllowed = m_roadAccess.GetFeatureType(u.GetFeatureId()) == RoadAccess::Type::Yes;
bool const toAccessAllowed = m_roadAccess.GetFeatureType(v.GetFeatureId()) == RoadAccess::Type::Yes;
// Route crosses border of access=yes/access={private, destination} area if |u| and |v| have different
// access restrictions.
int32_t accessPenalty = fromAccessAllowed == toAccessAllowed ? 0 : 1;
// RoadPoint between u and v is front of u.
auto const rp = u.GetRoadPoint(true /* front */);
// No double penalty for barriers on the border of access=yes/access={private, destination} area.
if (m_roadAccess.GetPointType(rp) != RoadAccess::Type::Yes)
accessPenalty = 1;
auto const uTurnPenalty = IsUTurn(u, v) ? m_estimator->GetUTurnPenalty() : 0.0;
return RouteWeight(uTurnPenalty /* weight */, passThroughPenalty, accessPenalty, 0.0 /* transitTime */);
}
} // namespace routing
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