1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
|
#include "routing/car_model.hpp"
#include "routing/osrm_helpers.hpp"
#include "routing/routing_mapping.hpp"
#include "routing/turns_generator.hpp"
#include "indexer/ftypes_matcher.hpp"
#include "indexer/scales.hpp"
#include "geometry/angles.hpp"
#include "base/macros.hpp"
#include "3party/osrm/osrm-backend/data_structures/internal_route_result.hpp"
#include "std/cmath.hpp"
#include "std/numeric.hpp"
#include "std/string.hpp"
using namespace routing;
using namespace routing::turns;
namespace
{
size_t constexpr kMaxPointsCount = 5;
double constexpr kMinDistMeters = 200.;
size_t constexpr kNotSoCloseMaxPointsCount = 3;
double constexpr kNotSoCloseMinDistMeters = 30.;
/*!
* \brief Returns false when
* - the route leads from one big road to another one;
* - and the other possible turns lead to small roads;
* - and the turn is GoStraight or TurnSlight*.
*/
bool KeepTurnByHighwayClass(TurnDirection turn, TurnCandidates const & possibleTurns,
TurnInfo const & turnInfo)
{
if (!IsGoStraightOrSlightTurn(turn))
return true; // The road significantly changes its direction here. So this turn shall be kept.
// There's only one exit from this junction. NodeID of the exit is outgoingNode.
if (possibleTurns.candidates.size() == 1)
return true;
ftypes::HighwayClass maxClassForPossibleTurns = ftypes::HighwayClass::Error;
for (auto const & t : possibleTurns.candidates)
{
if (t.m_nodeId == turnInfo.m_outgoing.m_nodeId)
continue;
ftypes::HighwayClass const highwayClass = t.highwayClass;
if (static_cast<int>(highwayClass) > static_cast<int>(maxClassForPossibleTurns))
maxClassForPossibleTurns = highwayClass;
}
if (maxClassForPossibleTurns == ftypes::HighwayClass::Error)
{
ASSERT(false, ("One of possible turns follows along an undefined HighwayClass."));
return true;
}
ftypes::HighwayClass const minClassForTheRoute =
static_cast<ftypes::HighwayClass>(min(static_cast<int>(turnInfo.m_ingoing.m_highwayClass),
static_cast<int>(turnInfo.m_outgoing.m_highwayClass)));
if (minClassForTheRoute == ftypes::HighwayClass::Error)
{
ASSERT(false, ("The route contains undefined HighwayClass."));
return false;
}
int const kMaxHighwayClassDiffToKeepTheTurn = 2;
if (static_cast<int>(maxClassForPossibleTurns) - static_cast<int>(minClassForTheRoute) >=
kMaxHighwayClassDiffToKeepTheTurn)
{
// The turn shall be removed if the route goes near small roads without changing the direction.
return false;
}
return true;
}
/*!
* \brief Returns false when other possible turns leads to service roads;
*/
bool KeepRoundaboutTurnByHighwayClass(TurnDirection turn, TurnCandidates const & possibleTurns,
TurnInfo const & turnInfo)
{
for (auto const & t : possibleTurns.candidates)
{
if (t.m_nodeId == turnInfo.m_outgoing.m_nodeId)
continue;
if (static_cast<int>(t.highwayClass) != static_cast<int>(ftypes::HighwayClass::Service))
return true;
}
return false;
}
bool DiscardTurnByIngoingAndOutgoingEdges(TurnDirection intermediateDirection,
TurnInfo const & turnInfo, TurnItem const & turn)
{
return !turn.m_keepAnyway && !turnInfo.m_ingoing.m_onRoundabout &&
!turnInfo.m_outgoing.m_onRoundabout && IsGoStraightOrSlightTurn(intermediateDirection) &&
turnInfo.m_ingoing.m_highwayClass == turnInfo.m_outgoing.m_highwayClass &&
turn.m_sourceName == turn.m_targetName;
}
// turnEdgesCount calculates both ingoing ond outgoing edges without user's edge.
bool KeepTurnByIngoingEdges(m2::PointD const & junctionPoint,
m2::PointD const & ingoingPointOneSegment,
m2::PointD const & outgoingPoint, bool hasMultiTurns,
size_t const turnEdgesCount)
{
double const turnAngle =
my::RadToDeg(PiMinusTwoVectorsAngle(junctionPoint, ingoingPointOneSegment, outgoingPoint));
bool const isGoStraightOrSlightTurn = IsGoStraightOrSlightTurn(IntermediateDirection(turnAngle));
// The code below is resposible for cases when there is only one way to leave the junction.
// Such junction has to be kept as a turn when it's not a slight turn and it has ingoing edges
// (one or more);
return hasMultiTurns || (!isGoStraightOrSlightTurn && turnEdgesCount > 1);
}
bool FixupLaneSet(TurnDirection turn, vector<SingleLaneInfo> & lanes,
function<bool(LaneWay l, TurnDirection t)> checker)
{
bool isLaneConformed = false;
// There are two nested loops below. (There is a for-loop in checker.)
// But the number of calls of the body of inner one (in checker) is relatively small.
// Less than 10 in most cases.
for (auto & singleLane : lanes)
{
for (LaneWay laneWay : singleLane.m_lane)
{
if (checker(laneWay, turn))
{
singleLane.m_isRecommended = true;
isLaneConformed = true;
break;
}
}
}
return isLaneConformed;
}
/*!
* \brief Converts a turn angle into a turn direction.
* \note lowerBounds is a table of pairs: an angle and a direction.
* lowerBounds shall be sorted by the first parameter (angle) from big angles to small angles.
* These angles should be measured in degrees and should belong to the range [-180; 180].
* The second paramer (angle) shall belong to the range [-180; 180] and is measured in degrees.
*/
TurnDirection FindDirectionByAngle(vector<pair<double, TurnDirection>> const & lowerBounds,
double angle)
{
ASSERT_GREATER_OR_EQUAL(angle, -180., (angle));
ASSERT_LESS_OR_EQUAL(angle, 180., (angle));
ASSERT(!lowerBounds.empty(), ());
ASSERT(is_sorted(lowerBounds.cbegin(), lowerBounds.cend(),
[](pair<double, TurnDirection> const & p1, pair<double, TurnDirection> const & p2)
{
return p1.first > p2.first;
}), ());
for (auto const & lower : lowerBounds)
{
if (angle >= lower.first)
return lower.second;
}
ASSERT(false, ("The angle is not covered by the table. angle = ", angle));
return TurnDirection::NoTurn;
}
/*!
* \brief GetPointForTurn returns ingoingPoint or outgoingPoint for turns.
* These points belongs to the route but they often are not neighbor of junctionPoint.
* To calculate the resulting point the function implements the following steps:
* - going from junctionPoint along segment path according to the direction which is set in GetPointIndex().
* - until one of following conditions is fulfilled:
* - the end of ft is reached; (returns the last feature point)
* - more than kMaxPointsCount points are passed; (returns the kMaxPointsCount-th point)
* - the length of passed parts of segment exceeds kMinDistMeters; (returns the next point after the event)
* \param path geometry of the segment.
* \param junctionPoint is a junction point.
* \param maxPointsCount returned poit could't be more than maxPointsCount poins away from junctionPoint
* \param minDistMeters returned point should be minDistMeters away from junctionPoint if ft is long and consists of short segments
* \param GetPointIndex is a function for getting points by index.
* It defines a direction of following along a feature. So it differs for ingoing and outgoing
* cases.
* It has following parameters:
* - start is an index of the start point of a feature segment. For example, path.back().
* - end is an index of the end point of a feature segment. For example, path.front().
* - shift is a number of points which shall be added to end or start index. After that
* the sum reflects an index of a feature segment point which will be used for a turn calculation.
* The sum shall belongs to a range [min(start, end), max(start, end)].
* shift belongs to a range [0, abs(end - start)].
* \return an ingoing or outgoing point for a turn calculation.
*/
m2::PointD GetPointForTurn(vector<Junction> const & path, m2::PointD const & junctionPoint,
size_t const maxPointsCount, double const minDistMeters,
function<size_t(const size_t start, const size_t end, const size_t shift)> GetPointIndex)
{
ASSERT(!path.empty(), ());
double curDistanceMeters = 0.;
m2::PointD point = junctionPoint;
m2::PointD nextPoint;
size_t const numSegPoints = path.size() - 1;
ASSERT_GREATER(numSegPoints, 0, ());
size_t const usedFtPntNum = min(maxPointsCount, numSegPoints);
ASSERT_GREATER_OR_EQUAL(usedFtPntNum, 1, ());
for (size_t i = 1; i <= usedFtPntNum; ++i)
{
nextPoint = path[GetPointIndex(0, numSegPoints, i)].GetPoint();
// TODO The code below is a stub for compatability with older versions with this function.
// Remove it, fix tests cases when it works (integration test
// RussiaMoscowTTKKashirskoeShosseOutTurnTest)
// and remove point duplication when we get geometry from feature segments.
if (point == nextPoint)
return nextPoint;
curDistanceMeters += MercatorBounds::DistanceOnEarth(point, nextPoint);
if (curDistanceMeters > minDistMeters)
return nextPoint;
point = nextPoint;
}
return nextPoint;
}
size_t GetIngoingPointIndex(const size_t start, const size_t end, const size_t i)
{
return end > start ? end - i : end + i;
}
size_t GetOutgoingPointIndex(const size_t start, const size_t end, const size_t i)
{
return end > start ? start + i : start - i;
}
} // namespace
namespace routing
{
namespace turns
{
bool TurnInfo::IsSegmentsValid() const
{
if (m_ingoing.m_path.empty() || m_outgoing.m_path.empty())
{
LOG(LWARNING, ("Some turns can't load the geometry."));
return false;
}
return true;
}
IRouter::ResultCode MakeTurnAnnotation(turns::IRoutingResult const & result,
RouterDelegate const & delegate,
vector<Junction> & junctions,
Route::TTurns & turnsDir, Route::TTimes & times,
Route::TStreets & streets,
vector<Segment> & trafficSegs)
{
double estimatedTime = 0;
LOG(LDEBUG, ("Shortest th length:", result.GetPathLength()));
#ifdef DEBUG
size_t lastIdx = 0;
#endif
if (delegate.IsCancelled())
return IRouter::Cancelled;
// Annotate turns.
size_t skipTurnSegments = 0;
auto const & loadedSegments = result.GetSegments();
trafficSegs.reserve(loadedSegments.size());
for (auto loadedSegmentIt = loadedSegments.cbegin(); loadedSegmentIt != loadedSegments.cend();
++loadedSegmentIt)
{
// ETA information.
double const nodeTimeSeconds = loadedSegmentIt->m_weight;
// Street names. I put empty names too, to avoid freezing old street name while riding on
// unnamed street.
streets.emplace_back(max(junctions.size(), static_cast<size_t>(1)) - 1, loadedSegmentIt->m_name);
// Turns information.
if (!junctions.empty() && skipTurnSegments == 0)
{
turns::TurnItem turnItem;
turnItem.m_index = static_cast<uint32_t>(junctions.size() - 1);
size_t segmentIndex = distance(loadedSegments.begin(), loadedSegmentIt);
skipTurnSegments = CheckUTurnOnRoute(loadedSegments, segmentIndex, turnItem);
turns::TurnInfo turnInfo(loadedSegments[segmentIndex - 1], *loadedSegmentIt);
if (turnItem.m_turn == turns::TurnDirection::NoTurn)
turns::GetTurnDirection(result, turnInfo, turnItem);
#ifdef DEBUG
double distMeters = 0.0;
for (size_t k = lastIdx + 1; k < junctions.size(); ++k)
distMeters += MercatorBounds::DistanceOnEarth(junctions[k - 1].GetPoint(), junctions[k].GetPoint());
LOG(LDEBUG, ("Speed:", 3.6 * distMeters / nodeTimeSeconds, "kmph; Dist:", distMeters, "Time:",
nodeTimeSeconds, "s", lastIdx, "e", junctions.size(), "source:",
turnItem.m_sourceName, "target:", turnItem.m_targetName));
lastIdx = junctions.size();
#endif
times.push_back(Route::TTimeItem(junctions.size(), estimatedTime));
// Lane information.
if (turnItem.m_turn != turns::TurnDirection::NoTurn)
{
turnItem.m_lanes = turnInfo.m_ingoing.m_lanes;
turnsDir.push_back(move(turnItem));
}
}
estimatedTime += nodeTimeSeconds;
if (skipTurnSegments > 0)
--skipTurnSegments;
// Path geometry.
junctions.insert(junctions.end(), loadedSegmentIt->m_path.begin(), loadedSegmentIt->m_path.end());
trafficSegs.insert(trafficSegs.end(), loadedSegmentIt->m_trafficSegs.cbegin(),
loadedSegmentIt->m_trafficSegs.cend());
}
// Path found. Points will be replaced by start and end edges junctions.
if (junctions.size() == 1)
junctions.push_back(junctions.front());
if (junctions.size() < 2)
return IRouter::ResultCode::RouteNotFound;
junctions.front() = result.GetStartPoint();
junctions.back() = result.GetEndPoint();
times.push_back(Route::TTimeItem(junctions.size() - 1, estimatedTime));
turnsDir.emplace_back(turns::TurnItem(static_cast<uint32_t>(junctions.size()) - 1, turns::TurnDirection::ReachedYourDestination));
turns::FixupTurns(junctions, turnsDir);
#ifdef DEBUG
for (auto t : turnsDir)
{
LOG(LDEBUG, (turns::GetTurnString(t.m_turn), ":", t.m_index, t.m_sourceName, "-",
t.m_targetName, "exit:", t.m_exitNum));
}
size_t last = 0;
double lastTime = 0;
for (Route::TTimeItem & t : times)
{
double dist = 0;
for (size_t i = last + 1; i <= t.first; ++i)
dist += MercatorBounds::DistanceOnEarth(junctions[i - 1].GetPoint(), junctions[i].GetPoint());
double time = t.second - lastTime;
LOG(LDEBUG, ("distance:", dist, "start:", last, "end:", t.first, "Time:", time, "Speed:",
3.6 * dist / time));
last = t.first;
lastTime = t.second;
}
#endif
LOG(LDEBUG, ("Estimated time:", estimatedTime, "s"));
return IRouter::ResultCode::NoError;
}
double CalculateMercatorDistanceAlongPath(uint32_t startPointIndex, uint32_t endPointIndex,
vector<m2::PointD> const & points)
{
ASSERT_LESS(endPointIndex, points.size(), ());
ASSERT_LESS_OR_EQUAL(startPointIndex, endPointIndex, ());
double mercatorDistanceBetweenTurns = 0;
for (uint32_t i = startPointIndex; i != endPointIndex; ++i)
mercatorDistanceBetweenTurns += points[i].Length(points[i + 1]);
return mercatorDistanceBetweenTurns;
}
void FixupTurns(vector<Junction> const & junctions, Route::TTurns & turnsDir)
{
double const kMergeDistMeters = 30.0;
// For turns that are not EnterRoundAbout exitNum is always equal to zero.
// If a turn is EnterRoundAbout exitNum is a number of turns between two junctions:
// (1) the route enters to the roundabout;
// (2) the route leaves the roundabout;
uint32_t exitNum = 0;
// If a roundabout is worked up the roundabout value junctions to the turn
// of the enter to the roundabout. If not, roundabout is equal to nullptr.
TurnItem * roundabout = nullptr;
auto routeDistanceMeters = [&junctions](uint32_t start, uint32_t end)
{
double res = 0.0;
for (uint32_t i = start + 1; i < end; ++i)
res += MercatorBounds::DistanceOnEarth(junctions[i - 1].GetPoint(), junctions[i].GetPoint());
return res;
};
for (size_t idx = 0; idx < turnsDir.size(); )
{
TurnItem & t = turnsDir[idx];
if (roundabout && t.m_turn != TurnDirection::StayOnRoundAbout &&
t.m_turn != TurnDirection::LeaveRoundAbout)
{
exitNum = 0;
roundabout = nullptr;
}
else if (t.m_turn == TurnDirection::EnterRoundAbout)
{
ASSERT(!roundabout, ());
roundabout = &t;
}
else if (t.m_turn == TurnDirection::StayOnRoundAbout)
{
++exitNum;
turnsDir.erase(turnsDir.begin() + idx);
continue;
}
else if (roundabout && t.m_turn == TurnDirection::LeaveRoundAbout)
{
roundabout->m_exitNum = exitNum + 1; // For EnterRoundAbout turn.
t.m_exitNum = roundabout->m_exitNum; // For LeaveRoundAbout turn.
roundabout = nullptr;
exitNum = 0;
}
// Merging turns which are closed to each other under some circumstance.
// distance(turnsDir[idx - 1].m_index, turnsDir[idx].m_index) < kMergeDistMeters
// means the distance in meters between the former turn (idx - 1)
// and the current turn (idx).
if (idx > 0 && IsStayOnRoad(turnsDir[idx - 1].m_turn) &&
IsLeftOrRightTurn(turnsDir[idx].m_turn) &&
routeDistanceMeters(turnsDir[idx - 1].m_index, turnsDir[idx].m_index) < kMergeDistMeters)
{
turnsDir.erase(turnsDir.begin() + idx - 1);
continue;
}
// @todo(vbykoianko) The sieve below is made for filtering unnecessary turns on Moscow's MKAD
// and roads like it. It's a quick fix but it's possible to do better.
// The better solution is to remove all "slight" turns if the route goes form one not-link road
// to another not-link road and other possible turns are links. But it's not possible to
// implement it quickly. To do that you need to calculate FeatureType for most possible turns.
// But it is already made once in KeepTurnByHighwayClass(GetOutgoingHighwayClass).
// So it's a good idea to keep FeatureType for outgoing turns in TTurnCandidates
// (if they have been calculated). For the time being I decided to postpone the implementation
// of the feature but it is worth implementing it in the future.
// To implement the new sieve (the better solution) use TurnInfo structure.
if (!t.m_keepAnyway && IsGoStraightOrSlightTurn(t.m_turn) && !t.m_sourceName.empty() &&
strings::AlmostEqual(t.m_sourceName, t.m_targetName, 2 /* mismatched symbols count */))
{
turnsDir.erase(turnsDir.begin() + idx);
continue;
}
++idx;
}
SelectRecommendedLanes(turnsDir);
return;
}
void SelectRecommendedLanes(Route::TTurns & turnsDir)
{
for (auto & t : turnsDir)
{
vector<SingleLaneInfo> & lanes = t.m_lanes;
if (lanes.empty())
continue;
TurnDirection const turn = t.m_turn;
// Checking if threre are elements in lanes which correspond with the turn exactly.
// If so fixing up all the elements in lanes which correspond with the turn.
if (FixupLaneSet(turn, lanes, &IsLaneWayConformedTurnDirection))
continue;
// If not checking if there are elements in lanes which corresponds with the turn
// approximately. If so fixing up all these elements.
FixupLaneSet(turn, lanes, &IsLaneWayConformedTurnDirectionApproximately);
}
}
bool CheckRoundaboutEntrance(bool isIngoingEdgeRoundabout, bool isOutgoingEdgeRoundabout)
{
return !isIngoingEdgeRoundabout && isOutgoingEdgeRoundabout;
}
bool CheckRoundaboutExit(bool isIngoingEdgeRoundabout, bool isOutgoingEdgeRoundabout)
{
return isIngoingEdgeRoundabout && !isOutgoingEdgeRoundabout;
}
TurnDirection GetRoundaboutDirection(bool isIngoingEdgeRoundabout, bool isOutgoingEdgeRoundabout,
bool isMultiTurnJunction, bool keepTurnByHighwayClass)
{
if (isIngoingEdgeRoundabout && isOutgoingEdgeRoundabout)
{
if (isMultiTurnJunction)
return keepTurnByHighwayClass ? TurnDirection::StayOnRoundAbout : TurnDirection::NoTurn;
return TurnDirection::NoTurn;
}
if (CheckRoundaboutEntrance(isIngoingEdgeRoundabout, isOutgoingEdgeRoundabout))
return TurnDirection::EnterRoundAbout;
if (CheckRoundaboutExit(isIngoingEdgeRoundabout, isOutgoingEdgeRoundabout))
return TurnDirection::LeaveRoundAbout;
ASSERT(false, ());
return TurnDirection::NoTurn;
}
TurnDirection InvertDirection(TurnDirection dir)
{
switch (dir)
{
case TurnDirection::TurnSlightRight:
return TurnDirection::TurnSlightLeft;
case TurnDirection::TurnRight:
return TurnDirection::TurnLeft;
case TurnDirection::TurnSharpRight:
return TurnDirection::TurnSharpLeft;
case TurnDirection::TurnSlightLeft:
return TurnDirection::TurnSlightRight;
case TurnDirection::TurnLeft:
return TurnDirection::TurnRight;
case TurnDirection::TurnSharpLeft:
return TurnDirection::TurnSharpRight;
default:
return dir;
};
}
TurnDirection RightmostDirection(const double angle)
{
static vector<pair<double, TurnDirection>> const kLowerBounds = {
{157., TurnDirection::TurnSharpRight},
{40., TurnDirection::TurnRight},
{-10., TurnDirection::TurnSlightRight},
{-20., TurnDirection::GoStraight},
{-60., TurnDirection::TurnSlightLeft},
{-157., TurnDirection::TurnLeft},
{-180., TurnDirection::TurnSharpLeft}};
return FindDirectionByAngle(kLowerBounds, angle);
}
TurnDirection LeftmostDirection(const double angle)
{
return InvertDirection(RightmostDirection(-angle));
}
TurnDirection IntermediateDirection(const double angle)
{
static vector<pair<double, TurnDirection>> const kLowerBounds = {
{157., TurnDirection::TurnSharpRight},
{50., TurnDirection::TurnRight},
{10., TurnDirection::TurnSlightRight},
{-10., TurnDirection::GoStraight},
{-50., TurnDirection::TurnSlightLeft},
{-157., TurnDirection::TurnLeft},
{-180., TurnDirection::TurnSharpLeft}};
return FindDirectionByAngle(kLowerBounds, angle);
}
void GetTurnDirection(IRoutingResult const & result, TurnInfo & turnInfo, TurnItem & turn)
{
if (!turnInfo.IsSegmentsValid())
return;
ASSERT(!turnInfo.m_ingoing.m_path.empty(), ());
ASSERT(!turnInfo.m_outgoing.m_path.empty(), ());
ASSERT_LESS(MercatorBounds::DistanceOnEarth(turnInfo.m_ingoing.m_path.back().GetPoint(),
turnInfo.m_outgoing.m_path.front().GetPoint()),
kFeaturesNearTurnMeters, ());
m2::PointD const junctionPoint = turnInfo.m_ingoing.m_path.back().GetPoint();
m2::PointD const ingoingPoint = GetPointForTurn(turnInfo.m_ingoing.m_path, junctionPoint,
kMaxPointsCount, kMinDistMeters,
GetIngoingPointIndex);
m2::PointD const outgoingPoint = GetPointForTurn(turnInfo.m_outgoing.m_path, junctionPoint,
kMaxPointsCount, kMinDistMeters,
GetOutgoingPointIndex);
double const turnAngle = my::RadToDeg(PiMinusTwoVectorsAngle(junctionPoint, ingoingPoint, outgoingPoint));
TurnDirection const intermediateDirection = IntermediateDirection(turnAngle);
turn.m_keepAnyway = (!turnInfo.m_ingoing.m_isLink && turnInfo.m_outgoing.m_isLink);
turn.m_sourceName = turnInfo.m_ingoing.m_name;
turn.m_targetName = turnInfo.m_outgoing.m_name;
turn.m_turn = TurnDirection::NoTurn;
// Early filtering based only on the information about ingoing and outgoing edges.
if (DiscardTurnByIngoingAndOutgoingEdges(intermediateDirection, turnInfo, turn))
return;
ASSERT_GREATER(turnInfo.m_ingoing.m_path.size(), 1, ());
m2::PointD const ingoingPointOneSegment = turnInfo.m_ingoing.m_path[turnInfo.m_ingoing.m_path.size() - 2].GetPoint();
TurnCandidates nodes;
size_t ingoingCount;
result.GetPossibleTurns(turnInfo.m_ingoing.m_nodeId, ingoingPointOneSegment, junctionPoint,
ingoingCount, nodes);
size_t const numNodes = nodes.candidates.size();
bool const hasMultiTurns = numNodes > 1;
if (numNodes == 0)
return;
if (!hasMultiTurns || !nodes.isCandidatesAngleValid)
{
turn.m_turn = intermediateDirection;
}
else
{
if (nodes.candidates.front().m_nodeId == turnInfo.m_outgoing.m_nodeId)
turn.m_turn = LeftmostDirection(turnAngle);
else if (nodes.candidates.back().m_nodeId == turnInfo.m_outgoing.m_nodeId)
turn.m_turn = RightmostDirection(turnAngle);
else
turn.m_turn = intermediateDirection;
}
if (turnInfo.m_ingoing.m_onRoundabout || turnInfo.m_outgoing.m_onRoundabout)
{
bool const keepTurnByHighwayClass =
KeepRoundaboutTurnByHighwayClass(turn.m_turn, nodes, turnInfo);
turn.m_turn = GetRoundaboutDirection(turnInfo.m_ingoing.m_onRoundabout,
turnInfo.m_outgoing.m_onRoundabout, hasMultiTurns,
keepTurnByHighwayClass);
return;
}
bool const keepTurnByHighwayClass = KeepTurnByHighwayClass(turn.m_turn, nodes, turnInfo);
if (!turn.m_keepAnyway && !keepTurnByHighwayClass)
{
turn.m_turn = TurnDirection::NoTurn;
return;
}
auto const notSoCloseToTheTurnPoint =
GetPointForTurn(turnInfo.m_ingoing.m_path, junctionPoint, kNotSoCloseMaxPointsCount,
kNotSoCloseMinDistMeters, GetIngoingPointIndex);
if (!KeepTurnByIngoingEdges(junctionPoint, notSoCloseToTheTurnPoint, outgoingPoint, hasMultiTurns,
nodes.candidates.size() + ingoingCount))
{
turn.m_turn = TurnDirection::NoTurn;
return;
}
if (turn.m_turn == TurnDirection::GoStraight)
{
if (!hasMultiTurns)
turn.m_turn = TurnDirection::NoTurn;
return;
}
}
size_t CheckUTurnOnRoute(TUnpackedPathSegments const & segments,
size_t currentSegment, TurnItem & turn)
{
size_t constexpr kUTurnLookAhead = 3;
double constexpr kUTurnHeadingSensitivity = math::pi / 10.0;
// In this function we process the turn between the previous and the current
// segments. So we need a shift to get the previous segment.
ASSERT_GREATER(segments.size(), 1, ());
ASSERT_GREATER(currentSegment, 0, ());
ASSERT_GREATER(segments.size(), currentSegment, ());
auto const & masterSegment = segments[currentSegment - 1];
if (masterSegment.m_path.size() < 2)
return 0;
// Roundabout is not the UTurn.
if (masterSegment.m_onRoundabout)
return 0;
for (size_t i = 0; i < kUTurnLookAhead && i + currentSegment < segments.size(); ++i)
{
auto const & checkedSegment = segments[currentSegment + i];
if (checkedSegment.m_path.size() < 2)
return 0;
if (checkedSegment.m_name == masterSegment.m_name &&
checkedSegment.m_highwayClass == masterSegment.m_highwayClass &&
checkedSegment.m_isLink == masterSegment.m_isLink && !checkedSegment.m_onRoundabout)
{
auto const & path = masterSegment.m_path;
// Same segment UTurn case.
if (i == 0)
{
// TODO Fix direction calculation.
// Warning! We can not determine UTurn direction in single edge case. So we use UTurnLeft.
// We decided to add driving rules (left-right sided driving) to mwm header.
if (path[path.size() - 2] == checkedSegment.m_path[1])
{
turn.m_turn = TurnDirection::UTurnLeft;
return 1;
}
// Wide UTurn must have link in it's middle.
return 0;
}
// Avoid the UTurn on unnamed roads inside the rectangle based distinct.
if (checkedSegment.m_name.empty())
return 0;
// Avoid returning to the same edge after uturn somewere else.
if (path[path.size() - 2] == checkedSegment.m_path[1])
return 0;
m2::PointD const v1 = path[path.size() - 1].GetPoint() - path[path.size() - 2].GetPoint();
m2::PointD const v2 = checkedSegment.m_path[1].GetPoint() - checkedSegment.m_path[0].GetPoint();
auto angle = ang::TwoVectorsAngle(m2::PointD::Zero(), v1, v2);
if (!my::AlmostEqualAbs(angle, math::pi, kUTurnHeadingSensitivity))
return 0;
// Determine turn direction.
m2::PointD const junctionPoint = masterSegment.m_path.back().GetPoint();
m2::PointD const ingoingPoint = GetPointForTurn(masterSegment.m_path, junctionPoint,
kMaxPointsCount, kMinDistMeters,
GetIngoingPointIndex);
m2::PointD const outgoingPoint = GetPointForTurn(segments[currentSegment].m_path, junctionPoint,
kMaxPointsCount, kMinDistMeters,
GetOutgoingPointIndex);
if (PiMinusTwoVectorsAngle(junctionPoint, ingoingPoint, outgoingPoint) < 0)
turn.m_turn = TurnDirection::UTurnLeft;
else
turn.m_turn = TurnDirection::UTurnRight;
return i + 1;
}
}
return 0;
}
} // namespace turns
} // namespace routing
|