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the 'has the coffee really kicked in yet' change: make the contraction hierarchy prevent illegal uber-turns. probably doesnt properly handle changing lane types inside a cluster yet.

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This commit is contained in:
Dustin Carlino 2020-05-19 14:03:01 -07:00
parent 2120035d26
commit 90bc73580d
6 changed files with 158 additions and 77 deletions
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24
data/MANIFEST.txt
View File

@ -184,22 +184,22 @@ data/input/seattle/popdat.bin,8b88fa7f2036277d2f26ad393f6509b9,https://www.dropb
data/input/seattle/sidewalks.bin,034dd47ab77902dbc81c0107f13d8965,https://www.dropbox.com/s/ma9bmisijc7v7xa/sidewalks.bin.zip?dl=0
data/input/seattle/sidewalks.kml,94d385ba03ef1b57a5ba10965913ec6c,https://www.dropbox.com/s/vn8amar9xi6vbvh/sidewalks.kml.zip?dl=0
data/input/seattle/trips_2014.csv,d4a8e733045b28c0385fb81359d6df03,https://www.dropbox.com/s/5ppravwmk6bf20d/trips_2014.csv.zip?dl=0
data/system/maps/23rd.bin,5d0d039fd4330e2308ae4bb9983b0d7b,https://www.dropbox.com/s/wjl45codk6rqfg4/23rd.bin.zip?dl=0
data/system/maps/ballard.bin,17102a34e17ef941a8d4c461b043cbf5,https://www.dropbox.com/s/u4rvz50she3yrk0/ballard.bin.zip?dl=0
data/system/maps/caphill.bin,46f08feb1a032dd5366fc1613f428841,https://www.dropbox.com/s/bh20pn3wxygetw8/caphill.bin.zip?dl=0
data/system/maps/downtown.bin,3baf70c7bd1944662e3a56a999d7f23c,https://www.dropbox.com/s/4do5cg4vc17lafo/downtown.bin.zip?dl=0
data/system/maps/23rd.bin,4e726219b23a105037415e2c92eee824,https://www.dropbox.com/s/wjl45codk6rqfg4/23rd.bin.zip?dl=0
data/system/maps/ballard.bin,b66db3fcf6f4043ed1e7edfb9d380bf1,https://www.dropbox.com/s/u4rvz50she3yrk0/ballard.bin.zip?dl=0
data/system/maps/caphill.bin,7d77357c0e5b1bc1b3ac5132890f0818,https://www.dropbox.com/s/bh20pn3wxygetw8/caphill.bin.zip?dl=0
data/system/maps/downtown.bin,96892058c01319e5e2f892404a2ee6b6,https://www.dropbox.com/s/4do5cg4vc17lafo/downtown.bin.zip?dl=0
data/system/maps/downtown_atx.bin,b2d634b8aa1244261d3a5e3a6e8b8ab7,https://www.dropbox.com/s/5avnbkd4oxby2hs/downtown_atx.bin.zip?dl=0
data/system/maps/huge_austin.bin,1993956d19e43b1d27d8417435820f23,https://www.dropbox.com/s/khy0m6v9yt0gjnt/huge_austin.bin.zip?dl=0
data/system/maps/huge_seattle.bin,7e932f8a3650c8670fda511b1c0fff31,https://www.dropbox.com/s/btvr3qajshnivhb/huge_seattle.bin.zip?dl=0
data/system/maps/intl_district.bin,268083962eabb667aae50213632ea098,https://www.dropbox.com/s/fohppni52ekc5l3/intl_district.bin.zip?dl=0
data/system/maps/lakeslice.bin,6aca01bb2ce29de57e0759eff182a2bb,https://www.dropbox.com/s/99zi0gcbyvqrkud/lakeslice.bin.zip?dl=0
data/system/maps/montlake.bin,88fdf4673e94cb25cbf131a41ec2e9c9,https://www.dropbox.com/s/zvhm2j5lavixxcr/montlake.bin.zip?dl=0
data/system/maps/mt_baker.bin,3e6fbfcb5267455a86175d67c62b3cb4,https://www.dropbox.com/s/cetje663p04cbgp/mt_baker.bin.zip?dl=0
data/system/maps/udistrict.bin,8050fb96058a0c707e1cd7574bae5158,https://www.dropbox.com/s/zqt2je8fadssz5j/udistrict.bin.zip?dl=0
data/system/maps/west_seattle.bin,980cd951a689e38a4b48b055c71e0145,https://www.dropbox.com/s/5pp1ik9l40yj3wh/west_seattle.bin.zip?dl=0
data/system/maps/huge_seattle.bin,f55c0dea20db6416af06df411a9af7dd,https://www.dropbox.com/s/btvr3qajshnivhb/huge_seattle.bin.zip?dl=0
data/system/maps/intl_district.bin,56624cae54178792df4a179aa5d9ab42,https://www.dropbox.com/s/fohppni52ekc5l3/intl_district.bin.zip?dl=0
data/system/maps/lakeslice.bin,912c305846162eb15c588f77dd1a939a,https://www.dropbox.com/s/99zi0gcbyvqrkud/lakeslice.bin.zip?dl=0
data/system/maps/montlake.bin,a0f71eea156b92493f82be959a476047,https://www.dropbox.com/s/zvhm2j5lavixxcr/montlake.bin.zip?dl=0
data/system/maps/mt_baker.bin,d19b1621ba5b85ec9b5334a7c4535a2a,https://www.dropbox.com/s/cetje663p04cbgp/mt_baker.bin.zip?dl=0
data/system/maps/udistrict.bin,4bc03c72ab3ffa4edd1dd2b6e0cb3765,https://www.dropbox.com/s/zqt2je8fadssz5j/udistrict.bin.zip?dl=0
data/system/maps/west_seattle.bin,c9aaa8e2d30f47e060403090e6622750,https://www.dropbox.com/s/5pp1ik9l40yj3wh/west_seattle.bin.zip?dl=0
data/system/prebaked_results/lakeslice/weekday.bin,871031678281975b30a83dd61ca184c3,https://www.dropbox.com/s/1c1sohvy50263wg/weekday.bin.zip?dl=0
data/system/prebaked_results/montlake/car vs bike contention.bin,fda2f60658aeebba1145151866ea41dc,https://www.dropbox.com/s/jefg0ikjy9dsrdd/car%20vs%20bike%20contention.bin.zip?dl=0
data/system/prebaked_results/montlake/weekday.bin,81bfca5bad697583de7787f5d18f1a99,https://www.dropbox.com/s/1aq7n9ow8tfqb5d/weekday.bin.zip?dl=0
data/system/prebaked_results/montlake/weekday.bin,bf9ef0af965da30ac1e101b8e67ae882,https://www.dropbox.com/s/1aq7n9ow8tfqb5d/weekday.bin.zip?dl=0
data/system/scenarios/23rd/weekday.bin,b42a0c7446f33b4de32df097b1a59c8f,https://www.dropbox.com/s/tgo7gztfodbljyi/weekday.bin.zip?dl=0
data/system/scenarios/ballard/weekday.bin,6f3ebddac29e7d84ffe76c8efc073a97,https://www.dropbox.com/s/67hys1v7m7oe979/weekday.bin.zip?dl=0
data/system/scenarios/caphill/weekday.bin,e9dda6bebdde82e92b9d467e22fa2855,https://www.dropbox.com/s/9ifg7ogd6p5f1qg/weekday.bin.zip?dl=0

8
game/src/sandbox/uber_turns.rs
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@ -10,16 +10,16 @@ use ezgui::{
use geom::{ArrowCap, Polygon};
use map_model::{IntersectionCluster, IntersectionID};
use sim::DontDrawAgents;
use std::collections::HashSet;
use std::collections::BTreeSet;
pub struct UberTurnPicker {
members: HashSet<IntersectionID>,
members: BTreeSet<IntersectionID>,
composite: Composite,
}
impl UberTurnPicker {
pub fn new(ctx: &mut EventCtx, app: &App, i: IntersectionID) -> Box<dyn State> {
let mut members = HashSet::new();
let mut members = BTreeSet::new();
members.insert(i);
Box::new(UberTurnPicker {
members,
@ -116,7 +116,7 @@ impl UberTurnViewer {
pub fn new(
ctx: &mut EventCtx,
app: &mut App,
members: HashSet<IntersectionID>,
members: BTreeSet<IntersectionID>,
idx: usize,
legal_turns: bool,
) -> Box<dyn State> {

4
map_model/src/map.rs
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@ -90,10 +90,6 @@ impl Map {
);
}
if false {
crate::pathfind::uber_turns::find(&map);
}
return map;
}
Err(err) => {

135
map_model/src/pathfind/driving.rs
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@ -1,5 +1,7 @@
use crate::pathfind::node_map::{deserialize_nodemap, NodeMap};
use crate::pathfind::uber_turns::{IntersectionCluster, UberTurn};
use crate::{Lane, LaneID, Map, Path, PathConstraints, PathRequest, PathStep, Turn, TurnID};
use abstutil::MultiMap;
use fast_paths::{deserialize_32, serialize_32, FastGraph, InputGraph, PathCalculator};
use serde_derive::{Deserialize, Serialize};
use std::cell::RefCell;
@ -10,13 +12,20 @@ pub struct VehiclePathfinder {
#[serde(serialize_with = "serialize_32", deserialize_with = "deserialize_32")]
graph: FastGraph,
#[serde(deserialize_with = "deserialize_nodemap")]
nodes: NodeMap<LaneID>,
nodes: NodeMap<Node>,
uber_turns: Vec<UberTurn>,
constraints: PathConstraints,
#[serde(skip_serializing, skip_deserializing)]
path_calc: ThreadLocal<RefCell<PathCalculator>>,
}
#[derive(Clone, Copy, PartialEq, Eq, PartialOrd, Ord, Debug, Serialize, Deserialize)]
enum Node {
Lane(LaneID),
UberTurn(usize),
}
impl VehiclePathfinder {
pub fn new(
map: &Map,
@ -28,9 +37,19 @@ impl VehiclePathfinder {
// depend on lane types and turns and such.
let mut nodes = NodeMap::new();
for l in map.all_lanes() {
nodes.get_or_insert(l.id);
nodes.get_or_insert(Node::Lane(l.id));
}
let input_graph = make_input_graph(map, &nodes, constraints);
// Find all uber-turns and make a node for them too.
let mut uber_turns = Vec::new();
for ic in IntersectionCluster::find_all(map) {
for ut in ic.uber_turns {
nodes.get_or_insert(Node::UberTurn(uber_turns.len()));
uber_turns.push(ut);
}
}
let input_graph = make_input_graph(map, &nodes, &uber_turns, constraints);
// All VehiclePathfinders have the same nodes (lanes), so if we're not the first being
// built, seed from the node ordering.
@ -44,6 +63,7 @@ impl VehiclePathfinder {
VehiclePathfinder {
graph,
nodes,
uber_turns,
constraints,
path_calc: ThreadLocal::new(),
}
@ -57,18 +77,34 @@ impl VehiclePathfinder {
.borrow_mut();
let raw_path = calc.calc_path(
&self.graph,
self.nodes.get(req.start.lane()),
self.nodes.get(req.end.lane()),
self.nodes.get(Node::Lane(req.start.lane())),
self.nodes.get(Node::Lane(req.end.lane())),
)?;
let mut steps = Vec::new();
for pair in self.nodes.translate(&raw_path).windows(2) {
steps.push(PathStep::Lane(pair[0]));
// We don't need to look for this turn in the map; we know it exists.
steps.push(PathStep::Turn(TurnID {
parent: map.get_l(pair[0]).dst_i,
src: pair[0],
dst: pair[1],
}));
match (pair[0], pair[1]) {
(Node::Lane(l1), Node::Lane(l2)) => {
steps.push(PathStep::Lane(l1));
// We don't need to look for this turn in the map; we know it exists.
steps.push(PathStep::Turn(TurnID {
parent: map.get_l(l1).dst_i,
src: l1,
dst: l2,
}));
}
(Node::Lane(l), Node::UberTurn(ut)) => {
steps.push(PathStep::Lane(l));
for t in &self.uber_turns[ut].path {
steps.push(PathStep::Turn(*t));
steps.push(PathStep::Lane(t.dst));
}
steps.pop();
}
(Node::UberTurn(_), Node::Lane(_)) => {
// Don't add anything; the lane will be added by some other case
}
(Node::UberTurn(_), Node::UberTurn(_)) => unreachable!(),
}
}
steps.push(PathStep::Lane(req.end.lane()));
Some((
@ -78,11 +114,11 @@ impl VehiclePathfinder {
}
pub fn apply_edits(&mut self, map: &Map) {
// The NodeMap is just all lanes -- it won't change. So we can also reuse the node
// ordering.
// The NodeMap is just all lanes and uber-turns -- it won't change. So we can also reuse
// the node ordering.
// TODO Make sure the result of this is deterministic and equivalent to computing from
// scratch.
let input_graph = make_input_graph(map, &self.nodes, self.constraints);
let input_graph = make_input_graph(map, &self.nodes, &self.uber_turns, self.constraints);
let node_ordering = self.graph.get_node_ordering();
self.graph = fast_paths::prepare_with_order(&input_graph, &node_ordering).unwrap();
}
@ -90,23 +126,70 @@ impl VehiclePathfinder {
fn make_input_graph(
map: &Map,
nodes: &NodeMap<LaneID>,
nodes: &NodeMap<Node>,
uber_turns: &Vec<UberTurn>,
constraints: PathConstraints,
) -> InputGraph {
let mut input_graph = InputGraph::new();
// From some lanes, instead of adding edges to turns, add edges to these (indexed) uber-turns.
let mut uber_turn_entrances: MultiMap<LaneID, usize> = MultiMap::new();
for (idx, ut) in uber_turns.iter().enumerate() {
// But actually, make sure this uber-turn only contains lanes that can be used by this
// vehicle.
// TODO Need to test editing lanes inside an IntersectionCluster very carefully. See Mercer
// and Dexter.
if ut
.path
.iter()
.all(|t| constraints.can_use(map.get_l(t.dst), map))
{
uber_turn_entrances.insert(ut.path[0].src, idx);
} else {
// Similar to the hack below for unused lanes
if idx == uber_turns.len() - 1 {
input_graph.add_edge(
nodes.get(Node::UberTurn(idx)),
nodes.get(Node::UberTurn(0)),
1,
);
}
}
}
let num_lanes = map.all_lanes().len();
for l in map.all_lanes() {
let from = nodes.get(l.id);
let from = nodes.get(Node::Lane(l.id));
let mut any = false;
if constraints.can_use(l, map) {
for turn in map.get_turns_for(l.id, constraints) {
any = true;
input_graph.add_edge(
from,
nodes.get(turn.id.dst),
// Round up! 0 cost edges are ignored
cost(l, turn, constraints, map).max(1),
);
let indices = uber_turn_entrances.get(l.id);
if indices.is_empty() {
for turn in map.get_turns_for(l.id, constraints) {
any = true;
input_graph.add_edge(
from,
nodes.get(Node::Lane(turn.id.dst)),
// Round up! 0 cost edges are ignored
cost(l, turn, constraints, map).max(1),
);
}
} else {
for idx in indices {
any = true;
let ut = &uber_turns[*idx];
let mut sum_cost = 0;
for t in &ut.path {
sum_cost += cost(map.get_l(t.src), map.get_t(*t), constraints, map);
}
input_graph.add_edge(from, nodes.get(Node::UberTurn(*idx)), sum_cost.max(1));
input_graph.add_edge(
nodes.get(Node::UberTurn(*idx)),
nodes.get(Node::Lane(ut.path.last().unwrap().dst)),
// The cost is already captured for entering the uber-turn
1,
);
}
}
}
// The nodes in the graph MUST exactly be all of the lanes, so we can reuse node
@ -115,7 +198,7 @@ fn make_input_graph(
// this unused node, this won't affect results.
// TODO Upstream a method in InputGraph to do this more clearly.
if !any && l.id.0 == num_lanes - 1 {
input_graph.add_edge(from, nodes.get(LaneID(0)), 1);
input_graph.add_edge(from, nodes.get(Node::Lane(LaneID(0))), 1);
}
}
input_graph.freeze();

4
map_model/src/pathfind/mod.rs
View File

@ -11,7 +11,7 @@ use crate::{
osm, BusRouteID, BusStopID, Lane, LaneID, LaneType, Map, Position, Traversable, TurnID,
};
use abstutil::Timer;
use geom::{Distance, PolyLine};
use geom::{Distance, PolyLine, EPSILON_DIST};
use serde_derive::{Deserialize, Serialize};
use std::collections::VecDeque;
use std::fmt;
@ -420,7 +420,7 @@ fn validate_continuity(map: &Map, steps: &Vec<PathStep>) {
PathStep::Turn(id) => map.get_t(id).geom.first_pt(),
};
let len = from.dist_to(to);
if len > Distance::ZERO {
if len > EPSILON_DIST {
println!("All steps in invalid path:");
for s in steps {
match s {

60
map_model/src/pathfind/uber_turns.rs
View File

@ -1,50 +1,52 @@
use crate::{IntersectionID, Map, TurnID};
use geom::PolyLine;
use petgraph::graphmap::UnGraphMap;
use std::collections::{HashMap, HashSet};
use serde_derive::{Deserialize, Serialize};
use std::collections::{BTreeMap, BTreeSet};
// This only applies to VehiclePathfinder; walking through these intersections is nothing special.
// TODO I haven't seen any cases yet with "interior" intersections. Some stuff might break.
#[derive(Clone)]
#[derive(Clone, Serialize, Deserialize)]
pub struct IntersectionCluster {
pub members: HashSet<IntersectionID>,
pub members: BTreeSet<IntersectionID>,
pub uber_turns: Vec<UberTurn>,
}
#[derive(Clone)]
#[derive(Clone, Serialize, Deserialize)]
pub struct UberTurn {
pub path: Vec<TurnID>,
}
pub fn find(map: &Map) -> Vec<IntersectionCluster> {
let mut clusters = Vec::new();
let mut graph: UnGraphMap<IntersectionID, ()> = UnGraphMap::new();
for from in map.all_roads() {
for (via, _) in &from.complicated_turn_restrictions {
// Each of these tells us 2 intersections to group together
let r = map.get_r(*via);
graph.add_edge(r.src_i, r.dst_i, ());
}
}
for intersections in petgraph::algo::kosaraju_scc(&graph) {
let members: HashSet<IntersectionID> = intersections.iter().cloned().collect();
// Discard the illegal movements
let (ic, _) = IntersectionCluster::new(members, map);
clusters.push(ic);
}
clusters
}
impl IntersectionCluster {
// Based on turn restrictions
pub fn find_all(map: &Map) -> Vec<IntersectionCluster> {
let mut clusters = Vec::new();
let mut graph: UnGraphMap<IntersectionID, ()> = UnGraphMap::new();
for from in map.all_roads() {
for (via, _) in &from.complicated_turn_restrictions {
// Each of these tells us 2 intersections to group together
let r = map.get_r(*via);
graph.add_edge(r.src_i, r.dst_i, ());
}
}
for intersections in petgraph::algo::kosaraju_scc(&graph) {
let members: BTreeSet<IntersectionID> = intersections.iter().cloned().collect();
// Discard the illegal movements
let (ic, _) = IntersectionCluster::new(members, map);
clusters.push(ic);
}
clusters
}
// (legal, illegal)
pub fn new(
members: HashSet<IntersectionID>,
members: BTreeSet<IntersectionID>,
map: &Map,
) -> (IntersectionCluster, IntersectionCluster) {
// Find all entrances and exits through this group of intersections
let mut entrances = Vec::new();
let mut exits = HashSet::new();
let mut exits = BTreeSet::new();
for i in &members {
for turn in map.get_turns_in_intersection(*i) {
if turn.between_sidewalks() {
@ -108,13 +110,13 @@ impl IntersectionCluster {
}
}
fn flood(start: TurnID, map: &Map, exits: &HashSet<TurnID>) -> Vec<UberTurn> {
fn flood(start: TurnID, map: &Map, exits: &BTreeSet<TurnID>) -> Vec<UberTurn> {
if exits.contains(&start) {
return vec![UberTurn { path: vec![start] }];
}
let mut results = Vec::new();
let mut preds: HashMap<TurnID, TurnID> = HashMap::new();
let mut preds: BTreeMap<TurnID, TurnID> = BTreeMap::new();
let mut queue = vec![start];
while !queue.is_empty() {
@ -137,7 +139,7 @@ fn flood(start: TurnID, map: &Map, exits: &HashSet<TurnID>) -> Vec<UberTurn> {
results
}
fn trace_back(end: TurnID, preds: &HashMap<TurnID, TurnID>) -> Vec<TurnID> {
fn trace_back(end: TurnID, preds: &BTreeMap<TurnID, TurnID>) -> Vec<TurnID> {
let mut path = vec![end];
let mut current = end;
loop {