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Rip out all of the special code for pathfinding into/out of access-restricted zones.

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There's a much simpler implementation, it transpires. #555, #574
This commit is contained in:
Dustin Carlino 2021-03-20 18:37:27 -07:00
parent b6c5ee38c2
commit e6cf2d54bc
5 changed files with 26 additions and 394 deletions
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94
map_model/src/objects/zone.rs
View File

@ -8,13 +8,9 @@
use std::collections::BTreeSet;
use enumset::EnumSet;
use petgraph::graphmap::DiGraphMap;
use serde::{Deserialize, Serialize};
use crate::pathfind::{driving_cost, walking_cost, WalkingNode};
use crate::{
IntersectionID, LaneID, Map, Path, PathConstraints, PathRequest, PathStep, RoadID, TurnID,
};
use crate::{IntersectionID, Map, PathConstraints, RoadID};
#[derive(Serialize, Deserialize, Debug, PartialEq, Clone)]
pub struct AccessRestrictions {
@ -63,94 +59,6 @@ impl Zone {
zones
}
/// Run slower Dijkstra's within the interior of a private zone. Don't go outside the borders.
pub fn pathfind(&self, req: PathRequest, map: &Map) -> Option<Path> {
assert_ne!(req.constraints, PathConstraints::Pedestrian);
let mut graph: DiGraphMap<LaneID, TurnID> = DiGraphMap::new();
for r in &self.members {
for l in map.get_r(*r).all_lanes() {
if req.constraints.can_use(map.get_l(l), map) {
for turn in map.get_turns_for(l, req.constraints) {
if !self.borders.contains(&turn.id.parent) {
graph.add_edge(turn.id.src, turn.id.dst, turn.id);
}
}
}
}
}
let (_, path) = petgraph::algo::astar(
&graph,
req.start.lane(),
|l| l == req.end.lane(),
|(_, _, turn)| {
driving_cost(
map.get_l(turn.src),
map.get_t(*turn),
req.constraints,
map.routing_params(),
map,
)
},
|_| 0.0,
)?;
let mut steps = Vec::new();
for pair in 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],
}));
}
steps.push(PathStep::Lane(req.end.lane()));
assert_eq!(steps[0], PathStep::Lane(req.start.lane()));
Some(Path::new(map, steps, req, Vec::new()))
}
// TODO Not happy this works so differently
pub fn pathfind_walking(&self, req: PathRequest, map: &Map) -> Option<Vec<WalkingNode>> {
let mut graph: DiGraphMap<WalkingNode, usize> = DiGraphMap::new();
for r in &self.members {
for l in map.get_r(*r).all_lanes() {
let l = map.get_l(l);
if l.is_walkable() {
let cost = walking_cost(l.length());
let n1 = WalkingNode::SidewalkEndpoint(l.id, true);
let n2 = WalkingNode::SidewalkEndpoint(l.id, false);
graph.add_edge(n1, n2, cost);
graph.add_edge(n2, n1, cost);
for turn in map.get_turns_for(l.id, PathConstraints::Pedestrian) {
if self.members.contains(&map.get_l(turn.id.dst).parent) {
graph.add_edge(
WalkingNode::SidewalkEndpoint(l.id, l.dst_i == turn.id.parent),
WalkingNode::SidewalkEndpoint(
turn.id.dst,
map.get_l(turn.id.dst).dst_i == turn.id.parent,
),
walking_cost(turn.geom.length()),
);
}
}
}
}
}
let closest_start = WalkingNode::closest(req.start, map);
let closest_end = WalkingNode::closest(req.end, map);
let (_, path) = petgraph::algo::astar(
&graph,
closest_start,
|end| end == closest_end,
|(_, _, cost)| *cost,
|_| 0,
)?;
Some(path)
}
}
fn floodfill(map: &Map, start: RoadID) -> Zone {

8
map_model/src/pathfind/driving.rs
View File

@ -167,13 +167,7 @@ fn make_input_graph(
for l in map.all_lanes() {
let from = nodes.get(Node::Lane(l.id));
let mut any = false;
if constraints.can_use(l, map)
&& map
.get_r(l.parent)
.access_restrictions
.allow_through_traffic
.contains(constraints)
{
if constraints.can_use(l, map) {
let indices = uber_turn_entrances.get(l.id);
if indices.is_empty() {
for turn in map.get_turns_for(l.id, constraints) {

21
map_model/src/pathfind/mod.rs
View File

@ -410,26 +410,6 @@ impl Path {
&self.steps
}
// Not for walking paths
fn append(&mut self, other: Path, map: &Map) {
assert!(self.currently_inside_ut.is_none());
assert!(other.currently_inside_ut.is_none());
let turn = match (*self.steps.back().unwrap(), other.steps[0]) {
(PathStep::Lane(src), PathStep::Lane(dst)) => TurnID {
parent: map.get_l(src).dst_i,
src,
dst,
},
_ => unreachable!(),
};
self.steps.push_back(PathStep::Turn(turn));
// TODO Need to correct for the uncrossed start/end distance where we're gluing together
self.total_length += map.get_t(turn).geom.length();
self.steps.extend(other.steps);
self.total_length += other.total_length;
self.uber_turns.extend(other.uber_turns);
}
/// Estimate how long following the path will take in the best case, assuming no traffic or
/// delay at intersections. To determine the speed along each step, the agent following their
/// path and their optional max_speed must be specified.
@ -491,7 +471,6 @@ impl PathConstraints {
}
}
// TODO Handle private zones here?
pub fn can_use(self, l: &Lane, map: &Map) -> bool {
match self {
PathConstraints::Pedestrian => l.is_walkable(),

289
map_model/src/pathfind/pathfinder.rs
View File

@ -5,11 +5,10 @@ use serde::{Deserialize, Serialize};
use abstutil::Timer;
use crate::pathfind::ch::ContractionHierarchyPathfinder;
use crate::pathfind::dijkstra;
use crate::pathfind::walking::{one_step_walking_path, walking_path_to_steps};
use crate::pathfind::{dijkstra, WalkingNode};
use crate::{
BusRouteID, BusStopID, Intersection, LaneID, Map, Path, PathConstraints, PathRequest, Position,
RoutingParams, TurnID, Zone,
BusRouteID, BusStopID, LaneID, Map, Path, PathConstraints, PathRequest, Position, RoutingParams,
};
/// Most of the time, prefer using the faster contraction hierarchies. But sometimes, callers can
@ -22,14 +21,13 @@ pub enum Pathfinder {
}
impl Pathfinder {
/// Finds a path from a start to an end for a certain type of agent. Handles requests that
/// start or end inside access-restricted zones.
/// Finds a path from a start to an end for a certain type of agent.
pub fn pathfind(&self, req: PathRequest, map: &Map) -> Option<Path> {
self.pathfind_with_params(req, map.routing_params(), map)
}
/// Finds a path from a start to an end for a certain type of agent. Handles requests that
/// start or end inside access-restricted zones. May use custom routing parameters.
/// Finds a path from a start to an end for a certain type of agent. May use custom routing
/// parameters.
pub fn pathfind_with_params(
&self,
req: PathRequest,
@ -40,82 +38,30 @@ impl Pathfinder {
return Some(one_step_walking_path(&req, map));
}
// If we start or end in a private zone, have to stitch together a smaller path with a path
// through the main map.
let start_r = map.get_parent(req.start.lane());
let end_r = map.get_parent(req.end.lane());
match (start_r.get_zone(map), end_r.get_zone(map)) {
(Some(z1), Some(z2)) => {
if z1 == z2 {
if !z1
.restrictions
.allow_through_traffic
.contains(req.constraints)
{
if req.constraints == PathConstraints::Pedestrian {
let steps =
walking_path_to_steps(z1.pathfind_walking(req.clone(), map)?, map);
return Some(Path::new(map, steps, req, Vec::new()));
}
return z1.pathfind(req, map);
}
} else {
// TODO Handle paths going between two different zones
return None;
}
}
(Some(zone), None) => {
if !zone
.restrictions
.allow_through_traffic
.contains(req.constraints)
{
// Calculate the entire path using every possible border, then take the one
// with the least total distance.
// TODO This is slow and doesn't account for the mode-specific cost.
let mut paths = Vec::new();
for i in &zone.borders {
if let Some(result) =
self.pathfind_from_zone(map.get_i(*i), req.clone(), zone, map)
{
paths.push(result);
}
}
return paths.into_iter().min_by_key(|p| p.total_length());
}
}
(None, Some(zone)) => {
if !zone
.restrictions
.allow_through_traffic
.contains(req.constraints)
{
// Calculate the entire path using every possible border, then take the one
// with the least total distance.
// TODO This is slow and doesn't account for the mode-specific cost.
let mut paths = Vec::new();
for i in &zone.borders {
if let Some(result) =
self.pathfind_to_zone(map.get_i(*i), req.clone(), zone, map)
{
paths.push(result);
}
}
return paths.into_iter().min_by_key(|p| p.total_length());
}
}
(None, None) => {}
}
if req.constraints == PathConstraints::Pedestrian {
if req.start.lane() == req.end.lane() {
return Some(one_step_walking_path(&req, map));
}
let steps = walking_path_to_steps(self.simple_walking_path(&req, map)?, map);
let nodes = match self {
Pathfinder::Dijkstra => dijkstra::simple_walking_path(&req, map)?,
Pathfinder::CH(ref p) => p.simple_walking_path(&req, map)?,
};
let steps = walking_path_to_steps(nodes, map);
return Some(Path::new(map, steps, req, Vec::new()));
}
self.simple_pathfind(&req, params, map)
if params != map.routing_params() {
// If the params differ from the ones baked into the map, the CHs won't match. This
// should only be happening from the debug UI; be very obnoxious if we start calling it
// from the simulation or something else.
warn!("Pathfinding slowly for {} with custom params", req);
return dijkstra::simple_pathfind(&req, params, map);
}
match self {
Pathfinder::Dijkstra => dijkstra::simple_pathfind(&req, params, map),
Pathfinder::CH(ref p) => p.simple_pathfind(&req, map),
}
}
pub fn pathfind_avoiding_lanes(
@ -147,193 +93,4 @@ impl Pathfinder {
Pathfinder::CH(ref mut p) => p.apply_edits(map, timer),
}
}
// Doesn't handle zones or pedestrians
fn simple_pathfind(
&self,
req: &PathRequest,
params: &RoutingParams,
map: &Map,
) -> Option<Path> {
if params != map.routing_params() {
// If the params differ from the ones baked into the map, the CHs won't match. This
// should only be happening from the debug UI; be very obnoxious if we start calling it
// from the simulation or something else.
warn!("Pathfinding slowly for {} with custom params", req);
return dijkstra::simple_pathfind(req, params, map);
}
match self {
Pathfinder::Dijkstra => dijkstra::simple_pathfind(req, params, map),
Pathfinder::CH(ref p) => p.simple_pathfind(req, map),
}
}
fn simple_walking_path(&self, req: &PathRequest, map: &Map) -> Option<Vec<WalkingNode>> {
match self {
Pathfinder::Dijkstra => dijkstra::simple_walking_path(req, map),
Pathfinder::CH(ref p) => p.simple_walking_path(req, map),
}
}
fn pathfind_from_zone(
&self,
i: &Intersection,
mut req: PathRequest,
zone: &Zone,
map: &Map,
) -> Option<Path> {
// Because sidewalks aren't all immediately linked, insist on a (src, dst) combo that
// are actually connected by a turn.
let src_choices = i
.get_incoming_lanes(map, req.constraints)
.into_iter()
.filter(|l| zone.members.contains(&map.get_l(*l).parent))
.collect::<Vec<_>>();
let dst_choices = i
.get_outgoing_lanes(map, req.constraints)
.into_iter()
.filter(|l| !zone.members.contains(&map.get_l(*l).parent))
.collect::<Vec<_>>();
let (src, dst) = {
let mut result = None;
'OUTER: for l1 in src_choices {
for l2 in &dst_choices {
if l1 != *l2
&& map
.maybe_get_t(TurnID {
parent: i.id,
src: l1,
dst: *l2,
})
.is_some()
{
result = Some((l1, *l2));
break 'OUTER;
}
}
}
result?
};
let interior_req = PathRequest {
start: req.start,
end: if map.get_l(src).dst_i == i.id {
Position::end(src, map)
} else {
Position::start(src)
},
constraints: req.constraints,
};
let orig_req = req.clone();
req.start = if map.get_l(dst).src_i == i.id {
Position::start(dst)
} else {
Position::end(dst, map)
};
if let PathConstraints::Pedestrian = req.constraints {
let mut interior_path = zone.pathfind_walking(interior_req, map)?;
let main_path = if req.start.lane() == req.end.lane() {
let mut one_step = vec![
WalkingNode::closest(req.start, map),
WalkingNode::closest(req.end, map),
];
one_step.dedup();
one_step
} else {
self.simple_walking_path(&req, map)?
};
interior_path.extend(main_path);
let steps = walking_path_to_steps(interior_path, map);
return Some(Path::new(map, steps, orig_req, Vec::new()));
}
let mut interior_path = zone.pathfind(interior_req, map)?;
let main_path = self.simple_pathfind(&req, map.routing_params(), map)?;
interior_path.append(main_path, map);
interior_path.orig_req = orig_req;
Some(interior_path)
}
fn pathfind_to_zone(
&self,
i: &Intersection,
mut req: PathRequest,
zone: &Zone,
map: &Map,
) -> Option<Path> {
// Because sidewalks aren't all immediately linked, insist on a (src, dst) combo that
// are actually connected by a turn.
let src_choices = i
.get_incoming_lanes(map, req.constraints)
.into_iter()
.filter(|l| !zone.members.contains(&map.get_l(*l).parent))
.collect::<Vec<_>>();
let dst_choices = i
.get_outgoing_lanes(map, req.constraints)
.into_iter()
.filter(|l| zone.members.contains(&map.get_l(*l).parent))
.collect::<Vec<_>>();
let (src, dst) = {
let mut result = None;
'OUTER: for l1 in src_choices {
for l2 in &dst_choices {
if l1 != *l2
&& map
.maybe_get_t(TurnID {
parent: i.id,
src: l1,
dst: *l2,
})
.is_some()
{
result = Some((l1, *l2));
break 'OUTER;
}
}
}
result?
};
let interior_req = PathRequest {
start: if map.get_l(dst).src_i == i.id {
Position::start(dst)
} else {
Position::end(dst, map)
},
end: req.end,
constraints: req.constraints,
};
let orig_req = req.clone();
req.end = if map.get_l(src).dst_i == i.id {
Position::end(src, map)
} else {
Position::start(src)
};
if let PathConstraints::Pedestrian = req.constraints {
let interior_path = zone.pathfind_walking(interior_req, map)?;
let mut main_path = if req.start.lane() == req.end.lane() {
let mut one_step = vec![
WalkingNode::closest(req.start, map),
WalkingNode::closest(req.end, map),
];
one_step.dedup();
one_step
} else {
self.simple_walking_path(&req, map)?
};
main_path.extend(interior_path);
let steps = walking_path_to_steps(main_path, map);
return Some(Path::new(map, steps, orig_req, Vec::new()));
}
let interior_path = zone.pathfind(interior_req, map)?;
let mut main_path = self.simple_pathfind(&req, map.routing_params(), map)?;
main_path.append(interior_path, map);
main_path.orig_req = orig_req;
Some(main_path)
}
}

8
map_model/src/pathfind/walking.rs
View File

@ -232,13 +232,7 @@ fn make_input_graph(
let mut input_graph = InputGraph::new();
for l in map.all_lanes() {
if l.is_walkable()
&& map
.get_r(l.parent)
.access_restrictions
.allow_through_traffic
.contains(PathConstraints::Pedestrian)
{
if l.is_walkable() {
let mut cost = walking_cost(l.length());
// TODO Tune this penalty, along with many others.
if l.is_shoulder() {