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</pre><pre class="rust"><code><span class="doccomment">//! Everything related to pathfinding through a map for different types of agents.</span>

<span class="kw">use</span> <span class="ident">std::collections::BTreeSet</span>;

<span class="kw">use</span> <span class="ident">enumset::EnumSetType</span>;
<span class="kw">use</span> <span class="ident">serde</span>::{<span class="ident">Deserialize</span>, <span class="ident">Serialize</span>};

<span class="kw">use</span> <span class="ident">geom::Duration</span>;

<span class="kw">pub</span> <span class="kw">use</span> <span class="ident"><span class="self">self</span>::engine::CreateEngine</span>;
<span class="kw">pub</span> <span class="kw">use</span> <span class="ident"><span class="self">self</span>::pathfinder</span>::{<span class="ident">Pathfinder</span>, <span class="ident">PathfinderCache</span>, <span class="ident">PathfinderCaching</span>};
<span class="kw">pub</span> <span class="kw">use</span> <span class="ident"><span class="self">self</span>::v1</span>::{<span class="ident">Path</span>, <span class="ident">PathRequest</span>, <span class="ident">PathStep</span>};
<span class="kw">pub</span> <span class="kw">use</span> <span class="ident"><span class="self">self</span>::v2</span>::{<span class="ident">PathStepV2</span>, <span class="ident">PathV2</span>};
<span class="kw">pub</span> <span class="kw">use</span> <span class="ident"><span class="self">self</span>::vehicles::vehicle_cost</span>;
<span class="kw">pub</span> <span class="kw">use</span> <span class="ident"><span class="self">self</span>::walking::WalkingNode</span>;
<span class="kw">use</span> <span class="kw">crate</span>::{<span class="ident">osm</span>, <span class="ident">Lane</span>, <span class="ident">LaneID</span>, <span class="ident">LaneType</span>, <span class="ident">Map</span>, <span class="ident">MovementID</span>, <span class="ident">Road</span>, <span class="ident">RoadID</span>, <span class="ident">TurnType</span>};

<span class="kw">mod</span> <span class="ident">engine</span>;
<span class="kw">mod</span> <span class="ident">node_map</span>;
<span class="kw">mod</span> <span class="ident">pathfinder</span>;
<span class="comment">// TODO tmp</span>
<span class="kw">pub</span> <span class="kw">mod</span> <span class="ident">uber_turns</span>;
<span class="kw">mod</span> <span class="ident">v1</span>;
<span class="kw">mod</span> <span class="ident">v2</span>;
<span class="kw">mod</span> <span class="ident">vehicles</span>;
<span class="kw">mod</span> <span class="ident">walking</span>;

<span class="doccomment">/// Who&#39;s asking for a path?</span>
<span class="comment">// TODO This is an awful name.</span>
<span class="attribute">#[<span class="ident">derive</span>(<span class="ident">Debug</span>, <span class="ident">Serialize</span>, <span class="ident">Deserialize</span>, <span class="ident">PartialOrd</span>, <span class="ident">Ord</span>, <span class="ident">EnumSetType</span>)]</span>
<span class="kw">pub</span> <span class="kw">enum</span> <span class="ident">PathConstraints</span> {
    <span class="ident">Pedestrian</span>,
    <span class="ident">Car</span>,
    <span class="ident">Bike</span>,
    <span class="ident">Bus</span>,
    <span class="ident">Train</span>,
}

<span class="kw">impl</span> <span class="ident">PathConstraints</span> {
    <span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">all</span>() -&gt; <span class="ident">Vec</span><span class="op">&lt;</span><span class="ident">PathConstraints</span><span class="op">&gt;</span> {
        <span class="macro">vec!</span>[
            <span class="ident">PathConstraints::Pedestrian</span>,
            <span class="ident">PathConstraints::Car</span>,
            <span class="ident">PathConstraints::Bike</span>,
            <span class="ident">PathConstraints::Bus</span>,
            <span class="ident">PathConstraints::Train</span>,
        ]
    }

    <span class="doccomment">/// Not bijective, but this is the best guess of user intent</span>
    <span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">from_lt</span>(<span class="ident">lt</span>: <span class="ident">LaneType</span>) -&gt; <span class="ident">PathConstraints</span> {
        <span class="kw">match</span> <span class="ident">lt</span> {
            <span class="ident">LaneType::Sidewalk</span> <span class="op">|</span> <span class="ident">LaneType::Shoulder</span> =&gt; <span class="ident">PathConstraints::Pedestrian</span>,
            <span class="ident">LaneType::Driving</span> =&gt; <span class="ident">PathConstraints::Car</span>,
            <span class="ident">LaneType::Biking</span> =&gt; <span class="ident">PathConstraints::Bike</span>,
            <span class="ident">LaneType::Bus</span> =&gt; <span class="ident">PathConstraints::Bus</span>,
            <span class="ident">LaneType::LightRail</span> =&gt; <span class="ident">PathConstraints::Train</span>,
            <span class="kw">_</span> =&gt; <span class="macro">panic!</span>(<span class="string">&quot;PathConstraints::from_lt({:?}) doesn&#39;t make sense&quot;</span>, <span class="ident">lt</span>),
        }
    }

    <span class="doccomment">/// Can an agent use a lane? There are some subtle exceptions with using bus-only lanes for</span>
    <span class="doccomment">/// turns.</span>
    <span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">can_use</span>(<span class="self">self</span>, <span class="ident">lane</span>: <span class="kw-2">&amp;</span><span class="ident">Lane</span>, <span class="ident">map</span>: <span class="kw-2">&amp;</span><span class="ident">Map</span>) -&gt; <span class="ident">bool</span> {
        <span class="kw">let</span> <span class="ident">result</span> <span class="op">=</span> <span class="kw">match</span> <span class="self">self</span> {
            <span class="ident">PathConstraints::Pedestrian</span> =&gt; {
                <span class="kw">return</span> <span class="ident">lane</span>.<span class="ident">is_walkable</span>();
            }
            <span class="ident">PathConstraints::Car</span> =&gt; <span class="ident">lane</span>.<span class="ident">is_driving</span>(),
            <span class="ident">PathConstraints::Bike</span> =&gt; {
                <span class="kw">if</span> <span class="ident">lane</span>.<span class="ident">is_biking</span>() {
                    <span class="bool-val">true</span>
                } <span class="kw">else</span> <span class="kw">if</span> <span class="ident">lane</span>.<span class="ident">is_driving</span>() <span class="op">|</span><span class="op">|</span> (<span class="ident">lane</span>.<span class="ident">is_bus</span>() <span class="op">&amp;&amp;</span> <span class="ident">map</span>.<span class="ident">config</span>.<span class="ident">bikes_can_use_bus_lanes</span>)
                {
                    <span class="kw">let</span> <span class="ident">road</span> <span class="op">=</span> <span class="ident">map</span>.<span class="ident">get_r</span>(<span class="ident">lane</span>.<span class="ident">id</span>.<span class="ident">road</span>);
                    <span class="op">!</span><span class="ident">road</span>.<span class="ident">osm_tags</span>.<span class="ident">is</span>(<span class="string">&quot;bicycle&quot;</span>, <span class="string">&quot;no&quot;</span>)
                        <span class="op">&amp;&amp;</span> <span class="op">!</span><span class="ident">road</span>
                            .<span class="ident">osm_tags</span>
                            .<span class="ident">is_any</span>(<span class="ident">osm::HIGHWAY</span>, <span class="macro">vec!</span>[<span class="string">&quot;motorway&quot;</span>, <span class="string">&quot;motorway_link&quot;</span>])
                } <span class="kw">else</span> {
                    <span class="bool-val">false</span>
                }
            }
            <span class="ident">PathConstraints::Bus</span> =&gt; {
                <span class="kw">return</span> <span class="ident">lane</span>.<span class="ident">is_driving</span>() <span class="op">|</span><span class="op">|</span> <span class="ident">lane</span>.<span class="ident">is_bus</span>();
            }
            <span class="ident">PathConstraints::Train</span> =&gt; {
                <span class="kw">return</span> <span class="ident">lane</span>.<span class="ident">is_light_rail</span>();
            }
        };
        <span class="kw">if</span> <span class="ident">result</span> {
            <span class="kw">return</span> <span class="bool-val">true</span>;
        }
        <span class="comment">// Second chance for cars and bikes trying to use a bus-only lane that also happens to be a</span>
        <span class="comment">// turn lane.</span>
        <span class="comment">//</span>
        <span class="comment">// TODO This check could be made stricter in two ways:</span>
        <span class="comment">// 1) Verify that the bus-only lanes are the ONLY way to make this movement; if there&#39;s a</span>
        <span class="comment">//    general purpose lane that can also turn, we shouldn&#39;t allow this.</span>
        <span class="comment">// 2) Verify that the turn-&gt;lane-&gt;turn sequence is the only way to reach the destination</span>
        <span class="comment">//    road. Since this function operates on a single lane, a vehicle could abuse this to</span>
        <span class="comment">//    stay in the bus lane and go straight, even if there was another lane for that. Fixing</span>
        <span class="comment">//    this is hard, since it requires so much context about the sequence of movements. In</span>
        <span class="comment">//    practice this isn&#39;t an issue; a bus lane often leads to another one, but the next bus</span>
        <span class="comment">//    lane won&#39;t also be an exclusive turn lane.</span>
        <span class="kw">if</span> <span class="ident">lane</span>.<span class="ident">is_bus</span>() {
            <span class="kw">if</span> <span class="kw">let</span> <span class="prelude-val">Some</span>(<span class="ident">types</span>) <span class="op">=</span>
                <span class="ident">lane</span>.<span class="ident">get_lane_level_turn_restrictions</span>(<span class="ident">map</span>.<span class="ident">get_r</span>(<span class="ident">lane</span>.<span class="ident">id</span>.<span class="ident">road</span>), <span class="bool-val">true</span>)
            {
                <span class="kw">if</span> <span class="ident">types</span>.<span class="ident">contains</span>(<span class="kw-2">&amp;</span><span class="ident">TurnType::Right</span>) <span class="op">|</span><span class="op">|</span> <span class="ident">types</span>.<span class="ident">contains</span>(<span class="kw-2">&amp;</span><span class="ident">TurnType::Left</span>) {
                    <span class="kw">return</span> <span class="bool-val">true</span>;
                }
            }
        }
        <span class="bool-val">false</span>
    }

    <span class="doccomment">/// Can an agent use a road in either direction? There are some subtle exceptions with using</span>
    <span class="doccomment">/// bus-only lanes for turns.</span>
    <span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">can_use_road</span>(<span class="self">self</span>, <span class="ident">road</span>: <span class="kw-2">&amp;</span><span class="ident">Road</span>, <span class="ident">map</span>: <span class="kw-2">&amp;</span><span class="ident">Map</span>) -&gt; <span class="ident">bool</span> {
        <span class="ident">road</span>.<span class="ident">lanes</span>.<span class="ident">iter</span>().<span class="ident">any</span>(<span class="op">|</span><span class="ident">lane</span><span class="op">|</span> <span class="self">self</span>.<span class="ident">can_use</span>(<span class="ident">lane</span>, <span class="ident">map</span>))
    }

    <span class="doccomment">/// Strict for bikes. If there are bike lanes, not allowed to use other lanes.</span>
    <span class="kw">pub</span>(<span class="kw">crate</span>) <span class="kw">fn</span> <span class="ident">filter_lanes</span>(<span class="self">self</span>, <span class="kw-2">mut</span> <span class="ident">choices</span>: <span class="ident">Vec</span><span class="op">&lt;</span><span class="ident">LaneID</span><span class="op">&gt;</span>, <span class="ident">map</span>: <span class="kw-2">&amp;</span><span class="ident">Map</span>) -&gt; <span class="ident">Vec</span><span class="op">&lt;</span><span class="ident">LaneID</span><span class="op">&gt;</span> {
        <span class="ident">choices</span>.<span class="ident">retain</span>(<span class="op">|</span><span class="ident">l</span><span class="op">|</span> <span class="self">self</span>.<span class="ident">can_use</span>(<span class="ident">map</span>.<span class="ident">get_l</span>(<span class="kw-2">*</span><span class="ident">l</span>), <span class="ident">map</span>));
        <span class="kw">if</span> <span class="self">self</span> <span class="op">==</span> <span class="ident">PathConstraints::Bike</span> {
            <span class="kw">let</span> <span class="ident">just_bike_lanes</span>: <span class="ident">Vec</span><span class="op">&lt;</span><span class="ident">LaneID</span><span class="op">&gt;</span> <span class="op">=</span> <span class="ident">choices</span>
                .<span class="ident">iter</span>()
                .<span class="ident">copied</span>()
                .<span class="ident">filter</span>(<span class="op">|</span><span class="ident">l</span><span class="op">|</span> <span class="ident">map</span>.<span class="ident">get_l</span>(<span class="kw-2">*</span><span class="ident">l</span>).<span class="ident">is_biking</span>())
                .<span class="ident">collect</span>();
            <span class="kw">if</span> <span class="op">!</span><span class="ident">just_bike_lanes</span>.<span class="ident">is_empty</span>() {
                <span class="kw">return</span> <span class="ident">just_bike_lanes</span>;
            }
        }
        <span class="ident">choices</span>
    }
}

<span class="doccomment">/// Heavily penalize crossing into an access-restricted zone that doesn&#39;t allow this mode.</span>
<span class="kw">pub</span>(<span class="kw">crate</span>) <span class="kw">fn</span> <span class="ident">zone_cost</span>(<span class="ident">mvmnt</span>: <span class="ident">MovementID</span>, <span class="ident">constraints</span>: <span class="ident">PathConstraints</span>, <span class="ident">map</span>: <span class="kw-2">&amp;</span><span class="ident">Map</span>) -&gt; <span class="ident">Duration</span> {
    <span class="comment">// Detect when we cross into a new zone that doesn&#39;t allow constraints.</span>
    <span class="kw">if</span> <span class="ident">map</span>
        .<span class="ident">get_r</span>(<span class="ident">mvmnt</span>.<span class="ident">from</span>.<span class="ident">road</span>)
        .<span class="ident">access_restrictions</span>
        .<span class="ident">allow_through_traffic</span>
        .<span class="ident">contains</span>(<span class="ident">constraints</span>)
        <span class="op">&amp;&amp;</span> <span class="op">!</span><span class="ident">map</span>
            .<span class="ident">get_r</span>(<span class="ident">mvmnt</span>.<span class="ident">to</span>.<span class="ident">road</span>)
            .<span class="ident">access_restrictions</span>
            .<span class="ident">allow_through_traffic</span>
            .<span class="ident">contains</span>(<span class="ident">constraints</span>)
    {
        <span class="comment">// This should be high enough to achieve the desired effect of somebody not entering</span>
        <span class="comment">// the zone unless absolutely necessary. Someone would violate that and cut through anyway</span>
        <span class="comment">// only when the alternative route would take more than 3 hours longer!</span>
        <span class="ident">Duration::hours</span>(<span class="number">3</span>)
    } <span class="kw">else</span> {
        <span class="ident">Duration::ZERO</span>
    }
}

<span class="doccomment">/// Tuneable parameters for all types of routing.</span>
<span class="comment">// These will maybe become part of the PathRequest later, but that&#39;s an extremely invasive and</span>
<span class="comment">// space-expensive change right now.</span>
<span class="attribute">#[<span class="ident">derive</span>(<span class="ident">Clone</span>, <span class="ident">PartialEq</span>, <span class="ident">Debug</span>, <span class="ident">Serialize</span>, <span class="ident">Deserialize</span>)]</span>
<span class="kw">pub</span> <span class="kw">struct</span> <span class="ident">RoutingParams</span> {
    <span class="comment">// For all vehicles. This is added to the cost of a movement as an additional delay.</span>
    <span class="kw">pub</span> <span class="ident">unprotected_turn_penalty</span>: <span class="ident">Duration</span>,

    <span class="comment">// For bike routing. Multiplied by the base cost, since spending more time on the wrong lane</span>
    <span class="comment">// type matters.</span>
    <span class="kw">pub</span> <span class="ident">bike_lane_penalty</span>: <span class="ident">f64</span>,
    <span class="kw">pub</span> <span class="ident">bus_lane_penalty</span>: <span class="ident">f64</span>,
    <span class="kw">pub</span> <span class="ident">driving_lane_penalty</span>: <span class="ident">f64</span>,

    <span class="comment">// For bike routing.</span>
    <span class="comment">// &quot;Steep&quot; is a fixed threshold of 8% incline, uphill only. Multiply by the base cost. (Note</span>
    <span class="comment">// that cost already includes a reduction of speed to account for the incline -- this is a</span>
    <span class="comment">// further &quot;delay&quot; on top of that!)</span>
    <span class="comment">// TODO But even steeper roads matter more!</span>
    <span class="kw">pub</span> <span class="ident">avoid_steep_incline_penalty</span>: <span class="ident">f64</span>,
    <span class="comment">// If the road is `high_stress_for_bikes`, multiply by the base cost.</span>
    <span class="kw">pub</span> <span class="ident">avoid_high_stress</span>: <span class="ident">f64</span>,

    <span class="doccomment">/// When crossing an arterial or highway road, multiply the base cost by this penalty. When</span>
    <span class="doccomment">/// greater than 1, this will encourage routes to use local roads more.</span>
    <span class="kw">pub</span> <span class="ident">main_road_penalty</span>: <span class="ident">f64</span>,

    <span class="doccomment">/// Don&#39;t allow crossing these roads at all. Only affects vehicle routing, not pedestrian.</span>
    <span class="doccomment">///</span>
    <span class="doccomment">/// TODO The route may cross one of these roads if it&#39;s the start or end!</span>
    <span class="kw">pub</span> <span class="ident">avoid_roads</span>: <span class="ident">BTreeSet</span><span class="op">&lt;</span><span class="ident">RoadID</span><span class="op">&gt;</span>,

    <span class="doccomment">/// Don&#39;t allow movements between these roads at all. Only affects vehicle routing, not</span>
    <span class="doccomment">/// pedestrian.</span>
    <span class="kw">pub</span> <span class="ident">avoid_movements_between</span>: <span class="ident">BTreeSet</span><span class="op">&lt;</span>(<span class="ident">RoadID</span>, <span class="ident">RoadID</span>)<span class="op">&gt;</span>,
}

<span class="kw">impl</span> <span class="ident">Default</span> <span class="kw">for</span> <span class="ident">RoutingParams</span> {
    <span class="kw">fn</span> <span class="ident">default</span>() -&gt; <span class="self">Self</span> {
        <span class="self">Self</span> {
            <span class="comment">// This is a total guess -- it really depends on the traffic patterns of the particular</span>
            <span class="comment">// road at the time we&#39;re routing.</span>
            <span class="ident">unprotected_turn_penalty</span>: <span class="ident">Duration::const_seconds</span>(<span class="number">30.0</span>),

            <span class="ident">bike_lane_penalty</span>: <span class="number">1.0</span>,
            <span class="ident">bus_lane_penalty</span>: <span class="number">1.1</span>,
            <span class="ident">driving_lane_penalty</span>: <span class="number">1.5</span>,

            <span class="ident">avoid_steep_incline_penalty</span>: <span class="number">1.0</span>,
            <span class="ident">avoid_high_stress</span>: <span class="number">1.0</span>,

            <span class="ident">main_road_penalty</span>: <span class="number">1.0</span>,

            <span class="ident">avoid_roads</span>: <span class="ident">BTreeSet::new</span>(),
            <span class="ident">avoid_movements_between</span>: <span class="ident">BTreeSet::new</span>(),
        }
    }
}

<span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">round</span>(<span class="ident">cost</span>: <span class="ident">Duration</span>) -&gt; <span class="ident">usize</span> {
    <span class="comment">// Round up! 0 cost edges are ignored</span>
    (<span class="ident">cost</span>.<span class="ident">inner_seconds</span>().<span class="ident">round</span>() <span class="kw">as</span> <span class="ident">usize</span>).<span class="ident">max</span>(<span class="number">1</span>)
}

<span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">unround</span>(<span class="ident">cost</span>: <span class="ident">usize</span>) -&gt; <span class="ident">Duration</span> {
    <span class="ident">Duration::seconds</span>(<span class="ident">cost</span> <span class="kw">as</span> <span class="ident">f64</span>)
}
</code></pre></div>
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