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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'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>() -> <span class="ident">Vec</span><span class="op"><</span><span class="ident">PathConstraints</span><span class="op">></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>) -> <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> => <span class="ident">PathConstraints::Pedestrian</span>, <span class="ident">LaneType::Driving</span> => <span class="ident">PathConstraints::Car</span>, <span class="ident">LaneType::Biking</span> => <span class="ident">PathConstraints::Bike</span>, <span class="ident">LaneType::Bus</span> => <span class="ident">PathConstraints::Bus</span>, <span class="ident">LaneType::LightRail</span> => <span class="ident">PathConstraints::Train</span>, <span class="kw">_</span> => <span class="macro">panic!</span>(<span class="string">"PathConstraints::from_lt({:?}) doesn't make sense"</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">&</span><span class="ident">Lane</span>, <span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>) -> <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> => { <span class="kw">return</span> <span class="ident">lane</span>.<span class="ident">is_walkable</span>(); } <span class="ident">PathConstraints::Car</span> => <span class="ident">lane</span>.<span class="ident">is_driving</span>(), <span class="ident">PathConstraints::Bike</span> => { <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">&&</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">"bicycle"</span>, <span class="string">"no"</span>) <span class="op">&&</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">"motorway"</span>, <span class="string">"motorway_link"</span>]) } <span class="kw">else</span> { <span class="bool-val">false</span> } } <span class="ident">PathConstraints::Bus</span> => { <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> => { <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's a</span> <span class="comment">// general purpose lane that can also turn, we shouldn't allow this.</span> <span class="comment">// 2) Verify that the turn->lane->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't an issue; a bus lane often leads to another one, but the next bus</span> <span class="comment">// lane won'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">&</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">&</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">&</span><span class="ident">Road</span>, <span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>) -> <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"><</span><span class="ident">LaneID</span><span class="op">></span>, <span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>) -> <span class="ident">Vec</span><span class="op"><</span><span class="ident">LaneID</span><span class="op">></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"><</span><span class="ident">LaneID</span><span class="op">></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'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">&</span><span class="ident">Map</span>) -> <span class="ident">Duration</span> { <span class="comment">// Detect when we cross into a new zone that doesn'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">&&</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'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">// "Steep" 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 "delay" 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'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'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"><</span><span class="ident">RoadID</span><span class="op">></span>, <span class="doccomment">/// Don'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"><</span>(<span class="ident">RoadID</span>, <span class="ident">RoadID</span>)<span class="op">></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>() -> <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'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>) -> <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>) -> <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> </section><section id="search" class="content hidden"></section></div></main><div id="rustdoc-vars" data-root-path="../../../" data-current-crate="map_model" data-themes="ayu,dark,light" data-resource-suffix="" data-rustdoc-version="1.60.0 (7737e0b5c 2022-04-04)" ></div> </body></html>