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use std::collections::HashMap;
use fast_paths::InputGraph;
use serde::{Deserialize, Serialize};
use abstutil::MultiMap;
use geom::{Distance, Duration};
use crate::pathfind::engine::{CreateEngine, PathfindEngine};
use crate::pathfind::node_map::{deserialize_nodemap, NodeMap};
use crate::pathfind::uber_turns::{IntersectionCluster, UberTurnV2};
use crate::pathfind::zone_cost;
use crate::pathfind::{round, unround};
use crate::{
DirectedRoadID, Direction, LaneType, Map, MovementID, PathConstraints, PathRequest, PathV2,
Position, RoutingParams, Traversable, TurnType,
};
#[derive(Clone, Serialize, Deserialize)]
pub struct VehiclePathfinder {
#[serde(deserialize_with = "deserialize_nodemap")]
nodes: NodeMap<Node>,
uber_turns: Vec<UberTurnV2>,
constraints: PathConstraints,
params: RoutingParams,
pub engine: PathfindEngine,
}
#[derive(Clone, Copy, PartialEq, Eq, PartialOrd, Ord, Hash, Debug, Serialize, Deserialize)]
pub enum Node {
Road(DirectedRoadID),
UberTurn(usize),
}
impl VehiclePathfinder {
pub fn empty() -> VehiclePathfinder {
VehiclePathfinder {
nodes: NodeMap::new(),
uber_turns: Vec::new(),
constraints: PathConstraints::Car,
params: RoutingParams::default(),
engine: PathfindEngine::Empty,
}
}
pub fn new(
map: &Map,
constraints: PathConstraints,
params: &RoutingParams,
engine: &CreateEngine,
) -> VehiclePathfinder {
let mut nodes = NodeMap::new();
for r in map.all_roads() {
nodes.get_or_insert(Node::Road(DirectedRoadID {
id: r.id,
dir: Direction::Fwd,
}));
nodes.get_or_insert(Node::Road(DirectedRoadID {
id: r.id,
dir: Direction::Back,
}));
}
let mut uber_turns = Vec::new();
for ic in IntersectionCluster::find_all(map) {
for ut in ic.into_v2(map) {
nodes.get_or_insert(Node::UberTurn(uber_turns.len()));
uber_turns.push(ut);
}
}
let input_graph = make_input_graph(constraints, &nodes, &uber_turns, params, map);
let engine = engine.create(input_graph);
VehiclePathfinder {
nodes,
uber_turns,
constraints,
params: params.clone(),
engine,
}
}
pub fn pathfind(&self, req: PathRequest, map: &Map) -> Option<PathV2> {
assert!(!map.get_l(req.start.lane()).is_walkable());
let mut starts = vec![(
self.nodes.get(Node::Road(
map.get_l(req.start.lane()).get_directed_parent(),
)),
0,
)];
if let Some((pos, cost)) = req.alt_start {
starts.push((
self.nodes
.get(Node::Road(map.get_l(pos.lane()).get_directed_parent())),
round(cost),
));
}
let (raw_weight, raw_nodes) = self.engine.calculate_path_multiple_sources_and_targets(
starts,
vec![(
self.nodes
.get(Node::Road(map.get_l(req.end.lane()).get_directed_parent())),
0,
)],
)?;
let mut road_steps = Vec::new();
let mut uber_turns = Vec::new();
for node in raw_nodes.into_iter().map(|id| self.nodes.translate_id(id)) {
match node {
Node::Road(dr) => {
road_steps.push(dr);
}
Node::UberTurn(ut) => {
for mvmnt in &self.uber_turns[ut].path {
road_steps.push(mvmnt.to);
}
road_steps.pop();
uber_turns.push(self.uber_turns[ut].clone());
}
}
}
let cost = unround(raw_weight);
Some(PathV2::from_roads(road_steps, req, cost, uber_turns, map))
}
pub fn apply_edits(&mut self, map: &Map) {
if matches!(self.engine, PathfindEngine::Empty) {
return;
}
let input_graph = make_input_graph(
self.constraints,
&self.nodes,
&self.uber_turns,
&self.params,
map,
);
let engine = self.engine.reuse_ordering().create(input_graph);
self.engine = engine;
}
pub fn all_costs_from(&self, start: Position, map: &Map) -> HashMap<DirectedRoadID, Duration> {
let start = self
.nodes
.get(Node::Road(map.get_l(start.lane()).get_directed_parent()));
let raw_costs = if self.engine.is_dijkstra() {
self.engine.all_costs_from(start)
} else {
let input_graph = make_input_graph(
self.constraints,
&self.nodes,
&self.uber_turns,
&self.params,
map,
);
CreateEngine::Dijkstra
.create(input_graph)
.all_costs_from(start)
};
raw_costs
.into_iter()
.filter_map(|(k, v)| {
if let Node::Road(dr) = self.nodes.translate_id(k) {
Some((dr, unround(v)))
} else {
None
}
})
.collect()
}
}
fn make_input_graph(
constraints: PathConstraints,
nodes: &NodeMap<Node>,
uber_turns: &[UberTurnV2],
params: &RoutingParams,
map: &Map,
) -> InputGraph {
let mut input_graph = InputGraph::new();
let mut uber_turn_entrances: MultiMap<DirectedRoadID, usize> = MultiMap::new();
for (idx, ut) in uber_turns.iter().enumerate() {
nodes.get(Node::UberTurn(idx));
if ut
.path
.iter()
.all(|mvmnt| !mvmnt.to.lanes(constraints, map).is_empty())
{
uber_turn_entrances.insert(ut.entry(), idx);
}
}
for r in map.all_roads() {
for dr in r.id.both_directions() {
let from = nodes.get(Node::Road(dr));
if !dr.lanes(constraints, map).is_empty() {
let indices = uber_turn_entrances.get(dr);
if indices.is_empty() {
for mvmnt in map.get_movements_for(dr, constraints) {
input_graph.add_edge(
from,
nodes.get(Node::Road(mvmnt.to)),
round(
vehicle_cost(mvmnt.from, mvmnt, constraints, params, map)
+ zone_cost(mvmnt, constraints, map),
),
);
}
} else {
for idx in indices {
let ut = &uber_turns[*idx];
let mut sum_cost = Duration::ZERO;
for mvmnt in &ut.path {
sum_cost += vehicle_cost(mvmnt.from, *mvmnt, constraints, params, map)
+ zone_cost(*mvmnt, constraints, map);
}
input_graph.add_edge(
from,
nodes.get(Node::UberTurn(*idx)),
round(sum_cost),
);
input_graph.add_edge(
nodes.get(Node::UberTurn(*idx)),
nodes.get(Node::Road(ut.exit())),
1,
);
}
}
}
}
}
nodes.guarantee_node_ordering(&mut input_graph);
input_graph.freeze();
input_graph
}
pub fn vehicle_cost(
dr: DirectedRoadID,
mvmnt: MovementID,
constraints: PathConstraints,
params: &RoutingParams,
map: &Map,
) -> Duration {
let (mvmnt_length, mvmnt_turn_type) = mvmnt
.get(map)
.map(|m| (m.geom.length(), m.turn_type))
.unwrap_or((Distance::meters(1.0), TurnType::Straight));
let max_speed = match constraints {
PathConstraints::Car | PathConstraints::Bus | PathConstraints::Train => None,
PathConstraints::Bike => Some(crate::MAX_BIKE_SPEED),
PathConstraints::Pedestrian => unreachable!(),
};
let t1 = map.get_r(dr.id).center_pts.length()
/ Traversable::max_speed_along_road(dr, max_speed, constraints, map).0;
let t2 =
mvmnt_length / Traversable::max_speed_along_movement(mvmnt, max_speed, constraints, map);
let base = match constraints {
PathConstraints::Car | PathConstraints::Train => t1 + t2,
PathConstraints::Bike => {
let lt_penalty = if dr.has_lanes(LaneType::Biking, map) {
params.bike_lane_penalty
} else if dr.has_lanes(LaneType::Bus, map) {
params.bus_lane_penalty
} else {
params.driving_lane_penalty
};
lt_penalty * (t1 + t2)
}
PathConstraints::Bus => {
let lt_penalty = if dr.has_lanes(LaneType::Bus, map) {
1.0
} else {
1.1
};
lt_penalty * (t1 + t2)
}
PathConstraints::Pedestrian => unreachable!(),
};
let mut multiplier = 1.0;
if constraints == PathConstraints::Bike
&& (params.avoid_steep_incline_penalty - 1.0).abs() > f64::EPSILON
{
let road = map.get_r(dr.id);
let percent_incline = if dr.dir == Direction::Fwd {
road.percent_incline
} else {
-road.percent_incline
};
if percent_incline >= 0.08 {
multiplier *= params.avoid_steep_incline_penalty;
}
}
if constraints == PathConstraints::Bike && (params.avoid_high_stress - 1.0).abs() > f64::EPSILON
{
let road = map.get_r(dr.id);
if road.high_stress_for_bikes(map) {
multiplier *= params.avoid_high_stress;
}
}
let mut extra = Duration::ZERO;
if map.is_unprotected_turn(dr.id, mvmnt.to.id, mvmnt_turn_type) {
extra += params.unprotected_turn_penalty
}
multiplier * base + extra
}