493 lines
18 KiB
Java
493 lines
18 KiB
Java
package net.osmand.router;
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import java.io.IOException;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.Collections;
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import java.util.Comparator;
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import java.util.List;
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import net.osmand.NativeLibrary;
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import net.osmand.PlatformUtil;
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import net.osmand.binary.BinaryMapIndexReader;
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import net.osmand.binary.BinaryMapRouteReaderAdapter;
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import net.osmand.binary.BinaryMapRouteReaderAdapter.RouteRegion;
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import net.osmand.binary.RouteDataObject;
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import net.osmand.data.LatLon;
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import net.osmand.data.QuadPoint;
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import net.osmand.router.BinaryRoutePlanner.RouteSegment;
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import net.osmand.router.BinaryRoutePlanner.RouteSegmentPoint;
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import net.osmand.util.Algorithms;
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import net.osmand.util.MapUtils;
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import org.apache.commons.logging.Log;
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public class RoutePlannerFrontEnd {
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private boolean useOldVersion;
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protected static final Log log = PlatformUtil.getLog(RoutePlannerFrontEnd.class);
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public boolean useSmartRouteRecalculation = true;
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public RoutePlannerFrontEnd(boolean useOldVersion) {
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this.useOldVersion = useOldVersion;
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}
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public enum RouteCalculationMode {
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BASE,
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NORMAL,
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COMPLEX
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}
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public RoutingContext buildRoutingContext(RoutingConfiguration config, NativeLibrary nativeLibrary, BinaryMapIndexReader[] map, RouteCalculationMode rm) {
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return new RoutingContext(config, nativeLibrary, map, rm);
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}
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public RoutingContext buildRoutingContext(RoutingConfiguration config, NativeLibrary nativeLibrary, BinaryMapIndexReader[] map) {
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return new RoutingContext(config, nativeLibrary, map, RouteCalculationMode.NORMAL);
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}
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private static double squareDist(int x1, int y1, int x2, int y2) {
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// translate into meters
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double dy = MapUtils.convert31YToMeters(y1, y2);
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double dx = MapUtils. convert31XToMeters(x1, x2);
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return dx * dx + dy * dy;
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}
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public RouteSegmentPoint findRouteSegment(double lat, double lon, RoutingContext ctx, List<RouteSegmentPoint> list) throws IOException {
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int px = MapUtils.get31TileNumberX(lon);
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int py = MapUtils.get31TileNumberY(lat);
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ArrayList<RouteDataObject> dataObjects = new ArrayList<RouteDataObject>();
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ctx.loadTileData(px, py, 17, dataObjects);
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if (dataObjects.isEmpty()) {
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ctx.loadTileData(px, py, 15, dataObjects);
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}
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if(list == null) {
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list = new ArrayList<BinaryRoutePlanner.RouteSegmentPoint>();
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}
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for (RouteDataObject r : dataObjects) {
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if (r.getPointsLength() > 1) {
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RouteSegmentPoint road = null;
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for (int j = 1; j < r.getPointsLength(); j++) {
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QuadPoint pr = MapUtils.getProjectionPoint31(px, py, r.getPoint31XTile(j - 1),
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r.getPoint31YTile(j - 1), r.getPoint31XTile(j ), r.getPoint31YTile(j ));
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double currentsDistSquare = squareDist((int) pr.x, (int)pr.y, px, py);
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if (road == null || currentsDistSquare < road.distSquare) {
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RouteDataObject ro = new RouteDataObject(r);
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road = new RouteSegmentPoint(ro, j, currentsDistSquare);
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road.preciseX = (int) pr.x;
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road.preciseY = (int) pr.y;
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}
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}
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if(road != null) {
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list.add(road);
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}
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}
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}
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Collections.sort(list, new Comparator<RouteSegmentPoint>() {
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@Override
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public int compare(RouteSegmentPoint o1, RouteSegmentPoint o2) {
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return Double.compare(o1.distSquare, o2.distSquare);
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}
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});
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if(list.size() > 0) {
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RouteSegmentPoint ps = list.get(0);
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ps.others = list;
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return ps;
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}
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return null;
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}
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public List<RouteSegmentResult> searchRoute(final RoutingContext ctx, LatLon start, LatLon end, List<LatLon> intermediates) throws IOException, InterruptedException {
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return searchRoute(ctx, start, end, intermediates, null);
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}
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public void setUseFastRecalculation(boolean use) {
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useSmartRouteRecalculation = use;
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}
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public List<RouteSegmentResult> searchRoute(final RoutingContext ctx, LatLon start, LatLon end, List<LatLon> intermediates,
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PrecalculatedRouteDirection routeDirection) throws IOException, InterruptedException {
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if(ctx.calculationProgress == null) {
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ctx.calculationProgress = new RouteCalculationProgress();
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}
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boolean intermediatesEmpty = intermediates == null || intermediates.isEmpty();
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double maxDistance = MapUtils.getDistance(start, end);
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if(!intermediatesEmpty) {
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LatLon b = start;
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for(LatLon l : intermediates) {
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maxDistance = Math.max(MapUtils.getDistance(b, l), maxDistance);
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b = l;
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}
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}
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if(ctx.calculationMode == RouteCalculationMode.COMPLEX && routeDirection == null
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&& maxDistance > ctx.config.DEVIATION_RADIUS * 6) {
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RoutingContext nctx = buildRoutingContext(ctx.config, ctx.nativeLib, ctx.getMaps(), RouteCalculationMode.BASE);
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nctx.calculationProgress = ctx.calculationProgress ;
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List<RouteSegmentResult> ls = searchRoute(nctx, start, end, intermediates);
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routeDirection = PrecalculatedRouteDirection.build(ls, ctx.config.DEVIATION_RADIUS, ctx.getRouter().getMaxDefaultSpeed());
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}
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if(intermediatesEmpty && ctx.nativeLib != null) {
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ctx.startX = MapUtils.get31TileNumberX(start.getLongitude());
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ctx.startY = MapUtils.get31TileNumberY(start.getLatitude());
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ctx.targetX = MapUtils.get31TileNumberX(end.getLongitude());
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ctx.targetY = MapUtils.get31TileNumberY(end.getLatitude());
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RouteSegment recalculationEnd = getRecalculationEnd(ctx);
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if(recalculationEnd != null) {
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ctx.initTargetPoint(recalculationEnd);
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}
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if(routeDirection != null) {
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ctx.precalculatedRouteDirection = routeDirection.adopt(ctx);
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}
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List<RouteSegmentResult> res = runNativeRouting(ctx, recalculationEnd);
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if(res != null) {
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new RouteResultPreparation().printResults(ctx, start, end, res);
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}
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makeStartEndPointsPrecise(res, start, end, intermediates);
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return res;
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}
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int indexNotFound = 0;
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List<RouteSegmentPoint> points = new ArrayList<RouteSegmentPoint>();
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if(!addSegment(start, ctx, indexNotFound++, points)){
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return null;
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}
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if (intermediates != null) {
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for (LatLon l : intermediates) {
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if (!addSegment(l, ctx, indexNotFound++, points)) {
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return null;
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}
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}
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}
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if(!addSegment(end, ctx, indexNotFound++, points)){
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return null;
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}
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List<RouteSegmentResult> res = searchRoute(ctx, points, routeDirection);
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// make start and end more precise
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makeStartEndPointsPrecise(res, start, end, intermediates);
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if(res != null) {
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new RouteResultPreparation().printResults(ctx, start, end, res);
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}
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return res;
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}
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protected void makeStartEndPointsPrecise(List<RouteSegmentResult> res, LatLon start, LatLon end, List<LatLon> intermediates) {
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if (res.size() > 0) {
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updateResult(res.get(0), start, true);
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updateResult(res.get(res.size() - 1), end, false);
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if (intermediates != null) {
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int k = 1;
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for (int i = 0; i < intermediates.size(); i++) {
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LatLon ll = intermediates.get(i);
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int px = MapUtils.get31TileNumberX(ll.getLongitude());
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int py = MapUtils.get31TileNumberY(ll.getLatitude());
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for (; k < res.size(); k++) {
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double currentsDist = projectDistance(res, k, px, py);
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if (currentsDist < 500 * 500) {
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for (int k1 = k + 1; k1 < res.size(); k1++) {
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double c2 = projectDistance(res, k1, px, py);
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if (c2 < currentsDist) {
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k = k1;
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currentsDist = c2;
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} else if (k1 - k > 15) {
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break;
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}
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}
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updateResult(res.get(k), ll, false);
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if (k < res.size() - 1) {
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updateResult(res.get(k + 1), ll, true);
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}
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break;
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}
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}
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}
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}
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}
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}
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protected double projectDistance(List<RouteSegmentResult> res, int k, int px, int py) {
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RouteSegmentResult sr = res.get(k);
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RouteDataObject r = sr.getObject();
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QuadPoint pp = MapUtils.getProjectionPoint31(px, py,
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r.getPoint31XTile(sr.getStartPointIndex()), r.getPoint31YTile(sr.getStartPointIndex()),
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r.getPoint31XTile(sr.getEndPointIndex()), r.getPoint31YTile(sr.getEndPointIndex()));
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double currentsDist = squareDist((int) pp.x, (int)pp.y, px, py);
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return currentsDist;
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}
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private void updateResult(RouteSegmentResult routeSegmentResult, LatLon point, boolean st) {
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int px = MapUtils.get31TileNumberX(point.getLongitude());
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int py = MapUtils.get31TileNumberY(point.getLatitude());
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int pind = st ? routeSegmentResult.getStartPointIndex() : routeSegmentResult.getEndPointIndex();
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RouteDataObject r = routeSegmentResult.getObject();
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QuadPoint before = null;
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QuadPoint after = null;
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if(pind > 0) {
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before = MapUtils.getProjectionPoint31(px, py, r.getPoint31XTile(pind - 1),
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r.getPoint31YTile(pind - 1), r.getPoint31XTile(pind ), r.getPoint31YTile(pind ));
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}
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if(pind < r.getPointsLength() - 1) {
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after = MapUtils.getProjectionPoint31(px, py, r.getPoint31XTile(pind + 1),
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r.getPoint31YTile(pind + 1), r.getPoint31XTile(pind ), r.getPoint31YTile(pind ));
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}
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int insert = 0;
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double dd = MapUtils.getDistance(point, MapUtils.get31LatitudeY(r.getPoint31YTile(pind)),
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MapUtils.get31LongitudeX(r.getPoint31XTile(pind)));
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double ddBefore = Double.POSITIVE_INFINITY;
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double ddAfter = Double.POSITIVE_INFINITY;
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QuadPoint i = null;
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if(before != null) {
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ddBefore = MapUtils.getDistance(point, MapUtils.get31LatitudeY((int) before.y),
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MapUtils.get31LongitudeX((int) before.x));
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if(ddBefore < dd) {
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insert = -1;
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i = before;
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}
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}
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if(after != null) {
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ddAfter = MapUtils.getDistance(point, MapUtils.get31LatitudeY((int) after.y),
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MapUtils.get31LongitudeX((int) after.x));
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if(ddAfter < dd && ddAfter < ddBefore) {
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insert = 1;
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i = after;
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}
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}
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if (insert != 0) {
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if (st && routeSegmentResult.getStartPointIndex() < routeSegmentResult.getEndPointIndex()) {
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routeSegmentResult.setEndPointIndex(routeSegmentResult.getEndPointIndex() + 1);
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}
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if (!st && routeSegmentResult.getStartPointIndex() > routeSegmentResult.getEndPointIndex()) {
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routeSegmentResult.setStartPointIndex(routeSegmentResult.getStartPointIndex() + 1);
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}
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if (insert > 0) {
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r.insert(pind + 1, (int) i.x, (int) i.y);
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if (st) {
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routeSegmentResult.setStartPointIndex(routeSegmentResult.getStartPointIndex() + 1);
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}
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if (!st) {
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routeSegmentResult.setEndPointIndex(routeSegmentResult.getEndPointIndex() + 1);
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}
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} else {
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r.insert(pind, (int) i.x, (int) i.y);
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}
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}
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}
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private boolean addSegment(LatLon s, RoutingContext ctx, int indexNotFound, List<RouteSegmentPoint> res) throws IOException {
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RouteSegmentPoint f = findRouteSegment(s.getLatitude(), s.getLongitude(), ctx, null);
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if(f == null){
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ctx.calculationProgress.segmentNotFound = indexNotFound;
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return false;
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} else {
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log.info("Route segment found " + f.getRoad().id + " " + f.getRoad().getName());
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res.add(f);
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return true;
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}
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}
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private List<RouteSegmentResult> searchRouteInternalPrepare(final RoutingContext ctx, RouteSegmentPoint start, RouteSegmentPoint end,
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PrecalculatedRouteDirection routeDirection) throws IOException, InterruptedException {
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RouteSegment recalculationEnd = getRecalculationEnd(ctx);
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if(recalculationEnd != null) {
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ctx.initStartAndTargetPoints(start, recalculationEnd);
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} else {
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ctx.initStartAndTargetPoints(start, end);
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}
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if(routeDirection != null) {
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ctx.precalculatedRouteDirection = routeDirection.adopt(ctx);
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}
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if (ctx.nativeLib != null) {
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return runNativeRouting(ctx, recalculationEnd);
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} else {
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refreshProgressDistance(ctx);
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// Split into 2 methods to let GC work in between
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if(useOldVersion) {
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new BinaryRoutePlannerOld().searchRouteInternal(ctx, start, end);
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} else {
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ctx.finalRouteSegment = new BinaryRoutePlanner().searchRouteInternal(ctx, start, end, recalculationEnd);
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}
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// 4. Route is found : collect all segments and prepare result
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return new RouteResultPreparation().prepareResult(ctx, ctx.finalRouteSegment);
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}
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}
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public RouteSegment getRecalculationEnd(final RoutingContext ctx) {
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RouteSegment recalculationEnd = null;
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boolean runRecalculation = ctx.previouslyCalculatedRoute != null && ctx.previouslyCalculatedRoute.size() > 0
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&& ctx.config.recalculateDistance != 0;
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if (runRecalculation) {
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List<RouteSegmentResult> rlist = new ArrayList<RouteSegmentResult>();
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float distanceThreshold = ctx.config.recalculateDistance;
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float threshold = 0;
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for (RouteSegmentResult rr : ctx.previouslyCalculatedRoute) {
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threshold += rr.getDistance();
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if (threshold > distanceThreshold) {
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rlist.add(rr);
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}
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}
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runRecalculation = rlist.size() > 0;
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if (rlist.size() > 0) {
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RouteSegment previous = null;
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for (int i = 0; i <= rlist.size() - 1; i++) {
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RouteSegmentResult rr = rlist.get(i);
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RouteSegment segment = new RouteSegment(rr.getObject(), rr.getEndPointIndex());
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if (previous != null) {
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previous.setParentRoute(segment);
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previous.setParentSegmentEnd(rr.getStartPointIndex());
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} else {
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recalculationEnd = segment;
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}
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previous = segment;
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}
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}
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}
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return recalculationEnd;
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}
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private void refreshProgressDistance(RoutingContext ctx) {
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if(ctx.calculationProgress != null) {
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ctx.calculationProgress.distanceFromBegin = 0;
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ctx.calculationProgress.distanceFromEnd = 0;
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ctx.calculationProgress.reverseSegmentQueueSize = 0;
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ctx.calculationProgress.directSegmentQueueSize = 0;
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float rd = (float) MapUtils.squareRootDist31(ctx.startX, ctx.startY, ctx.targetX, ctx.targetY);
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float speed = 0.9f * ctx.config.router.getMaxDefaultSpeed();
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ctx.calculationProgress.totalEstimatedDistance = (float) (rd / speed);
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}
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}
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private List<RouteSegmentResult> runNativeRouting(final RoutingContext ctx, RouteSegment recalculationEnd) throws IOException {
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refreshProgressDistance(ctx);
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RouteRegion[] regions = ctx.reverseMap.keySet().toArray(new BinaryMapRouteReaderAdapter.RouteRegion[ctx.reverseMap.size()]);
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ctx.checkOldRoutingFiles(ctx.startX, ctx.startY);
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ctx.checkOldRoutingFiles(ctx.targetX, ctx.targetY);
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long time = System.currentTimeMillis();
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RouteSegmentResult[] res = ctx.nativeLib.runNativeRouting(ctx.startX, ctx.startY, ctx.targetX, ctx.targetY,
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ctx.config, regions, ctx.calculationProgress, ctx.precalculatedRouteDirection, ctx.calculationMode == RouteCalculationMode.BASE);
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log.info("Native routing took " + (System.currentTimeMillis() - time) / 1000f + " seconds");
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ArrayList<RouteSegmentResult> result = new ArrayList<RouteSegmentResult>(Arrays.asList(res));
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if(recalculationEnd != null) {
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log.info("Native routing use precalculated route");
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RouteSegment current = recalculationEnd;
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while(current.getParentRoute() != null) {
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RouteSegment pr = current.getParentRoute();
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result.add(new RouteSegmentResult(pr.getRoad(), current.getParentSegmentEnd(), pr.getSegmentStart()));
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current = pr;
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}
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}
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ctx.routingTime = ctx.calculationProgress.routingCalculatedTime;
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ctx.visitedSegments = ctx.calculationProgress.visitedSegments;
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ctx.loadedTiles = ctx.calculationProgress.loadedTiles;
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return new RouteResultPreparation().prepareResult(ctx, result);
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}
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private List<RouteSegmentResult> searchRoute(final RoutingContext ctx, List<RouteSegmentPoint> points, PrecalculatedRouteDirection routeDirection)
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throws IOException, InterruptedException {
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if (points.size() <= 2) {
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if(!useSmartRouteRecalculation) {
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ctx.previouslyCalculatedRoute = null;
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}
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return searchRoute(ctx, points.get(0), points.get(1), routeDirection);
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}
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ArrayList<RouteSegmentResult> firstPartRecalculatedRoute = null;
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ArrayList<RouteSegmentResult> restPartRecalculatedRoute = null;
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if (ctx.previouslyCalculatedRoute != null) {
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List<RouteSegmentResult> prev = ctx.previouslyCalculatedRoute;
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long id = points.get(1).getRoad().id;
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int ss = points.get(1).getSegmentStart();
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int px = points.get(1).getRoad().getPoint31XTile(ss);
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int py = points.get(1).getRoad().getPoint31YTile(ss);
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for (int i = 0; i < prev.size(); i++) {
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RouteSegmentResult rsr = prev.get(i);
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if (id == rsr.getObject().getId()) {
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if (MapUtils.getDistance(rsr.getPoint(rsr.getEndPointIndex()), MapUtils.get31LatitudeY(py),
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MapUtils.get31LongitudeX(px)) < 50) {
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firstPartRecalculatedRoute = new ArrayList<RouteSegmentResult>(i + 1);
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restPartRecalculatedRoute = new ArrayList<RouteSegmentResult>(prev.size() - i);
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for (int k = 0; k < prev.size(); k++) {
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if (k <= i) {
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firstPartRecalculatedRoute.add(prev.get(k));
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} else {
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restPartRecalculatedRoute.add(prev.get(k));
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}
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}
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System.out.println("Recalculate only first part of the route");
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break;
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}
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}
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}
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}
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List<RouteSegmentResult> results = new ArrayList<RouteSegmentResult>();
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for (int i = 0; i < points.size() - 1; i++) {
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RoutingContext local = new RoutingContext(ctx);
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if (i == 0) {
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if (useSmartRouteRecalculation) {
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local.previouslyCalculatedRoute = firstPartRecalculatedRoute;
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}
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}
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local.visitor = ctx.visitor;
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local.calculationProgress = ctx.calculationProgress;
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List<RouteSegmentResult> res = searchRouteInternalPrepare(local, points.get(i), points.get(i + 1), routeDirection);
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results.addAll(res);
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ctx.distinctLoadedTiles += local.distinctLoadedTiles;
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ctx.loadedTiles += local.loadedTiles;
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ctx.visitedSegments += local.visitedSegments;
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ctx.loadedPrevUnloadedTiles += local.loadedPrevUnloadedTiles;
|
|
ctx.timeToCalculate += local.timeToCalculate;
|
|
ctx.timeToLoad += local.timeToLoad;
|
|
ctx.timeToLoadHeaders += local.timeToLoadHeaders;
|
|
ctx.relaxedSegments += local.relaxedSegments;
|
|
ctx.routingTime += local.routingTime;
|
|
|
|
local.unloadAllData(ctx);
|
|
if (restPartRecalculatedRoute != null) {
|
|
results.addAll(restPartRecalculatedRoute);
|
|
break;
|
|
}
|
|
}
|
|
ctx.unloadAllData();
|
|
return results;
|
|
|
|
}
|
|
|
|
@SuppressWarnings("static-access")
|
|
private List<RouteSegmentResult> searchRoute(final RoutingContext ctx, RouteSegmentPoint start, RouteSegmentPoint end,
|
|
PrecalculatedRouteDirection routeDirection) throws IOException, InterruptedException {
|
|
if(ctx.SHOW_GC_SIZE){
|
|
long h1 = ctx.runGCUsedMemory();
|
|
float mb = (1 << 20);
|
|
log.warn("Used before routing " + h1 / mb+ " actual");
|
|
}
|
|
List<RouteSegmentResult> result = searchRouteInternalPrepare(ctx, start, end, routeDirection);
|
|
if (RoutingContext.SHOW_GC_SIZE) {
|
|
int sz = ctx.global.size;
|
|
log.warn("Subregion size " + ctx.subregionTiles.size() + " " + " tiles " + ctx.indexedSubregions.size());
|
|
ctx.runGCUsedMemory();
|
|
long h1 = ctx.runGCUsedMemory();
|
|
ctx.unloadAllData();
|
|
ctx.runGCUsedMemory();
|
|
long h2 = ctx.runGCUsedMemory();
|
|
float mb = (1 << 20);
|
|
log.warn("Unload context : estimated " + sz / mb + " ?= " + (h1 - h2) / mb + " actual");
|
|
}
|
|
return result;
|
|
}
|
|
|
|
|
|
|
|
}
|