408 lines
13 KiB
C++
408 lines
13 KiB
C++
/*
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Copyright 2010 Christian Vetter veaac.fdirct@gmail.com
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This file is part of MoNav.
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MoNav is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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MoNav is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY
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{
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}
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without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with MoNav. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "contractionhierarchiesclient.h"
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#include "utils/qthelpers.h"
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#include <QtDebug>
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#include <stack>
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#ifndef NOGUI
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#include <QMessageBox>
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#endif
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ContractionHierarchiesClient::ContractionHierarchiesClient()
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{
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m_heapForward = NULL;
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m_heapBackward = NULL;
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}
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ContractionHierarchiesClient::~ContractionHierarchiesClient()
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{
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unload();
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}
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QString ContractionHierarchiesClient::GetName()
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{
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return "Contraction Hierarchies";
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}
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void ContractionHierarchiesClient::SetInputDirectory( const QString& dir )
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{
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m_directory = dir;
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}
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void ContractionHierarchiesClient::ShowSettings()
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{
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#ifndef NOGUI
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QMessageBox::information( NULL, "Settings", "No settings available" );
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#endif
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}
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void ContractionHierarchiesClient::unload()
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{
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if ( m_heapForward != NULL )
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delete m_heapForward;
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m_heapForward = NULL;
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if ( m_heapBackward != NULL )
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delete m_heapBackward;
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m_heapBackward = NULL;
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m_types.clear();
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}
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bool ContractionHierarchiesClient::LoadData()
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{
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QString filename = fileInDirectory( m_directory,"Contraction Hierarchies" );
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unload();
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if ( !m_graph.loadGraph( filename, 1024 * 1024 * 4 ) )
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return false;
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m_namesFile.setFileName( filename + "_names" );
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if ( !openQFile( &m_namesFile, QIODevice::ReadOnly ) )
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return false;
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m_names = ( const char* ) m_namesFile.map( 0, m_namesFile.size() );
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if ( m_names == NULL )
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return false;
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m_namesFile.close();
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m_heapForward = new Heap( m_graph.numberOfNodes() );
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m_heapBackward = new Heap( m_graph.numberOfNodes() );
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QFile typeFile( filename + "_types" );
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if ( !openQFile( &typeFile, QIODevice::ReadOnly ) )
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return false;
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QByteArray buffer = typeFile.readAll();
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QString types = QString::fromUtf8( buffer.constData() );
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m_types = types.split( ';' );
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return true;
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}
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bool ContractionHierarchiesClient::GetRoute( double* distance, QVector< Node>* pathNodes, QVector< Edge >* pathEdges, const IGPSLookup::Result& source, const IGPSLookup::Result& target )
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{
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m_heapForward->Clear();
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m_heapBackward->Clear();
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*distance = computeRoute( source, target, pathNodes, pathEdges );
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if ( *distance == std::numeric_limits< int >::max() )
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return false;
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// is it shorter to drive along the edge?
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if ( target.source == source.source && target.target == source.target && source.edgeID == target.edgeID ) {
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EdgeIterator targetEdge = m_graph.findEdge( target.source, target.target, target.edgeID );
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double onEdgeDistance = fabs( target.percentage - source.percentage ) * targetEdge.distance();
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if ( onEdgeDistance < *distance ) {
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if ( ( targetEdge.forward() && targetEdge.backward() ) || source.percentage < target.percentage ) {
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pathNodes->clear();
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pathEdges->clear();
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pathNodes->push_back( source.nearestPoint );
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QVector< Node > tempNodes;
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if ( targetEdge.unpacked() )
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m_graph.path( targetEdge, &tempNodes, pathEdges, target.target == targetEdge.target() );
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else
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pathEdges->push_back( targetEdge.description() );
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if ( target.previousWayCoordinates < source.previousWayCoordinates ) {
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for ( unsigned pathID = target.previousWayCoordinates; pathID < source.previousWayCoordinates; pathID++ )
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pathNodes->push_back( tempNodes[pathID - 1] );
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std::reverse( pathNodes->begin() + 1, pathNodes->end() );
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} else {
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for ( unsigned pathID = source.previousWayCoordinates; pathID < target.previousWayCoordinates; pathID++ )
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pathNodes->push_back( tempNodes[pathID - 1] );
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}
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pathNodes->push_back( target.nearestPoint );
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pathEdges->front().length = pathNodes->size() - 1;
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*distance = onEdgeDistance;
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}
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}
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}
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*distance /= 10;
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return true;
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}
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bool ContractionHierarchiesClient::GetName( QString* result, unsigned name )
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{
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*result = QString::fromUtf8( m_names + name );
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return true;
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}
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bool ContractionHierarchiesClient::GetNames( QVector< QString >* result, QVector< unsigned > names )
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{
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result->resize( names.size() );
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for ( int i = 0; i < names.size(); i++ )
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( *result )[i] = QString::fromUtf8( m_names + names[i] );
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return true;
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}
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bool ContractionHierarchiesClient::GetType( QString* result, unsigned type )
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{
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*result = m_types[type];
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return true;
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}
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bool ContractionHierarchiesClient::GetTypes( QVector< QString >* result, QVector< unsigned > types )
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{
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result->resize( types.size() );
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for ( int i = 0; i < types.size(); i++ )
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( *result )[i] = m_types[types[i]];
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return true;
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}
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template< class EdgeAllowed, class StallEdgeAllowed >
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void ContractionHierarchiesClient::computeStep( Heap* heapForward, Heap* heapBackward, const EdgeAllowed& edgeAllowed, const StallEdgeAllowed& stallEdgeAllowed, NodeIterator* middle, int* targetDistance ) {
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const NodeIterator node = heapForward->DeleteMin();
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const int distance = heapForward->GetKey( node );
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if ( heapForward->GetData( node ).stalled )
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return;
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if ( heapBackward->WasInserted( node ) && !heapBackward->GetData( node ).stalled ) {
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const int newDistance = heapBackward->GetKey( node ) + distance;
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if ( newDistance < *targetDistance ) {
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*middle = node;
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*targetDistance = newDistance;
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}
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}
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if ( distance > *targetDistance ) {
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heapForward->DeleteAll();
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return;
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}
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for ( EdgeIterator edge = m_graph.edges( node ); edge.hasEdgesLeft(); ) {
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m_graph.unpackNextEdge( &edge );
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const NodeIterator to = edge.target();
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const int edgeWeight = edge.distance();
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assert( edgeWeight > 0 );
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const int toDistance = distance + edgeWeight;
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if ( stallEdgeAllowed( edge.forward(), edge.backward() ) && heapForward->WasInserted( to ) ) {
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const int shorterDistance = heapForward->GetKey( to ) + edgeWeight;
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if ( shorterDistance < distance ) {
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//perform a bfs starting at node
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//only insert nodes when a sub-optimal path can be proven
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//insert node into the stall queue
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heapForward->GetKey( node ) = shorterDistance;
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heapForward->GetData( node ).stalled = true;
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m_stallQueue.push( node );
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while ( !m_stallQueue.empty() ) {
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//get node from the queue
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const NodeIterator stallNode = m_stallQueue.front();
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m_stallQueue.pop();
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const int stallDistance = heapForward->GetKey( stallNode );
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//iterate over outgoing edges
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for ( EdgeIterator stallEdge = m_graph.edges( stallNode ); stallEdge.hasEdgesLeft(); ) {
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m_graph.unpackNextEdge( &stallEdge );
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//is edge outgoing/reached/stalled?
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if ( !edgeAllowed( stallEdge.forward(), stallEdge.backward() ) )
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continue;
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const NodeIterator stallTo = stallEdge.target();
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if ( !heapForward->WasInserted( stallTo ) )
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continue;
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if ( heapForward->GetData( stallTo ).stalled == true )
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continue;
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const int stallToDistance = stallDistance + stallEdge.distance();
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//sub-optimal path found -> insert stallTo
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if ( stallToDistance < heapForward->GetKey( stallTo ) ) {
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if ( heapForward->WasRemoved( stallTo ) )
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heapForward->GetKey( stallTo ) = stallToDistance;
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else
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heapForward->DecreaseKey( stallTo, stallToDistance );
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m_stallQueue.push( stallTo );
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heapForward->GetData( stallTo ).stalled = true;
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}
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}
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}
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break;
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}
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}
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if ( edgeAllowed( edge.forward(), edge.backward() ) ) {
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//New Node discovered -> Add to Heap + Node Info Storage
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if ( !heapForward->WasInserted( to ) )
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heapForward->Insert( to, toDistance, node );
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//Found a shorter Path -> Update distance
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else if ( toDistance <= heapForward->GetKey( to ) ) {
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heapForward->DecreaseKey( to, toDistance );
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//new parent + unstall
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heapForward->GetData( to ).parent = node;
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heapForward->GetData( to ).stalled = false;
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}
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}
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}
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}
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int ContractionHierarchiesClient::computeRoute( const IGPSLookup::Result& source, const IGPSLookup::Result& target, QVector< Node>* pathNodes, QVector< Edge >* pathEdges ) {
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EdgeIterator sourceEdge = m_graph.findEdge( source.source, source.target, source.edgeID );
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unsigned sourceWeight = sourceEdge.distance();
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EdgeIterator targetEdge = m_graph.findEdge( target.source, target.target, target.edgeID );
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unsigned targetWeight = targetEdge.distance();
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//insert source into heap
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m_heapForward->Insert( source.target, sourceWeight - sourceWeight * source.percentage, source.target );
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if ( sourceEdge.backward() && sourceEdge.forward() && source.target != source.source )
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m_heapForward->Insert( source.source, sourceWeight * source.percentage, source.source );
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//insert target into heap
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m_heapBackward->Insert( target.source, targetWeight * target.percentage, target.source );
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if ( targetEdge.backward() && targetEdge.forward() && target.target != target.source )
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m_heapBackward->Insert( target.target, targetWeight - targetWeight * target.percentage, target.target );
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int targetDistance = std::numeric_limits< int >::max();
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NodeIterator middle = ( NodeIterator ) 0;
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AllowForwardEdge forward;
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AllowBackwardEdge backward;
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while ( m_heapForward->Size() + m_heapBackward->Size() > 0 ) {
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if ( m_heapForward->Size() > 0 )
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computeStep( m_heapForward, m_heapBackward, forward, backward, &middle, &targetDistance );
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if ( m_heapBackward->Size() > 0 )
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computeStep( m_heapBackward, m_heapForward, backward, forward, &middle, &targetDistance );
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}
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if ( targetDistance == std::numeric_limits< int >::max() )
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return std::numeric_limits< int >::max();
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std::stack< NodeIterator > stack;
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NodeIterator pathNode = middle;
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while ( true ) {
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NodeIterator parent = m_heapForward->GetData( pathNode ).parent;
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stack.push( pathNode );
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if ( parent == pathNode )
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break;
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pathNode = parent;
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}
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pathNodes->push_back( source.nearestPoint );
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bool reverseSourceDescription = pathNode != source.target;
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if ( source.source == source.target && sourceEdge.backward() && sourceEdge.forward() && source.percentage < 0.5 )
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reverseSourceDescription = !reverseSourceDescription;
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if ( sourceEdge.unpacked() ) {
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bool unpackSourceForward = source.target != sourceEdge.target() ? reverseSourceDescription : !reverseSourceDescription;
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m_graph.path( sourceEdge, pathNodes, pathEdges, unpackSourceForward );
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if ( reverseSourceDescription ) {
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pathNodes->remove( 1, pathNodes->size() - 1 - source.previousWayCoordinates );
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} else {
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pathNodes->remove( 1, source.previousWayCoordinates - 1 );
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}
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} else {
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pathNodes->push_back( m_graph.node( pathNode ) );
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pathEdges->push_back( sourceEdge.description() );
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}
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pathEdges->front().length = pathNodes->size() - 1;
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while ( stack.size() > 1 ) {
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const NodeIterator node = stack.top();
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stack.pop();
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unpackEdge( node, stack.top(), true, pathNodes, pathEdges );
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}
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pathNode = middle;
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while ( true ) {
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NodeIterator parent = m_heapBackward->GetData( pathNode ).parent;
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if ( parent == pathNode )
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break;
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unpackEdge( parent, pathNode, false, pathNodes, pathEdges );
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pathNode = parent;
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}
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int begin = pathNodes->size();
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bool reverseTargetDescription = pathNode != target.source;
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if ( target.source == target.target && targetEdge.backward() && targetEdge.forward() && target.percentage > 0.5 )
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reverseSourceDescription = !reverseSourceDescription;
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if ( targetEdge.unpacked() ) {
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bool unpackTargetForward = target.target != targetEdge.target() ? reverseTargetDescription : !reverseTargetDescription;
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m_graph.path( targetEdge, pathNodes, pathEdges, unpackTargetForward );
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if ( reverseTargetDescription ) {
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pathNodes->resize( pathNodes->size() - target.previousWayCoordinates );
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} else {
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pathNodes->resize( begin + target.previousWayCoordinates - 1 );
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}
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} else {
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pathEdges->push_back( targetEdge.description() );
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}
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pathNodes->push_back( target.nearestPoint );
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pathEdges->back().length = pathNodes->size() - begin;
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return targetDistance;
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}
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bool ContractionHierarchiesClient::unpackEdge( const NodeIterator source, const NodeIterator target, bool forward, QVector< Node >* pathNodes, QVector< Edge >* pathEdges ) {
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EdgeIterator shortestEdge;
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unsigned distance = std::numeric_limits< unsigned >::max();
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for ( EdgeIterator edge = m_graph.edges( source ); edge.hasEdgesLeft(); ) {
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m_graph.unpackNextEdge( &edge );
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if ( edge.target() != target )
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continue;
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if ( forward && !edge.forward() )
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continue;
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if ( !forward && !edge.backward() )
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continue;
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if ( edge.distance() > distance )
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continue;
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distance = edge.distance();
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shortestEdge = edge;
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}
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if ( shortestEdge.unpacked() ) {
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m_graph.path( shortestEdge, pathNodes, pathEdges, forward );
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return true;
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}
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if ( !shortestEdge.shortcut() ) {
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pathEdges->push_back( shortestEdge.description() );
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if ( forward )
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pathNodes->push_back( m_graph.node( target ).coordinate );
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else
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pathNodes->push_back( m_graph.node( source ).coordinate );
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return true;
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}
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const NodeIterator middle = shortestEdge.middle();
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if ( forward ) {
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unpackEdge( middle, source, false, pathNodes, pathEdges );
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unpackEdge( middle, target, true, pathNodes, pathEdges );
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return true;
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} else {
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unpackEdge( middle, target, false, pathNodes, pathEdges );
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unpackEdge( middle, source, true, pathNodes, pathEdges );
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return true;
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}
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}
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Q_EXPORT_PLUGIN2( contractionhierarchiesclient, ContractionHierarchiesClient )
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