Ejemplo n.º 1
0
  // TODO : if start or end is already in the highway, will occur the problem, need to fix
  public static double routingHierarchy(
      long startNode, long endNode, int startTime, int dayIndex, ArrayList<Long> pathNodeList) {
    // System.out.println("start finding the path...");
    int debug = 0;
    try {
      if (!OSMData.nodeHashMap.containsKey(startNode)
          || !OSMData.nodeHashMap.containsKey(endNode)) {
        System.err.println("cannot find start or end node!");
        return -1;
      }

      if (startNode == endNode) {
        System.out.println("start node is the same as end node.");
        return 0;
      }

      NodeInfo start = OSMData.nodeHashMap.get(startNode);
      NodeInfo end = OSMData.nodeHashMap.get(endNode);
      double minDistance = Geometry.calculateDistance(start.getLocation(), end.getLocation());
      if (minDistance < 5) { // use normal A* algorithm to calculate small distance
        return routingAStar(
            start.getNodeId(),
            end.getNodeId(),
            OSMRouteParam.START_TIME,
            OSMRouteParam.DAY_INDEX,
            pathNodeList);
      }

      SearchingSharing sharingData = new SearchingSharing();
      HashMap<Long, NodeInfoHelper> nodeForwardCache = new HashMap<Long, NodeInfoHelper>();
      HashMap<Long, NodeInfoHelper> nodeReverseCache = new HashMap<Long, NodeInfoHelper>();
      ForwardSearching forwardSearching =
          new ForwardSearching(
              startNode, endNode, startTime, dayIndex, sharingData, nodeForwardCache);
      ReverseSearching reverseSearching =
          new ReverseSearching(endNode, startNode, sharingData, nodeReverseCache);
      // two thread run simultaneously
      Thread forwardThread = new Thread(forwardSearching);
      Thread reverseThread = new Thread(reverseSearching);
      // search forward
      forwardThread.start();
      // let forward searching for a while
      // Thread.sleep(100);
      // search reverse
      reverseThread.start();
      // waiting for thread finish
      forwardThread.join();
      reverseThread.join();
      // get the searching intersects
      ArrayList<Long> intersectList = sharingData.getIntersectList();
      // pick the least cost one according to time-dependent
      double minCost = Double.MAX_VALUE;
      ArrayList<Long> minCostPath = new ArrayList<Long>();
      for (long intersect : intersectList) {
        NodeInfoHelper current = nodeForwardCache.get(intersect);
        // cost from source to intersect
        double cost = current.getCost();
        current = nodeReverseCache.get(intersect);
        // update the reverse cost as forward cost
        current.setCost(cost);
        ArrayList<Long> reversePath = new ArrayList<Long>();
        double totalCost = Double.MAX_VALUE;
        // recalculate from intersect to destination
        while (true) {
          long nodeId = current.getNodeId();
          int timeIndex =
              startTime
                  + (int)
                      (current.getCost()
                          / OSMParam.SECOND_PER_MINUTE
                          / OSMRouteParam.TIME_INTERVAL);
          if (timeIndex
              > OSMRouteParam.TIME_RANGE
                  - 1) // time [6am - 9 pm], we regard times after 9pm as constant edge weights
          timeIndex = OSMRouteParam.TIME_RANGE - 1;
          long nextNodeId = current.getParentId();
          double arriveTime = current.getCost();
          // arrive end
          if (nextNodeId == 0) {
            totalCost = arriveTime;
            break;
          }
          // add node
          reversePath.add(nextNodeId);
          // calculate cost according adjlist
          LinkedList<ToNodeInfo> adjNodeList = OSMData.adjListHashMap.get(nodeId);
          double costTime = 0;
          for (ToNodeInfo toNode : adjNodeList) {
            if (toNode.getNodeId() == nextNodeId) {
              int travelTime;
              // forward searching is time dependent
              if (toNode.isFix()) // fix time
              travelTime = toNode.getTravelTime();
              else // fetch from time array
              travelTime = toNode.getSpecificTravelTime(dayIndex, timeIndex);
              costTime = arriveTime + (double) travelTime / OSMParam.MILLI_PER_SECOND;
              break;
            }
          }
          current = nodeReverseCache.get(nextNodeId);
          if (costTime == 0) System.err.println("cost time cannot be zero!");
          else current.setCost(costTime);
        }

        // process the left nodes to real destination
        long lastNode = reversePath.get(reversePath.size() - 1);
        if (lastNode != endNode) {
          NodeInfo last = OSMData.nodeHashMap.get(lastNode);
          NodeInfo dest = OSMData.nodeHashMap.get(endNode);
          EdgeInfo onEdge = last.getEdgeFromNodes(dest);
          current = nodeReverseCache.get(lastNode);
          int totalDistance = onEdge.getDistance();
          int distance;
          long toNodeId;
          if (onEdge.getStartNode() == lastNode) { // from start to middle
            distance = onEdge.getStartDistance(endNode);
            toNodeId = onEdge.getEndNode();
          } else { // from end to middle
            distance = onEdge.getEndDistance(endNode);
            toNodeId = onEdge.getStartNode();
          }
          LinkedList<ToNodeInfo> adjNodeList = OSMData.adjListHashMap.get(lastNode);
          double costTime = 0;
          int timeIndex =
              startTime
                  + (int) (totalCost / OSMParam.SECOND_PER_MINUTE / OSMRouteParam.TIME_INTERVAL);
          if (timeIndex
              > OSMRouteParam.TIME_RANGE
                  - 1) // time [6am - 9 pm], we regard times after 9pm as constant edge weights
          timeIndex = OSMRouteParam.TIME_RANGE - 1;
          for (ToNodeInfo toNode : adjNodeList) {
            if (toNode.getNodeId() == toNodeId) {
              int travelTime;
              // forward searching is time dependent
              if (toNode.isFix()) // fix time
              travelTime = toNode.getTravelTime();
              else // fetch from time array
              travelTime = toNode.getSpecificTravelTime(dayIndex, timeIndex);
              costTime = (double) travelTime / OSMParam.MILLI_PER_SECOND;
              break;
            }
          }
          if (costTime != 0) {
            costTime *= (double) distance / totalDistance;
          }
          totalCost += costTime; // add cost
          reversePath.add(endNode); // add dest
        }

        // if found less cost path, build forward path
        if (totalCost < minCost) {
          ArrayList<Long> forwardPath = new ArrayList<Long>();
          minCost = totalCost;
          current = nodeForwardCache.get(intersect);
          long traceNodeId = current.getParentId();
          while (traceNodeId != 0) {
            forwardPath.add(traceNodeId); // add node
            current = nodeForwardCache.get(traceNodeId);
            traceNodeId = current.getParentId();
          }
          Collections.reverse(forwardPath); // reverse the path list
          // record min-cost path, combine forward path and reverse path
          minCostPath = new ArrayList<Long>();
          minCostPath.addAll(forwardPath);
          minCostPath.add(intersect);
          minCostPath.addAll(reversePath);
          // output kml
          // OSMOutput.generatePathKML(nodeHashMap, pathNodeList, "path_" + intersect);
          // ArrayList<Long> intersectNode = new ArrayList<Long>();
          // intersectNode.add(intersect);
          // OSMOutput.generatePathNodeKML(nodeHashMap, intersectNode, "intersect_" + intersect);
        }
      }
      pathNodeList.addAll(minCostPath);
      return minCost;
    } catch (Exception e) {
      e.printStackTrace();
      System.err.println("routingHierarchy: debug code " + debug);
    }
    return 0;
  }
Ejemplo n.º 2
0
 /**
  * estimate heuristic, using distance/speed
  *
  * @param curNode
  * @param endNode
  * @return
  */
 public static double estimateHeuristic(long curNode, long endNode) {
   NodeInfo cur = OSMData.nodeHashMap.get(curNode);
   NodeInfo end = OSMData.nodeHashMap.get(endNode);
   double distance = Geometry.calculateDistance(cur.getLocation(), end.getLocation());
   return distance / OSMRouteParam.HEURISTIC_SPEED * OSMParam.SECOND_PER_HOUR;
 }
Ejemplo n.º 3
0
  // TODO : need to fix turn by turn ramp
  public static String turnByTurn(ArrayList<Long> pathNodeList) {
    String turnByTurnText = "";
    int prevHierarchy = -1;
    int prevDirIndex = -1;
    String prevName = "";
    long distance = 0;
    boolean firstRoute = true;
    NodeInfo prevNodeInfo = null;

    if (pathNodeList == null || pathNodeList.size() == 0) {
      return getErrorText() + OSMParam.LINEEND;
    }

    for (long nodeId : pathNodeList) {
      if (prevNodeInfo == null) {
        prevNodeInfo = OSMData.nodeHashMap.get(nodeId);
        continue;
      }

      NodeInfo nodeInfo = OSMData.nodeHashMap.get(nodeId);
      EdgeInfo edge = prevNodeInfo.getEdgeFromNodes(nodeInfo);

      String highway = edge.getHighway();
      String name = edge.getName();
      int hierarchy = 6;
      if (OSMData.hierarchyHashMap.containsKey(highway)) {
        hierarchy = OSMData.hierarchyHashMap.get(highway);
      }

      int dirIndex = Geometry.getDirectionIndex(prevNodeInfo.getLocation(), nodeInfo.getLocation());
      // initial prev
      if (prevHierarchy == -1) {
        prevHierarchy = hierarchy;
        prevDirIndex = dirIndex;
        prevName = name;
      }
      if (prevHierarchy > 1 && hierarchy == 1) { // from arterial to highway
        if (firstRoute) {
          // first route message
          turnByTurnText = getFirstRouteText(prevDirIndex, prevName, name) + OSMParam.LINEEND;
          firstRoute = false;
        }
        // distance message
        turnByTurnText += getDistanceText(distance) + OSMParam.LINEEND;
        turnByTurnText += getRampText(name) + OSMParam.LINEEND;
        distance = 0;
      } else if (prevHierarchy == 1 && hierarchy > 1) { // from highway to arterial
        if (firstRoute) {
          // first route message
          turnByTurnText = getFirstRouteText(prevDirIndex, prevName, name) + OSMParam.LINEEND;
          firstRoute = false;
        }
        // distance message
        turnByTurnText += getDistanceText(distance) + OSMParam.LINEEND;
        turnByTurnText += getExitText(name) + OSMParam.LINEEND;
        distance = 0;
      } else if (prevHierarchy == 1 && hierarchy == 1) { // on the highway
        if (!prevName.equals(name)) { // change highway
          if (firstRoute) {
            // first route message
            turnByTurnText = getFirstRouteText(prevDirIndex, prevName, name) + OSMParam.LINEEND;
            firstRoute = false;
          }
          // distance message
          turnByTurnText += getDistanceText(distance) + OSMParam.LINEEND;
          turnByTurnText += getExitText(name) + OSMParam.LINEEND;
          distance = 0;
        }
      } else { // on the arterial
        // change direction or road happen
        if (!Geometry.isSameDirection(dirIndex, prevDirIndex) || !prevName.equals(name)) {
          if (firstRoute) {
            // first route message
            turnByTurnText = getFirstRouteText(prevDirIndex, prevName, name) + OSMParam.LINEEND;
            firstRoute = false;
          }
          // distance message
          turnByTurnText += getDistanceText(distance) + OSMParam.LINEEND;
          if (!Geometry.isSameDirection(dirIndex, prevDirIndex)) { // change direction
            turnByTurnText +=
                getTurnText(prevDirIndex, dirIndex, prevName, name) + OSMParam.LINEEND;
          } else { // change road
            turnByTurnText += getMergeText(name) + OSMParam.LINEEND;
          }
          distance = 0;
        }
      }
      prevNodeInfo = nodeInfo;
      prevHierarchy = hierarchy;
      prevDirIndex = dirIndex;
      prevName = name;
      distance += edge.getDistance();
    }
    // distance message
    turnByTurnText += getDistanceText(distance) + OSMParam.LINEEND;
    turnByTurnText += getArriveText() + OSMParam.LINEEND;
    return turnByTurnText;
  }