@Override
public void run() {
HashSet<Long> closedSet = new HashSet<Long>();
PriorityQueue<NodeInfoHelper> openSet =
OSMRouting.initialStartSet(startNode, endNode, startTime, dayIndex, nodeHelperCache);
NodeInfoHelper current = null;
// test
// HashSet<Long> transversalSet = new HashSet<Long>();
while (!openSet.isEmpty()) {
// remove current from openset
current = openSet.poll();
long nodeId = current.getNodeId();
// transversalSet.add(nodeId);
// add current to closedset
closedSet.add(nodeId);
// check reverse searching covering nodes
if (sharingData.isNodeInReverseSet(nodeId)) {
// we found a path, stop here
sharingData.addIntersect(nodeId);
if (sharingData.isSearchingFinish()) break;
else continue;
}
NodeInfo fromNodeInfo = OSMData.nodeHashMap.get(nodeId);
// for time dependent routing in forwarding search
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;
LinkedList<ToNodeInfo> adjNodeList = adjListHashMap.get(nodeId);
if (adjNodeList == null) continue; // this node cannot go anywhere
double arriveTime = current.getCost();
// for each neighbor in neighbor_nodes(current)
for (ToNodeInfo toNode : adjNodeList) {
long toNodeId = toNode.getNodeId();
NodeInfo toNodeInfo = OSMData.nodeHashMap.get(toNodeId);
EdgeInfo edgeInfo = fromNodeInfo.getEdgeFromNodes(toNodeInfo);
// check if "highway" not found in param, add it
// String highway = edgeInfo.getHighway();
int level = 10;
if (OSMData.hierarchyHashMap.containsKey(edgeInfo.getHighway()))
level = OSMData.hierarchyHashMap.get(edgeInfo.getHighway());
// 1) always level up, e.g. currently in primary, never go secondary
// if(level > current.getCurrentLevel()) { // do not level down
// continue;
// }
// 2) keep on highway
if (current.getCurrentLevel() == 1 && level > 1) {
continue;
}
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);
// tentative_g_score := g_score[current] + dist_between(current,neighbor)
double costTime = arriveTime + (double) travelTime / OSMParam.MILLI_PER_SECOND;
// tentative_f_score := tentative_g_score + heuristic_cost_estimate(neighbor, goal)
double heuristicTime = OSMRouting.estimateHeuristic(toNodeId, endNode);
double totalCostTime = costTime + heuristicTime;
// if neighbor in closedset and tentative_f_score >= f_score[neighbor]
if (closedSet.contains(toNodeId)
&& nodeHelperCache.get(toNodeId).getTotalCost() <= totalCostTime) {
continue;
}
NodeInfoHelper node = null;
// if neighbor not in openset or tentative_f_score < f_score[neighbor]
if (!nodeHelperCache.containsKey(toNodeId)) { // neighbor not in openset
node = new NodeInfoHelper(toNodeId);
nodeHelperCache.put(node.getNodeId(), node);
} else if (nodeHelperCache.get(toNodeId).getTotalCost()
> totalCostTime) { // neighbor in openset
node = nodeHelperCache.get(toNodeId);
if (closedSet.contains(toNodeId)) { // neighbor in closeset
closedSet.remove(toNodeId); // remove neighbor form colseset
} else {
openSet.remove(node);
}
}
// neighbor need update
if (node != null) {
node.setCost(costTime);
node.setHeuristic(heuristicTime);
node.setCurrentLevel(level);
node.setParentId(nodeId);
openSet.offer(node); // add neighbor to openset again
}
}
}
// test
// OSMOutput.generateTransversalNodeKML(transversalSet, "forward_transversal");
}
@Override
public void run() {
// TODO Auto-generated method stub
PriorityQueue<NodeInfoHelper> openSet =
new PriorityQueue<NodeInfoHelper>(
10000,
new Comparator<NodeInfoHelper>() {
public int compare(NodeInfoHelper n1, NodeInfoHelper n2) {
return (int) (n1.getTotalCost() - n2.getTotalCost());
}
});
HashSet<Long> closedSet = new HashSet<Long>();
initialEndSet(startNode, endNode, openSet, nodeHelperCache);
NodeInfoHelper current = null;
// HashSet<Long> transversalSet = new HashSet<Long>();
while (!openSet.isEmpty()) {
// remove current from openset
current = openSet.poll();
long nodeId = current.getNodeId();
// transversalSet.add(nodeId);
// add current to closedset
closedSet.add(nodeId);
// check if forward searching finish
if (sharingData.isSearchingFinish()) break;
// add to reverse cover nodes, only add the nodes on the highway
if (current.getCurrentLevel() == 1) sharingData.addReverseNode(nodeId);
NodeInfo fromNodeInfo = OSMData.nodeHashMap.get(nodeId);
LinkedList<ToNodeInfo> adjNodeList = adjListHashMap.get(nodeId);
if (adjNodeList == null) continue; // this node cannot go anywhere
double arriveTime = current.getCost();
// for each neighbor in neighbor_nodes(current)
for (ToNodeInfo toNode : adjNodeList) {
long toNodeId = toNode.getNodeId();
NodeInfo toNodeInfo = OSMData.nodeHashMap.get(toNodeId);
EdgeInfo edgeInfo = fromNodeInfo.getEdgeFromNodes(toNodeInfo);
// check if "highway" not found in param, add it
// String highway = edgeInfo.getHighway();
int level = 10;
if (OSMData.hierarchyHashMap.containsKey(edgeInfo.getHighway()))
level = OSMData.hierarchyHashMap.get(edgeInfo.getHighway());
// 1) always level up, e.g. currently in primary, never go secondary
// if(level > current.getCurrentLevel()) { // do not level down
// continue;
// }
// 2) keep on highway
if (current.getCurrentLevel() == 1 && level > 1) {
continue;
}
int travelTime = toNode.getMinTravelTime();
// tentative_g_score := g_score[current] + dist_between(current,neighbor)
double costTime = arriveTime + (double) travelTime / OSMParam.MILLI_PER_SECOND;
// tentative_f_score := tentative_g_score + heuristic_cost_estimate(neighbor, goal)
double heuristicTime = OSMRouting.estimateHeuristic(toNodeId, endNode);
double totalCostTime = costTime + heuristicTime;
// if neighbor in closedset and tentative_f_score >= f_score[neighbor]
if (closedSet.contains(toNodeId)
&& nodeHelperCache.get(toNodeId).getTotalCost() <= totalCostTime) {
continue;
}
NodeInfoHelper node = null;
// if neighbor not in openset or tentative_f_score < f_score[neighbor]
if (!nodeHelperCache.containsKey(toNodeId)) { // neighbor not in openset
node = new NodeInfoHelper(toNodeId);
nodeHelperCache.put(node.getNodeId(), node);
} else if (nodeHelperCache.get(toNodeId).getTotalCost()
> totalCostTime) { // neighbor in openset
node = nodeHelperCache.get(toNodeId);
if (closedSet.contains(toNodeId)) { // neighbor in closeset
closedSet.remove(toNodeId); // remove neighbor form colseset
} else {
openSet.remove(node);
}
}
// neighbor need update
if (node != null) {
node.setCost(costTime);
node.setHeuristic(heuristicTime);
node.setCurrentLevel(level);
node.setParentId(nodeId);
openSet.offer(node); // add neighbor to openset again
}
}
}
// OSMOutput.generateTransversalNodeKML(transversalSet, nodeHashMap, "reverse_transversal");
}
// 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;
}