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edge_based_graph_factory.cpp
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edge_based_graph_factory.cpp
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#include "extractor/edge_based_graph_factory.hpp"
#include "extractor/conditional_turn_penalty.hpp"
#include "extractor/edge_based_edge.hpp"
#include "extractor/files.hpp"
#include "extractor/guidance/turn_analysis.hpp"
#include "extractor/guidance/turn_lane_handler.hpp"
#include "extractor/scripting_environment.hpp"
#include "extractor/suffix_table.hpp"
#include "extractor/serialization.hpp"
#include "storage/io.hpp"
#include "util/assert.hpp"
#include "util/bearing.hpp"
#include "util/coordinate.hpp"
#include "util/coordinate_calculation.hpp"
#include "util/exception.hpp"
#include "util/guidance/turn_bearing.hpp"
#include "util/integer_range.hpp"
#include "util/log.hpp"
#include "util/percent.hpp"
#include "util/timing_util.hpp"
#include <boost/assert.hpp>
#include <boost/functional/hash.hpp>
#include <boost/numeric/conversion/cast.hpp>
#include "boost/unordered_map.hpp"
#include <algorithm>
#include <cmath>
#include <iomanip>
#include <limits>
#include <sstream>
#include <string>
#include <unordered_map>
#include <tbb/blocked_range.h>
#include <tbb/parallel_for.h>
#include <tbb/pipeline.h>
#include <tbb/task_scheduler_init.h>
namespace std
{
template <> struct hash<std::pair<NodeID, NodeID>>
{
std::size_t operator()(const std::pair<NodeID, NodeID> &mk) const noexcept
{
std::size_t seed = 0;
boost::hash_combine(seed, mk.first);
boost::hash_combine(seed, mk.second);
return seed;
}
};
}
// Buffer size of turn_indexes_write_buffer to reduce number of write(v) syscals
const constexpr int TURN_INDEX_WRITE_BUFFER_SIZE = 1000;
namespace osrm
{
namespace extractor
{
// Configuration to find representative candidate for turn angle calculations
EdgeBasedGraphFactory::EdgeBasedGraphFactory(
const util::NodeBasedDynamicGraph &node_based_graph,
EdgeBasedNodeDataContainer &node_data_container,
const CompressedEdgeContainer &compressed_edge_container,
const std::unordered_set<NodeID> &barrier_nodes,
const std::unordered_set<NodeID> &traffic_lights,
const std::vector<util::Coordinate> &coordinates,
const util::NameTable &name_table,
const std::unordered_set<EdgeID> &segregated_edges,
guidance::LaneDescriptionMap &lane_description_map)
: m_edge_based_node_container(node_data_container), m_number_of_edge_based_nodes(0),
m_coordinates(coordinates), m_node_based_graph(std::move(node_based_graph)),
m_barrier_nodes(barrier_nodes), m_traffic_lights(traffic_lights),
m_compressed_edge_container(compressed_edge_container), name_table(name_table),
segregated_edges(segregated_edges), lane_description_map(lane_description_map)
{
}
void EdgeBasedGraphFactory::GetEdgeBasedEdges(
util::DeallocatingVector<EdgeBasedEdge> &output_edge_list)
{
BOOST_ASSERT_MSG(0 == output_edge_list.size(), "Vector is not empty");
using std::swap; // Koenig swap
swap(m_edge_based_edge_list, output_edge_list);
}
void EdgeBasedGraphFactory::GetEdgeBasedNodeSegments(std::vector<EdgeBasedNodeSegment> &nodes)
{
using std::swap; // Koenig swap
swap(nodes, m_edge_based_node_segments);
}
void EdgeBasedGraphFactory::GetStartPointMarkers(std::vector<bool> &node_is_startpoint)
{
using std::swap; // Koenig swap
swap(m_edge_based_node_is_startpoint, node_is_startpoint);
}
void EdgeBasedGraphFactory::GetEdgeBasedNodeWeights(std::vector<EdgeWeight> &output_node_weights)
{
using std::swap; // Koenig swap
swap(m_edge_based_node_weights, output_node_weights);
}
std::uint64_t EdgeBasedGraphFactory::GetNumberOfEdgeBasedNodes() const
{
return m_number_of_edge_based_nodes;
}
NBGToEBG EdgeBasedGraphFactory::InsertEdgeBasedNode(const NodeID node_u, const NodeID node_v)
{
// merge edges together into one EdgeBasedNode
BOOST_ASSERT(node_u != SPECIAL_NODEID);
BOOST_ASSERT(node_v != SPECIAL_NODEID);
// find forward edge id and
const EdgeID edge_id_1 = m_node_based_graph.FindEdge(node_u, node_v);
BOOST_ASSERT(edge_id_1 != SPECIAL_EDGEID);
const EdgeData &forward_data = m_node_based_graph.GetEdgeData(edge_id_1);
// find reverse edge id and
const EdgeID edge_id_2 = m_node_based_graph.FindEdge(node_v, node_u);
BOOST_ASSERT(edge_id_2 != SPECIAL_EDGEID);
const EdgeData &reverse_data = m_node_based_graph.GetEdgeData(edge_id_2);
BOOST_ASSERT(nbe_to_ebn_mapping[edge_id_1] != SPECIAL_NODEID ||
nbe_to_ebn_mapping[edge_id_2] != SPECIAL_NODEID);
if (nbe_to_ebn_mapping[edge_id_1] != SPECIAL_NODEID &&
nbe_to_ebn_mapping[edge_id_2] == SPECIAL_NODEID)
m_edge_based_node_weights[nbe_to_ebn_mapping[edge_id_1]] = INVALID_EDGE_WEIGHT;
BOOST_ASSERT(m_compressed_edge_container.HasEntryForID(edge_id_1) ==
m_compressed_edge_container.HasEntryForID(edge_id_2));
BOOST_ASSERT(m_compressed_edge_container.HasEntryForID(edge_id_1));
BOOST_ASSERT(m_compressed_edge_container.HasEntryForID(edge_id_2));
const auto &forward_geometry = m_compressed_edge_container.GetBucketReference(edge_id_1);
BOOST_ASSERT(forward_geometry.size() ==
m_compressed_edge_container.GetBucketReference(edge_id_2).size());
const auto segment_count = forward_geometry.size();
// There should always be some geometry
BOOST_ASSERT(0 != segment_count);
// const unsigned packed_geometry_id = m_compressed_edge_container.ZipEdges(edge_id_1,
// edge_id_2);
NodeID current_edge_source_coordinate_id = node_u;
const auto edge_id_to_segment_id = [](const NodeID edge_based_node_id) {
if (edge_based_node_id == SPECIAL_NODEID)
{
return SegmentID{SPECIAL_SEGMENTID, false};
}
return SegmentID{edge_based_node_id, true};
};
// Add edge-based node data for forward and reverse nodes indexed by edge_id
BOOST_ASSERT(nbe_to_ebn_mapping[edge_id_1] != SPECIAL_EDGEID);
m_edge_based_node_container.nodes[nbe_to_ebn_mapping[edge_id_1]].geometry_id =
forward_data.geometry_id;
m_edge_based_node_container.nodes[nbe_to_ebn_mapping[edge_id_1]].annotation_id =
forward_data.annotation_data;
m_edge_based_node_container.nodes[nbe_to_ebn_mapping[edge_id_1]].segregated =
segregated_edges.count(edge_id_1) > 0;
if (nbe_to_ebn_mapping[edge_id_2] != SPECIAL_EDGEID)
{
m_edge_based_node_container.nodes[nbe_to_ebn_mapping[edge_id_2]].geometry_id =
reverse_data.geometry_id;
m_edge_based_node_container.nodes[nbe_to_ebn_mapping[edge_id_2]].annotation_id =
reverse_data.annotation_data;
m_edge_based_node_container.nodes[nbe_to_ebn_mapping[edge_id_2]].segregated =
segregated_edges.count(edge_id_2) > 0;
}
// Add segments of edge-based nodes
for (const auto i : util::irange(std::size_t{0}, segment_count))
{
BOOST_ASSERT(
current_edge_source_coordinate_id ==
m_compressed_edge_container.GetBucketReference(edge_id_2)[segment_count - 1 - i]
.node_id);
const NodeID current_edge_target_coordinate_id = forward_geometry[i].node_id;
// don't add node-segments for penalties
if (current_edge_target_coordinate_id == current_edge_source_coordinate_id)
continue;
BOOST_ASSERT(current_edge_target_coordinate_id != current_edge_source_coordinate_id);
// build edges
m_edge_based_node_segments.emplace_back(
edge_id_to_segment_id(nbe_to_ebn_mapping[edge_id_1]),
edge_id_to_segment_id(nbe_to_ebn_mapping[edge_id_2]),
current_edge_source_coordinate_id,
current_edge_target_coordinate_id,
i);
m_edge_based_node_is_startpoint.push_back(forward_data.flags.startpoint ||
reverse_data.flags.startpoint);
current_edge_source_coordinate_id = current_edge_target_coordinate_id;
}
BOOST_ASSERT(current_edge_source_coordinate_id == node_v);
return NBGToEBG{node_u, node_v, nbe_to_ebn_mapping[edge_id_1], nbe_to_ebn_mapping[edge_id_2]};
}
void EdgeBasedGraphFactory::Run(ScriptingEnvironment &scripting_environment,
const std::string &turn_data_filename,
const std::string &turn_lane_data_filename,
const std::string &turn_weight_penalties_filename,
const std::string &turn_duration_penalties_filename,
const std::string &turn_penalties_index_filename,
const std::string &cnbg_ebg_mapping_path,
const std::string &conditional_penalties_filename,
const RestrictionMap &node_restriction_map,
const ConditionalRestrictionMap &conditional_node_restriction_map,
const WayRestrictionMap &way_restriction_map)
{
TIMER_START(renumber);
m_number_of_edge_based_nodes =
LabelEdgeBasedNodes() + way_restriction_map.NumberOfDuplicatedNodes();
TIMER_STOP(renumber);
// Allocate memory for edge-based nodes
// In addition to the normal edges, allocate enough space for copied edges from
// via-way-restrictions, see calculation above
m_edge_based_node_container.nodes.resize(m_number_of_edge_based_nodes);
TIMER_START(generate_nodes);
{
auto mapping = GenerateEdgeExpandedNodes(way_restriction_map);
files::writeNBGMapping(cnbg_ebg_mapping_path, mapping);
}
TIMER_STOP(generate_nodes);
TIMER_START(generate_edges);
GenerateEdgeExpandedEdges(scripting_environment,
turn_data_filename,
turn_lane_data_filename,
turn_weight_penalties_filename,
turn_duration_penalties_filename,
turn_penalties_index_filename,
conditional_penalties_filename,
node_restriction_map,
conditional_node_restriction_map,
way_restriction_map);
TIMER_STOP(generate_edges);
util::Log() << "Timing statistics for edge-expanded graph:";
util::Log() << "Renumbering edges: " << TIMER_SEC(renumber) << "s";
util::Log() << "Generating nodes: " << TIMER_SEC(generate_nodes) << "s";
util::Log() << "Generating edges: " << TIMER_SEC(generate_edges) << "s";
}
/// Renumbers all _forward_ edges and sets the edge_id.
/// A specific numbering is not important. Any unique ID will do.
/// Returns the number of edge-based nodes.
unsigned EdgeBasedGraphFactory::LabelEdgeBasedNodes()
{
// heuristic: node-based graph node is a simple intersection with four edges (edge-based nodes)
m_edge_based_node_weights.reserve(4 * m_node_based_graph.GetNumberOfNodes());
nbe_to_ebn_mapping.resize(m_node_based_graph.GetEdgeCapacity(), SPECIAL_NODEID);
// renumber edge based node of outgoing edges
unsigned numbered_edges_count = 0;
for (const auto current_node : util::irange(0u, m_node_based_graph.GetNumberOfNodes()))
{
for (const auto current_edge : m_node_based_graph.GetAdjacentEdgeRange(current_node))
{
const EdgeData &edge_data = m_node_based_graph.GetEdgeData(current_edge);
// only number incoming edges
if (edge_data.reversed)
{
continue;
}
m_edge_based_node_weights.push_back(edge_data.weight);
BOOST_ASSERT(numbered_edges_count < m_node_based_graph.GetNumberOfEdges());
nbe_to_ebn_mapping[current_edge] = numbered_edges_count;
++numbered_edges_count;
}
}
return numbered_edges_count;
}
/// Creates the nodes in the edge expanded graph from edges in the node-based graph.
std::vector<NBGToEBG>
EdgeBasedGraphFactory::GenerateEdgeExpandedNodes(const WayRestrictionMap &way_restriction_map)
{
std::vector<NBGToEBG> mapping;
util::Log() << "Generating edge expanded nodes ... ";
// indicating a normal node within the edge-based graph. This node represents an edge in the
// node-based graph
{
util::UnbufferedLog log;
util::Percent progress(log, m_node_based_graph.GetNumberOfNodes());
// m_compressed_edge_container.InitializeBothwayVector();
// loop over all edges and generate new set of nodes
for (const auto nbg_node_u : util::irange(0u, m_node_based_graph.GetNumberOfNodes()))
{
BOOST_ASSERT(nbg_node_u != SPECIAL_NODEID);
progress.PrintStatus(nbg_node_u);
for (EdgeID nbg_edge_id : m_node_based_graph.GetAdjacentEdgeRange(nbg_node_u))
{
BOOST_ASSERT(nbg_edge_id != SPECIAL_EDGEID);
const NodeID nbg_node_v = m_node_based_graph.GetTarget(nbg_edge_id);
BOOST_ASSERT(nbg_node_v != SPECIAL_NODEID);
BOOST_ASSERT(nbg_node_u != nbg_node_v);
// pick only every other edge, since we have every edge as an outgoing
// and incoming egde
if (nbg_node_u >= nbg_node_v)
{
continue;
}
// if we found a non-forward edge reverse and try again
if (nbe_to_ebn_mapping[nbg_edge_id] == SPECIAL_NODEID)
{
mapping.push_back(InsertEdgeBasedNode(nbg_node_v, nbg_node_u));
}
else
{
mapping.push_back(InsertEdgeBasedNode(nbg_node_u, nbg_node_v));
}
}
}
}
util::Log() << "Expanding via-way turn restrictions ... ";
// Add copies of the nodes
{
util::UnbufferedLog log;
const auto via_ways = way_restriction_map.DuplicatedNodeRepresentatives();
util::Percent progress(log, via_ways.size());
NodeID edge_based_node_id =
NodeID(m_number_of_edge_based_nodes - way_restriction_map.NumberOfDuplicatedNodes());
std::size_t progress_counter = 0;
// allocate enough space for the mapping
for (const auto way : via_ways)
{
const auto node_u = way.from;
const auto node_v = way.to;
// we know that the edge exists as non-reversed edge
const auto eid = m_node_based_graph.FindEdge(node_u, node_v);
BOOST_ASSERT(nbe_to_ebn_mapping[eid] != SPECIAL_NODEID);
// merge edges together into one EdgeBasedNode
BOOST_ASSERT(node_u != SPECIAL_NODEID);
BOOST_ASSERT(node_v != SPECIAL_NODEID);
// find node in the edge based graph, we only require one id:
const EdgeData &edge_data = m_node_based_graph.GetEdgeData(eid);
// BOOST_ASSERT(edge_data.edge_id < m_edge_based_node_container.Size());
m_edge_based_node_container.nodes[edge_based_node_id].geometry_id =
edge_data.geometry_id;
m_edge_based_node_container.nodes[edge_based_node_id].annotation_id =
edge_data.annotation_data;
m_edge_based_node_container.nodes[edge_based_node_id].segregated =
segregated_edges.count(eid) > 0;
m_edge_based_node_weights.push_back(m_edge_based_node_weights[eid]);
edge_based_node_id++;
progress.PrintStatus(progress_counter++);
}
}
BOOST_ASSERT(m_edge_based_node_segments.size() == m_edge_based_node_is_startpoint.size());
BOOST_ASSERT(m_number_of_edge_based_nodes == m_edge_based_node_weights.size());
util::Log() << "Generated " << m_number_of_edge_based_nodes << " nodes ("
<< way_restriction_map.NumberOfDuplicatedNodes()
<< " of which are duplicates) and " << m_edge_based_node_segments.size()
<< " segments in edge-expanded graph";
return mapping;
}
/// Actually it also generates turn data and serializes them...
void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
ScriptingEnvironment &scripting_environment,
const std::string &turn_data_filename,
const std::string &turn_lane_data_filename,
const std::string &turn_weight_penalties_filename,
const std::string &turn_duration_penalties_filename,
const std::string &turn_penalties_index_filename,
const std::string &conditional_penalties_filename,
const RestrictionMap &node_restriction_map,
const ConditionalRestrictionMap &conditional_restriction_map,
const WayRestrictionMap &way_restriction_map)
{
restricted_turns_counter = 0;
skipped_uturns_counter = 0;
skipped_barrier_turns_counter = 0;
storage::io::FileWriter turn_penalties_index_file(turn_penalties_index_filename,
storage::io::FileWriter::HasNoFingerprint);
TurnDataExternalContainer turn_data_container;
// Loop over all turns and generate new set of edges.
// Three nested loop look super-linear, but we are dealing with a (kind of)
// linear number of turns only.
SuffixTable street_name_suffix_table(scripting_environment);
guidance::TurnAnalysis turn_analysis(m_node_based_graph,
m_edge_based_node_container,
m_coordinates,
node_restriction_map,
m_barrier_nodes,
m_compressed_edge_container,
name_table,
street_name_suffix_table);
util::guidance::LaneDataIdMap lane_data_map;
guidance::lanes::TurnLaneHandler turn_lane_handler(m_node_based_graph,
m_edge_based_node_container,
lane_description_map,
turn_analysis,
lane_data_map);
bearing_class_by_node_based_node.resize(m_node_based_graph.GetNumberOfNodes(),
std::numeric_limits<std::uint32_t>::max());
// FIXME these need to be tuned in pre-allocated size
std::vector<TurnPenalty> turn_weight_penalties;
std::vector<TurnPenalty> turn_duration_penalties;
const auto weight_multiplier =
scripting_environment.GetProfileProperties().GetWeightMultiplier();
// filled in during next stage, kept alive through following scope
std::vector<Conditional> conditionals;
// The following block generates the edge-based-edges using a parallel processing
// pipeline. Sets of intersection IDs are batched in groups of GRAINSIZE (100)
// `generator_stage`,
// then those groups are processed in parallel `processor_stage`. Finally, results are
// appended to the various buffer vectors by the `output_stage` in the same order
// that the `generator_stage` created them in (tbb::filter::serial_in_order creates this
// guarantee). The order needs to be maintained because we depend on it later in the
// processing pipeline.
{
util::UnbufferedLog log;
const NodeID node_count = m_node_based_graph.GetNumberOfNodes();
// Because we write TurnIndexBlock data as we go, we'll
// buffer them into groups of 1000 to reduce the syscall
// count by 1000x. This doesn't need much memory, but
// greatly reduces the syscall overhead of writing lots
// of small objects
std::vector<lookup::TurnIndexBlock> turn_indexes_write_buffer;
turn_indexes_write_buffer.reserve(TURN_INDEX_WRITE_BUFFER_SIZE);
// TODO: update comments block
// This struct is the buffered output of the `processor_stage`. This data is
// appended to the various output arrays/files by the `output_stage`.
// same as IntersectionData, but grouped with edge to allow sorting after creating. Edges
// can be out of order
struct EdgeWithData
{
EdgeBasedEdge edge;
lookup::TurnIndexBlock turn_index;
TurnPenalty turn_weight_penalty;
TurnPenalty turn_duration_penalty;
};
auto const transfer_data = [&](const EdgeWithData &edge_with_data) {
m_edge_based_edge_list.push_back(edge_with_data.edge);
turn_weight_penalties.push_back(edge_with_data.turn_weight_penalty);
turn_duration_penalties.push_back(edge_with_data.turn_duration_penalty);
turn_indexes_write_buffer.push_back(edge_with_data.turn_index);
};
struct PipelineBuffer
{
tbb::blocked_range<NodeID> nodes_range; // use this for guidance
std::vector<guidance::TurnAnalysis::ShapeResult>
intersection_shapes; // use this for guidance
std::vector<EdgeWithData> continuous_data; // may need this
std::vector<EdgeWithData> delayed_data; // may need this
std::vector<Conditional> conditionals;
std::vector<TurnData> continuous_turn_data; // populate answers from guidance
std::vector<TurnData> delayed_turn_data; // populate answers from guidance
PipelineBuffer(const tbb::blocked_range<NodeID> &range) : nodes_range(range) {}
};
using PipelineBufferPtr = std::shared_ptr<PipelineBuffer>;
// going over all nodes (which form the center of an intersection), we compute all
// possible turns along these intersections.
NodeID current_node = 0;
// Handle intersections in sets of 100. The pipeline below has a serial bottleneck
// during the writing phase, so we want to make the parallel workers do more work
// to give the serial final stage time to complete its tasks.
const constexpr unsigned GRAINSIZE = 100;
// First part of the pipeline generates iterator ranges of IDs in sets of GRAINSIZE
tbb::filter_t<void, PipelineBufferPtr> generator_stage(
tbb::filter::serial_in_order, [&](tbb::flow_control &fc) {
if (current_node < node_count)
{
auto next_node = std::min(current_node + GRAINSIZE, node_count);
auto range = tbb::blocked_range<NodeID>(current_node, next_node);
current_node = next_node;
return std::make_shared<PipelineBuffer>(range);
}
else
{
fc.stop();
return PipelineBufferPtr{};
}
});
//
// Intersection shape generation stage
//
tbb::filter_t<PipelineBufferPtr, PipelineBufferPtr> shape_analysis_stage(
tbb::filter::parallel, [&turn_analysis](auto buffer_ptr) {
auto &buffer = *buffer_ptr;
buffer.intersection_shapes.reserve(buffer.nodes_range.size());
for (auto it = buffer.nodes_range.begin(); it != buffer.nodes_range.end(); ++it)
{
buffer.intersection_shapes.push_back(
turn_analysis.ComputeIntersectionShapes(it));
}
return buffer_ptr;
});
// Generate edges for either artificial nodes or the main graph
const auto generate_edge = [this,
&scripting_environment,
weight_multiplier,
&conditional_restriction_map](
// what nodes will be used? In most cases this will be the id stored in the edge_data.
// In case of duplicated nodes (e.g. due to via-way restrictions), one/both of these
// might refer to a newly added edge based node
const auto edge_based_node_from,
const auto edge_based_node_to,
// the situation of the turn
const auto node_along_road_entering,
const auto node_based_edge_from,
const auto node_at_center_of_intersection,
const auto node_based_edge_to,
const auto &turn) {
const auto node_restricted = isRestricted(node_along_road_entering,
node_at_center_of_intersection,
m_node_based_graph.GetTarget(turn.eid),
conditional_restriction_map);
boost::optional<Conditional> conditional = boost::none;
if (node_restricted.first)
{
auto const &conditions = node_restricted.second->condition;
// get conditions of the restriction limiting the node
conditional = {{edge_based_node_from,
edge_based_node_to,
{static_cast<std::uint64_t>(-1),
m_coordinates[node_at_center_of_intersection],
conditions}}};
}
const auto &edge_data1 = m_node_based_graph.GetEdgeData(node_based_edge_from);
const auto &edge_data2 = m_node_based_graph.GetEdgeData(node_based_edge_to);
BOOST_ASSERT(nbe_to_ebn_mapping[node_based_edge_from] !=
nbe_to_ebn_mapping[node_based_edge_to]);
BOOST_ASSERT(!edge_data1.reversed);
BOOST_ASSERT(!edge_data2.reversed);
const auto turn_angle = turn.angle;
// compute weight and duration penalties
auto is_traffic_light = m_traffic_lights.count(node_at_center_of_intersection);
ExtractionTurn extracted_turn(
turn_angle,
m_node_based_graph.GetOutDegree(node_at_center_of_intersection),
guidance::getTurnDirection(turn_angle) == guidance::DirectionModifier::UTurn,
is_traffic_light,
edge_data1.flags.restricted,
edge_data2.flags.restricted,
m_edge_based_node_container.GetAnnotation(edge_data1.annotation_data)
.is_left_hand_driving,
m_edge_based_node_container.GetAnnotation(edge_data1.annotation_data).travel_mode,
m_edge_based_node_container.GetAnnotation(edge_data2.annotation_data).travel_mode);
scripting_environment.ProcessTurn(extracted_turn);
// turn penalties are limited to [-2^15, 2^15) which roughly
// translates to 54 minutes and fits signed 16bit deci-seconds
auto weight_penalty =
boost::numeric_cast<TurnPenalty>(extracted_turn.weight * weight_multiplier);
auto duration_penalty = boost::numeric_cast<TurnPenalty>(extracted_turn.duration * 10.);
BOOST_ASSERT(SPECIAL_NODEID != nbe_to_ebn_mapping[node_based_edge_from]);
BOOST_ASSERT(SPECIAL_NODEID != nbe_to_ebn_mapping[node_based_edge_to]);
// auto turn_id = m_edge_based_edge_list.size();
auto weight = boost::numeric_cast<EdgeWeight>(edge_data1.weight + weight_penalty);
auto duration = boost::numeric_cast<EdgeWeight>(edge_data1.duration + duration_penalty);
EdgeBasedEdge edge_based_edge = {
edge_based_node_from,
edge_based_node_to,
SPECIAL_NODEID, // This will be updated once the main loop
// completes!
weight,
duration,
true,
false};
// We write out the mapping between the edge-expanded edges and
// the original nodes. Since each edge represents a possible
// maneuver, external programs can use this to quickly perform updates to edge
// weights in order to penalize certain turns.
// If this edge is 'trivial' -- where the compressed edge
// corresponds exactly to an original OSM segment -- we can pull the turn's
// preceding node ID directly with `node_along_road_entering`;
// otherwise, we need to look up the node immediately preceding the turn
// from the compressed edge container.
const bool isTrivial = m_compressed_edge_container.IsTrivial(node_based_edge_from);
const auto &from_node =
isTrivial ? node_along_road_entering
: m_compressed_edge_container.GetLastEdgeSourceID(node_based_edge_from);
const auto &to_node = m_compressed_edge_container.GetFirstEdgeTargetID(turn.eid);
lookup::TurnIndexBlock turn_index_block = {
from_node, node_at_center_of_intersection, to_node};
// insert data into the designated buffer
return std::make_tuple(
EdgeWithData{edge_based_edge, turn_index_block, weight_penalty, duration_penalty},
conditional);
};
//
// Edge-based-graph stage
//
tbb::filter_t<PipelineBufferPtr, PipelineBufferPtr>
processor_stage(tbb::filter::parallel, [&](auto buffer_ptr) {
auto &buffer = *buffer_ptr;
for (const auto &intersection_shape : buffer.intersection_shapes)
{
// We capture the thread-local work in these objects, then flush
// them in a controlled manner at the end of the parallel range
// all nodes in the graph are connected in both directions. We check all
// outgoing nodes to find the incoming edge. This is a larger search overhead,
// but the cost we need to pay to generate edges here is worth the additional
// search overhead.
//
// a -> b <-> c
// |
// v
// d
//
// will have:
// a: b,rev=0
// b: a,rev=1 c,rev=0 d,rev=0
// c: b,rev=0
//
// From the flags alone, we cannot determine which nodes are connected to
// `b` by an outgoing edge. Therefore, we have to search all connected edges for
// edges entering `b`
for (const auto &incoming_edge : intersection_shape.incoming_edges)
{
const auto node_along_road_entering = incoming_edge.first;
const auto incoming_edge_id = incoming_edge.second;
const auto node_at_center_of_intersection =
m_node_based_graph.GetTarget(incoming_edge_id);
auto intersection_with_flags_and_angles =
turn_analysis.GetIntersectionGenerator().TransformIntersectionShapeIntoView(
incoming_edge,
intersection_shape.annotated_normalized_shape.normalized_shape,
intersection_shape.intersection_shape,
intersection_shape.annotated_normalized_shape.performed_merges);
auto intersection = turn_analysis.AssignTurnTypes(
incoming_edge, intersection_with_flags_and_angles);
OSRM_ASSERT(intersection.valid(),
m_coordinates[node_at_center_of_intersection]);
intersection =
turn_lane_handler.assignTurnLanes(incoming_edge, std::move(intersection));
// check if we are turning off a via way
const auto turning_off_via_way = way_restriction_map.IsViaWay(
node_along_road_entering, node_at_center_of_intersection);
for (const auto &turn : intersection)
{
// only keep valid turns
if (!turn.entry_allowed)
continue;
// In case a way restriction starts at a given location, add a turn onto
// every artificial node eminating here.
//
// e - f
// |
// a - b
// |
// c - d
//
// ab via bc to cd
// ab via be to ef
//
// has two artifical nodes (be/bc) with restrictions starting at `ab`.
// Since every restriction group (abc | abe) refers to the same
// artificial node, we simply have to find a single representative for
// the turn. Here we check whether the turn in question is the start of
// a via way restriction. If that should be the case, we switch
// the id of the edge-based-node for the target to the ID of the
// duplicated node associated with the turn. (e.g. ab via bc switches bc
// to bc_dup)
auto const target_id = way_restriction_map.RemapIfRestricted(
nbe_to_ebn_mapping[turn.eid],
node_along_road_entering,
node_at_center_of_intersection,
m_node_based_graph.GetTarget(turn.eid),
m_number_of_edge_based_nodes);
{ // scope to forget edge_with_data after
const auto edge_with_data_and_condition =
generate_edge(nbe_to_ebn_mapping[incoming_edge_id],
target_id,
node_along_road_entering,
incoming_edge_id,
node_at_center_of_intersection,
turn.eid,
turn);
buffer.continuous_data.push_back(
std::get<0>(edge_with_data_and_condition));
if (std::get<1>(edge_with_data_and_condition))
{
buffer.conditionals.push_back(
*std::get<1>(edge_with_data_and_condition));
}
}
// when turning off a a via-way turn restriction, we need to not only
// handle the normal edges for the way, but also add turns for every
// duplicated node. This process is integrated here to avoid doing the
// turn analysis multiple times.
if (turning_off_via_way)
{
const auto duplicated_nodes = way_restriction_map.DuplicatedNodeIDs(
node_along_road_entering, node_at_center_of_intersection);
// next to the normal restrictions tracked in `entry_allowed`, via
// ways might introduce additional restrictions. These are handled
// here when turning off a via-way
for (auto duplicated_node_id : duplicated_nodes)
{
const auto from_id = m_number_of_edge_based_nodes -
way_restriction_map.NumberOfDuplicatedNodes() +
duplicated_node_id;
auto const node_at_end_of_turn =
m_node_based_graph.GetTarget(turn.eid);
const auto is_way_restricted = way_restriction_map.IsRestricted(
duplicated_node_id, node_at_end_of_turn);
if (is_way_restricted)
{
auto const restriction = way_restriction_map.GetRestriction(
duplicated_node_id, node_at_end_of_turn);
if (restriction.condition.empty())
continue;
// add into delayed data
auto edge_with_data_and_condition =
generate_edge(NodeID(from_id),
nbe_to_ebn_mapping[turn.eid],
node_along_road_entering,
incoming_edge_id,
node_at_center_of_intersection,
turn.eid,
turn);
buffer.delayed_data.push_back(
std::get<0>(edge_with_data_and_condition));
if (std::get<1>(edge_with_data_and_condition))
{
buffer.conditionals.push_back(
*std::get<1>(edge_with_data_and_condition));
}
// also add the conditions for the way
if (is_way_restricted && !restriction.condition.empty())
{
// add a new conditional for the edge we just created
buffer.conditionals.push_back(
{NodeID(from_id),
nbe_to_ebn_mapping[turn.eid],
{static_cast<std::uint64_t>(-1),
m_coordinates[node_at_center_of_intersection],
restriction.condition}});
}
}
else
{
auto edge_with_data_and_condition =
generate_edge(NodeID(from_id),
nbe_to_ebn_mapping[turn.eid],
node_along_road_entering,
incoming_edge_id,
node_at_center_of_intersection,
turn.eid,
turn);
buffer.delayed_data.push_back(
std::get<0>(edge_with_data_and_condition));
if (std::get<1>(edge_with_data_and_condition))
{
buffer.conditionals.push_back(
*std::get<1>(edge_with_data_and_condition));
}
}
}
}
}
}
}
return buffer_ptr;
});
//
// Guidance stage
//
tbb::filter_t<PipelineBufferPtr, PipelineBufferPtr>
guidance_stage(tbb::filter::parallel, [&](auto buffer_ptr) {
auto &buffer = *buffer_ptr;
for (const auto &intersection_shape : buffer.intersection_shapes)
{
// We capture the thread-local work in these objects, then flush
// them in a controlled manner at the end of the parallel range
// all nodes in the graph are connected in both directions. We check all
// outgoing nodes to find the incoming edge. This is a larger search overhead,
// but the cost we need to pay to generate edges here is worth the additional
// search overhead.
//
// a -> b <-> c
// |
// v
// d
//
// will have:
// a: b,rev=0
// b: a,rev=1 c,rev=0 d,rev=0
// c: b,rev=0
//
// From the flags alone, we cannot determine which nodes are connected to
// `b` by an outgoing edge. Therefore, we have to search all connected edges for
// edges entering `b`
for (const auto &incoming_edge : intersection_shape.incoming_edges)
{
const auto node_along_road_entering = incoming_edge.first;
const auto incoming_edge_id = incoming_edge.second;
const auto node_at_center_of_intersection =
m_node_based_graph.GetTarget(incoming_edge_id);
auto intersection_with_flags_and_angles =
turn_analysis.GetIntersectionGenerator().TransformIntersectionShapeIntoView(
incoming_edge,
intersection_shape.annotated_normalized_shape.normalized_shape,
intersection_shape.intersection_shape,
intersection_shape.annotated_normalized_shape.performed_merges);
auto intersection = turn_analysis.AssignTurnTypes(
incoming_edge, intersection_with_flags_and_angles);
OSRM_ASSERT(intersection.valid(),
m_coordinates[node_at_center_of_intersection]);
intersection =
turn_lane_handler.assignTurnLanes(incoming_edge, std::move(intersection));
// the entry class depends on the turn, so we have to classify the
// interesction for
// every edge
const auto turn_classification = classifyIntersection(
intersection, m_coordinates[node_at_center_of_intersection]);
const auto entry_class_id =
entry_class_hash.ConcurrentFindOrAdd(turn_classification.first);
const auto bearing_class_id =
bearing_class_hash.ConcurrentFindOrAdd(turn_classification.second);
// Note - this is strictly speaking not thread safe, but we know we
// should never be touching the same element twice, so we should
// be fine.
bearing_class_by_node_based_node[node_at_center_of_intersection] =
bearing_class_id;
// check if we are turning off a via way
const auto turning_off_via_way = way_restriction_map.IsViaWay(
node_along_road_entering, node_at_center_of_intersection);
for (const auto &turn : intersection)
{
// only keep valid turns
if (!turn.entry_allowed)
continue;
buffer.continuous_turn_data.push_back(
TurnData{turn.instruction,
turn.lane_data_id,
entry_class_id,
util::guidance::TurnBearing(intersection[0].bearing),
util::guidance::TurnBearing(turn.bearing)});
// generate turn instructions for the artificial nodes created for via ways
if (turning_off_via_way)
{
const auto duplicated_nodes = way_restriction_map.DuplicatedNodeIDs(
node_along_road_entering, node_at_center_of_intersection);
// next to the normal restrictions tracked in `entry_allowed`, via
// ways might introduce additional restrictions. These are handled
// here when turning off a via-way
for (auto duplicated_node_id : duplicated_nodes)
{
auto const node_at_end_of_turn =
m_node_based_graph.GetTarget(turn.eid);
const auto is_way_restricted = way_restriction_map.IsRestricted(
duplicated_node_id, node_at_end_of_turn);
if (is_way_restricted)
{
auto const restriction = way_restriction_map.GetRestriction(
duplicated_node_id, node_at_end_of_turn);
if (restriction.condition.empty())
continue;
}
buffer.delayed_turn_data.push_back(
TurnData{turn.instruction,
turn.lane_data_id,
entry_class_id,
util::guidance::TurnBearing(intersection[0].bearing),
util::guidance::TurnBearing(turn.bearing)});
}
}
}
}
}
return buffer_ptr;
});
// Last part of the pipeline puts all the calculated data into the serial buffers
std::uint64_t ebg_nodes_completed = 0;
util::Percent ebg_progress(log, node_count);
std::vector<EdgeWithData> delayed_data;