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costmatrix.cc
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costmatrix.cc
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#include <algorithm>
#include <cmath>
#include <vector>
#include "baldr/datetime.h"
#include "midgard/encoded.h"
#include "midgard/logging.h"
#include "sif/recost.h"
#include "thor/costmatrix.h"
#include "worker.h"
#include <robin_hood.h>
using namespace valhalla::baldr;
using namespace valhalla::sif;
namespace {
constexpr uint32_t kMaxMatrixIterations = 2000000;
constexpr uint32_t kMaxThreshold = std::numeric_limits<int>::max();
constexpr uint32_t kMaxLocationReservation = 25; // the default config for max matrix locations
// Find a threshold to continue the search - should be based on
// the max edge cost in the adjacency set?
int GetThreshold(const travel_mode_t mode, const int n) {
return (mode == travel_mode_t::kDrive) ? std::min(2800, std::max(100, n / 3)) : 500;
}
bool equals(const valhalla::LatLng& a, const valhalla::LatLng& b) {
return a.has_lat_case() == b.has_lat_case() && a.has_lng_case() == b.has_lng_case() &&
(!a.has_lat_case() || a.lat() == b.lat()) && (!a.has_lng_case() || a.lng() == b.lng());
}
inline const valhalla::PathEdge& find_correlated_edge(const valhalla::Location& location,
const GraphId& edge_id) {
for (const auto& e : location.correlation().edges()) {
if (e.graph_id() == edge_id)
return e;
}
throw std::logic_error("Could not find candidate edge used for label");
}
} // namespace
namespace valhalla {
namespace thor {
class CostMatrix::ReachedMap : public robin_hood::unordered_map<uint64_t, std::vector<uint32_t>> {};
// Constructor with cost threshold.
CostMatrix::CostMatrix(const boost::property_tree::ptree& config)
: MatrixAlgorithm(config),
max_reserved_labels_count_(config.get<uint32_t>("max_reserved_labels_count_bidir_dijkstras",
kInitialEdgeLabelCountBidirDijkstra)),
max_reserved_locations_count_(
config.get<uint32_t>("max_reserved_locations_costmatrix", kMaxLocationReservation)),
check_reverse_connections_(config.get<bool>("costmatrix_check_reverse_connection", false)),
access_mode_(kAutoAccess),
mode_(travel_mode_t::kDrive), locs_count_{0, 0}, locs_remaining_{0, 0},
current_cost_threshold_(0), targets_{new ReachedMap}, sources_{new ReachedMap} {
}
CostMatrix::~CostMatrix() {
}
float CostMatrix::GetCostThreshold(const float max_matrix_distance) {
float cost_threshold;
switch (mode_) {
case travel_mode_t::kBicycle:
cost_threshold = max_matrix_distance / kCostThresholdBicycleDivisor;
break;
case travel_mode_t::kPedestrian:
case travel_mode_t::kPublicTransit:
cost_threshold = max_matrix_distance / kCostThresholdPedestrianDivisor;
break;
case travel_mode_t::kDrive:
default:
cost_threshold = max_matrix_distance / kCostThresholdAutoDivisor;
}
// Increase the cost threshold to make sure requests near the max distance succeed.
// Some costing models and locations require higher thresholds to succeed.
return cost_threshold * 2.0f;
}
// Clear the temporary information generated during time + distance matrix
// construction.
void CostMatrix::Clear() {
// Clear the target edge markings
targets_->clear();
if (check_reverse_connections_)
sources_->clear();
// Clear all source adjacency lists, edge labels, and edge status
// Resize and shrink_to_fit so all capacity is reduced.
auto label_reservation = clear_reserved_memory_ ? 0 : max_reserved_labels_count_;
auto locs_reservation = clear_reserved_memory_ ? 0 : max_reserved_locations_count_;
for (const auto exp_dir : {MATRIX_FORW, MATRIX_REV}) {
// resize all relevant structures down to configured amount of locations (25 default)
if (locs_count_[exp_dir] > locs_reservation) {
edgelabel_[exp_dir].resize(locs_reservation);
edgelabel_[exp_dir].shrink_to_fit();
adjacency_[exp_dir].resize(locs_reservation);
adjacency_[exp_dir].shrink_to_fit();
edgestatus_[exp_dir].resize(locs_reservation);
edgestatus_[exp_dir].shrink_to_fit();
}
for (auto& iter : edgelabel_[exp_dir]) {
if (iter.size() > label_reservation) {
iter.resize(label_reservation);
iter.shrink_to_fit();
}
iter.clear();
}
for (auto& iter : edgestatus_[exp_dir]) {
iter.clear();
}
for (auto& iter : adjacency_[exp_dir]) {
iter.clear();
}
hierarchy_limits_[exp_dir].clear();
locs_status_[exp_dir].clear();
}
best_connection_.clear();
ignore_hierarchy_limits_ = false;
}
// Form a time distance matrix from the set of source locations
// to the set of target locations.
bool CostMatrix::SourceToTarget(Api& request,
baldr::GraphReader& graphreader,
const sif::mode_costing_t& mode_costing,
const sif::travel_mode_t mode,
const float max_matrix_distance) {
request.mutable_matrix()->set_algorithm(Matrix::CostMatrix);
bool invariant = request.options().date_time_type() == Options::invariant;
auto shape_format = request.options().shape_format();
// Set the mode and costing
mode_ = mode;
costing_ = mode_costing[static_cast<uint32_t>(mode_)];
access_mode_ = costing_->access_mode();
auto& source_location_list = *request.mutable_options()->mutable_sources();
auto& target_location_list = *request.mutable_options()->mutable_targets();
current_cost_threshold_ = GetCostThreshold(max_matrix_distance);
auto time_infos = SetOriginTimes(source_location_list, graphreader);
// Initialize best connections and status. Any locations that are the
// same get set to 0 time, distance and are not added to the remaining
// location set.
Initialize(source_location_list, target_location_list, request.matrix());
// Set the source and target locations
// TODO: for now we only allow depart_at/current date_time
SetSources(graphreader, source_location_list, time_infos);
SetTargets(graphreader, target_location_list);
// Update hierarchy limits
if (!ignore_hierarchy_limits_)
ModifyHierarchyLimits();
// Perform backward search from all target locations. Perform forward
// search from all source locations. Connections between the 2 search
// spaces is checked during the forward search.
uint32_t n = 0;
uint32_t interrupt_n = 0;
while (true) {
// First iterate over all targets, then over all sources: we only for sure
// check the connection between both trees on the forward search, so reverse
// has to come first
for (uint32_t i = 0; i < locs_count_[MATRIX_REV]; i++) {
if (locs_status_[MATRIX_REV][i].threshold > 0) {
locs_status_[MATRIX_REV][i].threshold--;
Expand<MatrixExpansionType::reverse>(i, n, graphreader);
// if we exhausted this search
if (locs_status_[MATRIX_REV][i].threshold == 0) {
for (uint32_t source = 0; source < locs_count_[MATRIX_FORW]; source++) {
// update the target for each source's remaining targets, if it still exists
auto& targets = locs_status_[MATRIX_FORW][source].unfound_connections;
auto it = targets.find(i);
if (it != targets.end()) {
// remove the target so we don't come here again
targets.erase(it);
// if there's no more target and the current source has not exhausted
// we update the source's threshold so that it doesn't enter its outer "if" statement
// anymore
if (targets.empty() && locs_status_[MATRIX_FORW][source].threshold > 0) {
// TODO(nils): shouldn't we extend the search here similar to bidir A*
// i.e. if pruning was disabled we extend the search in the other direction
locs_status_[MATRIX_FORW][i].threshold = -1;
if (locs_remaining_[MATRIX_FORW] > 0) {
locs_remaining_[MATRIX_FORW]--;
}
}
}
}
// in any case make sure this was the last time we looked at this target
locs_status_[MATRIX_REV][i].threshold = -1;
if (locs_remaining_[MATRIX_REV] > 0) {
locs_remaining_[MATRIX_REV]--;
}
}
}
}
for (uint32_t i = 0; i < locs_count_[MATRIX_FORW]; i++) {
if (locs_status_[MATRIX_FORW][i].threshold > 0) {
locs_status_[MATRIX_FORW][i].threshold--;
Expand<MatrixExpansionType::forward>(i, n, graphreader, time_infos[i], invariant);
// if we exhausted this search
if (locs_status_[MATRIX_FORW][i].threshold == 0) {
for (uint32_t target = 0; target < locs_count_[MATRIX_REV]; target++) {
// if we still didn't find the connection between this pair
auto& sources = locs_status_[MATRIX_REV][target].unfound_connections;
auto it = sources.find(i);
if (it != sources.end()) {
// remove the source so we don't come here again
sources.erase(it);
// if there's no more sources and the current target has not exhausted
// we update the target's threshold so that it doesn't enter this outer "if" statement
// anymore
if (sources.empty() && locs_status_[MATRIX_REV][target].threshold > 0) {
// TODO(nils): shouldn't we extend the search here similar to bidir A*
// i.e. if pruning was disabled we extend the search in the other direction
locs_status_[MATRIX_REV][i].threshold = -1;
if (locs_remaining_[MATRIX_REV] > 0) {
locs_remaining_[MATRIX_REV]--;
}
}
}
}
// in any case make sure this was the last time we looked at this source
locs_status_[MATRIX_FORW][i].threshold = -1;
if (locs_remaining_[MATRIX_FORW] > 0) {
locs_remaining_[MATRIX_FORW]--;
}
}
}
}
// Break out when remaining sources and targets to expand are both 0
if (locs_remaining_[MATRIX_FORW] == 0 && locs_remaining_[MATRIX_REV] == 0) {
LOG_DEBUG("SourceToTarget iterations: n = " + std::to_string(n));
break;
}
// Protect against edge cases that may lead to never breaking out of
// this loop. This should never occur but lets make sure.
if (n >= kMaxMatrixIterations) {
throw valhalla_exception_t{430};
}
// Allow this process to be aborted
if (interrupt_ && (interrupt_n++ % kInterruptIterationsInterval) == 0) {
(*interrupt_)();
}
n++;
}
// resize/reserve all properties of Matrix on first pass only
valhalla::Matrix& matrix = *request.mutable_matrix();
reserve_pbf_arrays(matrix, best_connection_.size(), costing_->pass());
// Form the matrix PBF output
graph_tile_ptr tile;
bool connection_failed = false;
for (uint32_t connection_idx = 0; connection_idx < best_connection_.size(); connection_idx++) {
auto best_connection = best_connection_[connection_idx];
// if this is the second pass we don't have to process previously found ones again
if (costing_->pass() > 0 && !(matrix.second_pass(connection_idx))) {
continue;
}
uint32_t target_idx = connection_idx % target_location_list.size();
uint32_t source_idx = connection_idx / target_location_list.size();
// first recost and form the path, if desired (either time and/or geometry requested)
const auto shape = RecostFormPath(graphreader, best_connection, source_location_list[source_idx],
target_location_list[target_idx], source_idx, target_idx,
time_infos[source_idx], invariant, shape_format);
float time = best_connection.cost.secs;
if (time < kMaxCost) {
auto dt_info =
DateTime::offset_date(source_location_list[source_idx].date_time(),
time_infos[source_idx].timezone_index,
graphreader.GetTimezoneFromEdge(edgelabel_[MATRIX_REV][target_idx]
.front()
.edgeid(),
tile),
time);
*matrix.mutable_date_times(connection_idx) = dt_info.date_time;
*matrix.mutable_time_zone_offsets(connection_idx) = dt_info.time_zone_offset;
*matrix.mutable_time_zone_names(connection_idx) = dt_info.time_zone_name;
} else {
// let's try a second pass for this connection
matrix.mutable_second_pass()->Set(connection_idx, true);
connection_failed = true;
}
matrix.mutable_from_indices()->Set(connection_idx, source_idx);
matrix.mutable_to_indices()->Set(connection_idx, target_idx);
matrix.mutable_distances()->Set(connection_idx, best_connection.distance);
matrix.mutable_times()->Set(connection_idx, time);
*matrix.mutable_shapes(connection_idx) = shape;
}
return !connection_failed;
}
// Initialize all time distance to "not found". Any locations that
// are the same get set to 0 time, distance and do not add to the
// remaining locations set.
void CostMatrix::Initialize(
const google::protobuf::RepeatedPtrField<valhalla::Location>& source_locations,
const google::protobuf::RepeatedPtrField<valhalla::Location>& target_locations,
const valhalla::Matrix& matrix) {
locs_count_[MATRIX_FORW] = source_locations.size();
locs_count_[MATRIX_REV] = target_locations.size();
const auto& hlimits = costing_->GetHierarchyLimits();
ignore_hierarchy_limits_ =
std::all_of(hlimits.begin() + 1, hlimits.begin() + TileHierarchy::levels().size(),
[](const HierarchyLimits& limits) {
return limits.max_up_transitions == kUnlimitedTransitions;
});
// Add initial sources status
for (const auto exp_dir : {MATRIX_FORW, MATRIX_REV}) {
const auto count = locs_count_[exp_dir];
locs_status_[exp_dir].reserve(count);
hierarchy_limits_[exp_dir].resize(count);
adjacency_[exp_dir].resize(count);
edgestatus_[exp_dir].resize(count);
edgelabel_[exp_dir].resize(count);
for (uint32_t i = 0; i < count; i++) {
// Allocate the adjacency list and hierarchy limits for this source.
// Use the cost threshold to size the adjacency list.
edgelabel_[exp_dir][i].reserve(max_reserved_labels_count_);
adjacency_[exp_dir][i].reuse(0, current_cost_threshold_, costing_->UnitSize(),
&edgelabel_[exp_dir][i]);
locs_status_[exp_dir].emplace_back(kMaxThreshold);
hierarchy_limits_[exp_dir][i] = hlimits;
}
}
// Initialize best connection
GraphId empty;
Cost trivial_cost(0.0f, 0.0f);
Cost max_cost(kMaxCost, kMaxCost);
best_connection_.reserve(locs_count_[MATRIX_FORW] * locs_count_[MATRIX_REV]);
for (uint32_t i = 0; i < locs_count_[MATRIX_FORW]; i++) {
for (uint32_t j = 0; j < locs_count_[MATRIX_REV]; j++) {
const auto connection_idx = i * static_cast<uint32_t>(target_locations.size()) + j;
if (equals(source_locations.Get(i).ll(), target_locations.Get(j).ll())) {
best_connection_.emplace_back(empty, empty, trivial_cost, 0.0f);
best_connection_.back().found = true;
} else if (costing_->pass() > 0 && !matrix.second_pass(connection_idx)) {
// we've found this connection in a previous pass, we only need the time & distance
best_connection_.emplace_back(empty, empty, Cost{0.0f, matrix.times(connection_idx)},
matrix.distances(connection_idx));
best_connection_.back().found = true;
} else {
// in a second pass this block makes sure that if e.g. A -> B is found, but B -> A isn't,
// we still expand both A & B to get the bidirectional benefit
best_connection_.emplace_back(empty, empty, max_cost, static_cast<uint32_t>(kMaxCost));
locs_status_[MATRIX_FORW][i].unfound_connections.insert(j);
locs_status_[MATRIX_REV][j].unfound_connections.insert(i);
}
}
}
// Set the remaining number of sources and targets
locs_remaining_[MATRIX_FORW] = 0;
for (auto& s : locs_status_[MATRIX_FORW]) {
if (!s.unfound_connections.empty()) {
locs_remaining_[MATRIX_FORW]++;
} else {
// don't look at sources which don't have unfound connections, important for second pass
s.threshold = 0;
}
}
locs_remaining_[MATRIX_REV] = 0;
for (auto& t : locs_status_[MATRIX_REV]) {
if (!t.unfound_connections.empty()) {
locs_remaining_[MATRIX_REV]++;
} else {
// don't look at targets which don't have unfound connections, important for second pass
t.threshold = 0;
}
}
}
template <const MatrixExpansionType expansion_direction, const bool FORWARD>
bool CostMatrix::ExpandInner(baldr::GraphReader& graphreader,
const uint32_t index,
const sif::BDEdgeLabel& pred,
const baldr::DirectedEdge* opp_pred_edge,
const baldr::NodeInfo* nodeinfo,
const uint32_t pred_idx,
const EdgeMetadata& meta,
uint32_t& shortcuts,
const graph_tile_ptr& tile,
const baldr::TimeInfo& time_info) {
// Skip if this is a regular edge superseded by a shortcut.
if (shortcuts & meta.edge->superseded()) {
return false;
}
graph_tile_ptr t2 = nullptr;
baldr::GraphId opp_edge_id;
const auto get_opp_edge_data = [&t2, &opp_edge_id, &graphreader, &meta, &tile]() {
t2 = meta.edge->leaves_tile() ? graphreader.GetGraphTile(meta.edge->endnode()) : tile;
if (t2 == nullptr) {
return false;
}
opp_edge_id = t2->GetOpposingEdgeId(meta.edge);
return true;
};
if (meta.edge->is_shortcut()) {
// Skip shortcuts if hierarchy limits are disabled or the opposing tile doesn't exist
if (ignore_hierarchy_limits_ || !get_opp_edge_data())
return false;
// Skip shortcut edges until we have stopped expanding on the next level. Use regular
// edges while still expanding on the next level since we can still transition down to
// that level. If using a shortcut, set the shortcuts mask. Skip if this is a regular
// edge superseded by a shortcut.
if (hierarchy_limits_[FORWARD][index][meta.edge_id.level() + 1].StopExpanding()) {
shortcuts |= meta.edge->shortcut();
} else {
return false;
}
}
// Skip this edge if permanently labeled (best path already found to this
// directed edge) or if no access for this mode.
if (meta.edge_status->set() == EdgeSet::kPermanent) {
return true;
}
const baldr::DirectedEdge* opp_edge = nullptr;
if (!FORWARD) {
// Check the access mode and skip this edge if access is not allowed in the reverse
// direction. This avoids the (somewhat expensive) retrieval of the opposing directed
// edge when no access is allowed in the reverse direction.
if (!(meta.edge->reverseaccess() & access_mode_)) {
return false;
}
if (t2 == nullptr && !get_opp_edge_data()) {
return false;
}
opp_edge = t2->directededge(opp_edge_id);
}
auto& edgelabels = edgelabel_[FORWARD][index];
// Skip this edge if no access is allowed (based on costing method)
// or if a complex restriction prevents transition onto this edge.
uint8_t restriction_idx = kInvalidRestriction;
if (FORWARD) {
if (!costing_->Allowed(meta.edge, false, pred, tile, meta.edge_id, time_info.local_time,
time_info.timezone_index, restriction_idx) ||
costing_->Restricted(meta.edge, pred, edgelabels, tile, meta.edge_id, true,
&edgestatus_[FORWARD][index], time_info.local_time,
time_info.timezone_index)) {
return false;
}
} else {
if (!costing_->AllowedReverse(meta.edge, pred, opp_edge, t2, opp_edge_id, time_info.local_time,
time_info.timezone_index, restriction_idx) ||
costing_->Restricted(meta.edge, pred, edgelabels, tile, meta.edge_id, false,
&edgestatus_[FORWARD][index], time_info.local_time,
time_info.timezone_index)) {
return false;
}
}
// Get cost. Separate out transition cost.
uint8_t flow_sources;
Cost newcost = pred.cost() + (FORWARD ? costing_->EdgeCost(meta.edge, tile, time_info, flow_sources)
: costing_->EdgeCost(opp_edge, t2, time_info, flow_sources));
sif::Cost tc =
FORWARD ? costing_->TransitionCost(meta.edge, nodeinfo, pred)
: costing_->TransitionCostReverse(meta.edge->localedgeidx(), nodeinfo, opp_edge,
opp_pred_edge,
static_cast<bool>(flow_sources & kDefaultFlowMask),
pred.internal_turn());
newcost += tc;
const auto pred_dist = pred.path_distance() + meta.edge->length();
auto& adj = adjacency_[FORWARD][index];
// Check if edge is temporarily labeled and this path has less cost. If
// less cost the predecessor is updated along with new cost and distance.
if (meta.edge_status->set() == EdgeSet::kTemporary) {
BDEdgeLabel& lab = edgelabel_[FORWARD][index][meta.edge_status->index()];
if (newcost.cost < lab.cost().cost) {
adj.decrease(meta.edge_status->index(), newcost.cost);
lab.Update(pred_idx, newcost, newcost.cost, tc, pred_dist, restriction_idx);
}
// Returning true since this means we approved the edge
return true;
}
// Get end node tile (skip if tile is not found) and opposing edge Id
if (t2 == nullptr && !get_opp_edge_data()) {
return false;
}
// not_thru_pruning_ is only set to false on the 2nd pass in matrix_action.
// We allow settling not_thru edges so we can connect both trees on them.
bool not_thru_pruning =
not_thru_pruning_ ? (pred.not_thru_pruning() || !meta.edge->not_thru()) : false;
// Add edge label, add to the adjacency list and set edge status
uint32_t idx = edgelabels.size();
*meta.edge_status = {EdgeSet::kTemporary, idx};
if (FORWARD) {
edgelabels.emplace_back(pred_idx, meta.edge_id, opp_edge_id, meta.edge, newcost, mode_, tc,
pred_dist, not_thru_pruning,
(pred.closure_pruning() || !costing_->IsClosed(meta.edge, tile)),
static_cast<bool>(flow_sources & kDefaultFlowMask),
costing_->TurnType(pred.opp_local_idx(), nodeinfo, meta.edge),
restriction_idx, 0,
meta.edge->destonly() ||
(costing_->is_hgv() && meta.edge->destonly_hgv()),
meta.edge->forwardaccess() & kTruckAccess);
} else {
edgelabels.emplace_back(pred_idx, meta.edge_id, opp_edge_id, meta.edge, newcost, mode_, tc,
pred_dist, not_thru_pruning,
(pred.closure_pruning() || !costing_->IsClosed(opp_edge, t2)),
static_cast<bool>(flow_sources & kDefaultFlowMask),
costing_->TurnType(meta.edge->localedgeidx(), nodeinfo, opp_edge,
opp_pred_edge),
restriction_idx, 0,
opp_edge->destonly() || (costing_->is_hgv() && opp_edge->destonly_hgv()),
opp_edge->forwardaccess() & kTruckAccess);
}
adj.add(idx);
// mark the edge as settled for the connection check
if (!FORWARD) {
(*targets_)[meta.edge_id].push_back(index);
} else if (check_reverse_connections_) {
(*sources_)[meta.edge_id].push_back(index);
}
// setting this edge as reached
if (expansion_callback_) {
expansion_callback_(graphreader, meta.edge_id, pred.edgeid(), "costmatrix", "r", newcost.secs,
pred_dist, newcost.cost);
}
return !(pred.not_thru_pruning() && meta.edge->not_thru());
}
template <const MatrixExpansionType expansion_direction, const bool FORWARD>
bool CostMatrix::Expand(const uint32_t index,
const uint32_t n,
baldr::GraphReader& graphreader,
const baldr::TimeInfo& time_info,
const bool invariant) {
auto& adj = adjacency_[FORWARD][index];
auto& edgelabels = edgelabel_[FORWARD][index];
uint32_t pred_idx = adj.pop();
if (pred_idx == kInvalidLabel) {
// search is exhausted - mark this and update so we don't
// extend searches more than we need to
for (uint32_t st = 0; st < locs_count_[!FORWARD]; st++) {
if (FORWARD) {
UpdateStatus(index, st);
} else {
UpdateStatus(st, index);
}
}
locs_status_[FORWARD][index].threshold = 0;
return false;
}
// Get edge label and check cost threshold
auto pred = edgelabels[pred_idx];
if (pred.cost().secs > current_cost_threshold_) {
locs_status_[FORWARD][index].threshold = 0;
return false;
}
// Settle this edge and log it if requested
auto& edgestatus = edgestatus_[FORWARD][index];
edgestatus.Update(pred.edgeid(), EdgeSet::kPermanent);
if (expansion_callback_) {
auto prev_pred =
pred.predecessor() == kInvalidLabel ? GraphId{} : edgelabels[pred.predecessor()].edgeid();
expansion_callback_(graphreader, pred.edgeid(), prev_pred, "costmatrix", "s", pred.cost().secs,
pred.path_distance(), pred.cost().cost);
}
if (FORWARD) {
CheckForwardConnections(index, pred, n, graphreader);
} else if (check_reverse_connections_) {
CheckReverseConnections(index, pred, n, graphreader);
}
GraphId node = pred.endnode();
// Prune path if predecessor is not a through edge or if the maximum
// number of upward transitions has been exceeded on this hierarchy level.
if ((pred.not_thru() && pred.not_thru_pruning()) ||
(!ignore_hierarchy_limits_ &&
hierarchy_limits_[FORWARD][index][node.level()].StopExpanding())) {
return false;
}
// Get the tile and the node info. Skip if tile is null (can happen
// with regional data sets) or if no access at the node.
graph_tile_ptr tile = graphreader.GetGraphTile(node);
if (tile == nullptr) {
return false;
}
const NodeInfo* nodeinfo = tile->node(node);
// set the time info
auto seconds_offset = invariant ? 0.f : pred.cost().secs;
auto offset_time = FORWARD
? time_info.forward(seconds_offset, static_cast<int>(nodeinfo->timezone()))
: time_info.reverse(seconds_offset, static_cast<int>(nodeinfo->timezone()));
// Get the opposing predecessor directed edge if this is reverse.
const DirectedEdge* opp_pred_edge = nullptr;
if (!FORWARD) {
const auto rev_pred_tile = graphreader.GetGraphTile(pred.opp_edgeid(), tile);
if (rev_pred_tile == nullptr) {
return false;
}
opp_pred_edge = rev_pred_tile->directededge(pred.opp_edgeid());
}
// keep track of shortcuts
uint32_t shortcuts = 0;
// If we encounter a node with an access restriction like a barrier we allow a uturn
if (!costing_->Allowed(nodeinfo)) {
const DirectedEdge* opp_edge = nullptr;
const GraphId opp_edge_id = graphreader.GetOpposingEdgeId(pred.edgeid(), opp_edge, tile);
// Mark the predecessor as a deadend to be consistent with how the
// edgelabels are set when an *actual* deadend (i.e. some dangling OSM geometry)
// is labelled
pred.set_deadend(true);
// Check if edge is null before using it (can happen with regional data sets)
return opp_edge && ExpandInner<expansion_direction>(graphreader, index, pred, opp_pred_edge,
nodeinfo, pred_idx,
{opp_edge, opp_edge_id,
edgestatus.GetPtr(opp_edge_id, tile)},
shortcuts, tile, offset_time);
}
// catch u-turn attempts
bool disable_uturn = false;
EdgeMetadata meta = EdgeMetadata::make(node, nodeinfo, tile, edgestatus);
EdgeMetadata uturn_meta{};
// Expand from end node in <expansion_direction> direction.
for (uint32_t i = 0; i < nodeinfo->edge_count(); ++i, ++meta) {
// Begin by checking if this is the opposing edge to pred.
// If so, it means we are attempting a u-turn. In that case, lets wait with evaluating
// this edge until last. If any other edges were emplaced, it means we should not
// even try to evaluate a u-turn since u-turns should only happen for deadends
const bool is_uturn = pred.opp_local_idx() == meta.edge->localedgeidx();
uturn_meta = is_uturn ? meta : uturn_meta;
// Expand but only if this isnt the uturn, we'll try that later if nothing else works out
disable_uturn =
(!is_uturn &&
ExpandInner<expansion_direction>(graphreader, index, pred, opp_pred_edge, nodeinfo, pred_idx,
meta, shortcuts, tile, offset_time)) ||
disable_uturn;
}
// Handle transitions - expand from the end node of each transition
if (nodeinfo->transition_count() > 0) {
const NodeTransition* trans = tile->transition(nodeinfo->transition_index());
auto& hierarchy_limits = hierarchy_limits_[FORWARD][index];
for (uint32_t i = 0; i < nodeinfo->transition_count(); ++i, ++trans) {
// if this is a downward transition (ups are always allowed) AND we are no longer allowed OR
// we cant get the tile at that level (local extracts could have this problem) THEN bail
graph_tile_ptr trans_tile = nullptr;
if ((!trans->up() && !ignore_hierarchy_limits_ &&
hierarchy_limits[trans->endnode().level()].StopExpanding()) ||
!(trans_tile = graphreader.GetGraphTile(trans->endnode()))) {
continue;
}
// setup for expansion at this level
hierarchy_limits[node.level()].up_transition_count += trans->up();
const auto* trans_node = trans_tile->node(trans->endnode());
EdgeMetadata trans_meta =
EdgeMetadata::make(trans->endnode(), trans_node, trans_tile, edgestatus);
uint32_t trans_shortcuts = 0;
// expand the edges from this node at this level
for (uint32_t i = 0; i < trans_node->edge_count(); ++i, ++trans_meta) {
disable_uturn = ExpandInner<expansion_direction>(graphreader, index, pred, opp_pred_edge,
trans_node, pred_idx, trans_meta,
trans_shortcuts, trans_tile, offset_time) ||
disable_uturn;
}
}
}
// Now, after having looked at all the edges, including edges on other levels,
// we can say if this is a deadend or not, and if so, evaluate the uturn-edge (if it exists)
if (!disable_uturn && uturn_meta) {
// If we found no suitable edge to add, it means we're at a deadend
// so lets go back and re-evaluate a potential u-turn
pred.set_deadend(true);
// TODO(nils): what if there is a shortcut that supersedes our u-turn? can that even be?
// We then need to decide if we should expand the shortcut or the non-shortcut edge...
// Expand the uturn possibility
disable_uturn =
ExpandInner<expansion_direction>(graphreader, index, pred, opp_pred_edge, nodeinfo, pred_idx,
uturn_meta, shortcuts, tile, offset_time);
}
return disable_uturn;
}
// Check if the edge on the forward search connects to a reached edge
// on the reverse search trees.
void CostMatrix::CheckForwardConnections(const uint32_t source,
const BDEdgeLabel& fwd_pred,
const uint32_t n,
GraphReader& graphreader) {
// Disallow connections that are part of an uturn on an internal edge
if (fwd_pred.internal_turn() != InternalTurn::kNoTurn) {
return;
}
// Disallow connections that are part of a complex restriction.
// TODO - validate that we do not need to "walk" the paths forward
// and backward to see if they match a restriction.
if (fwd_pred.on_complex_rest()) {
// TODO(nils): bidir a* is digging deeper
return;
}
// Get the opposing edge. Get a list of target locations whose reverse
// search has reached this edge.
GraphId rev_edgeid = fwd_pred.opp_edgeid();
auto targets = targets_->find(rev_edgeid);
if (targets == targets_->end()) {
return;
}
// Iterate through the targets
for (auto target : targets->second) {
uint32_t idx = source * locs_count_[MATRIX_REV] + target;
if (best_connection_[idx].found) {
continue;
}
// Update any targets whose threshold has been reached
if (best_connection_[idx].max_iterations > 0 && n > best_connection_[idx].max_iterations) {
best_connection_[idx].found = true;
continue;
}
// If we came down here, we know this opposing edge is either settled, or it's a
// target correlated edge which hasn't been pulled out of the queue yet, so a path
// has been found to the end node of this directed edge
const auto& rev_edgestate = edgestatus_[MATRIX_REV][target];
EdgeStatusInfo rev_edgestatus = rev_edgestate.Get(rev_edgeid);
const auto& rev_edgelabels = edgelabel_[MATRIX_REV][target];
uint32_t rev_predidx = rev_edgelabels[rev_edgestatus.index()].predecessor();
const BDEdgeLabel& rev_label = rev_edgelabels[rev_edgestatus.index()];
// Special case - common edge for source and target are both initial edges
if (fwd_pred.predecessor() == kInvalidLabel && rev_predidx == kInvalidLabel) {
// bail if either edge wasn't allowed (see notes in SetSources/Targets)
if (!fwd_pred.path_id() || !rev_label.path_id()) {
return;
}
// remember: transition_cost is abused in SetSources/Targets: cost is secs, secs is length
float s =
std::abs(fwd_pred.cost().secs + rev_label.cost().secs - rev_label.transition_cost().cost);
// Update best connection and set found = true.
// distance computation only works with the casts.
uint32_t d = std::abs(static_cast<int>(fwd_pred.path_distance()) +
static_cast<int>(rev_label.path_distance()) -
static_cast<int>(rev_label.transition_cost().secs));
best_connection_[idx].Update(fwd_pred.edgeid(), rev_edgeid, Cost(s, s), d);
best_connection_[idx].found = true;
// Update status and update threshold if this is the last location
// to find for this source or target
UpdateStatus(source, target);
} else {
float oppcost = (rev_predidx == kInvalidLabel) ? 0.f : rev_edgelabels[rev_predidx].cost().cost;
float c = fwd_pred.cost().cost + oppcost + rev_label.transition_cost().cost;
// Check if best connection
if (c < best_connection_[idx].cost.cost) {
float oppsec = (rev_predidx == kInvalidLabel) ? 0.f : rev_edgelabels[rev_predidx].cost().secs;
uint32_t oppdist =
(rev_predidx == kInvalidLabel) ? 0U : rev_edgelabels[rev_predidx].path_distance();
float s = fwd_pred.cost().secs + oppsec + rev_label.transition_cost().secs;
uint32_t d = fwd_pred.path_distance() + oppdist;
// Update best connection and set a threshold
best_connection_[idx].Update(fwd_pred.edgeid(), rev_edgeid, Cost(c, s), d);
if (best_connection_[idx].max_iterations == 0) {
best_connection_[idx].max_iterations =
n + GetThreshold(mode_, edgelabel_[MATRIX_FORW][source].size() +
edgelabel_[MATRIX_REV][target].size());
}
// Update status and update threshold if this is the last location
// to find for this source or target
UpdateStatus(source, target);
}
}
// setting this edge as connected
if (expansion_callback_) {
auto prev_pred = fwd_pred.predecessor() == kInvalidLabel
? GraphId{}
: edgelabel_[MATRIX_FORW][source][fwd_pred.predecessor()].edgeid();
expansion_callback_(graphreader, fwd_pred.edgeid(), prev_pred, "costmatrix", "c",
fwd_pred.cost().secs, fwd_pred.path_distance(), fwd_pred.cost().cost);
}
}
return;
}
void CostMatrix::CheckReverseConnections(const uint32_t target,
const BDEdgeLabel& rev_pred,
const uint32_t n,
GraphReader& graphreader) {
// Disallow connections that are part of an uturn on an internal edge
if (rev_pred.internal_turn() != InternalTurn::kNoTurn) {
return;
}
// Disallow connections that are part of a complex restriction.
// TODO - validate that we do not need to "walk" the paths forward
// and backward to see if they match a restriction.
if (rev_pred.on_complex_rest()) {
return;
}
// Get the opposing edge. Get a list of source locations whose forward
// search has reached this edge.
GraphId fwd_edgeid = rev_pred.opp_edgeid();
auto sources = sources_->find(fwd_edgeid);
if (sources == sources_->end()) {
return;
}
// Iterate through the sources
for (auto source : sources->second) {
uint32_t source_idx = source * locs_count_[MATRIX_REV] + target;
if (best_connection_[source_idx].found) {
continue;
}
// Update any targets whose threshold has been reached
if (best_connection_[source_idx].max_iterations > 0 &&
n > best_connection_[source_idx].max_iterations) {
best_connection_[source_idx].found = true;
continue;
}
// If this edge has been reached then a shortest path has been found
// to the end node of this directed edge.
EdgeStatusInfo fwd_edgestatus = edgestatus_[MATRIX_FORW][source].Get(fwd_edgeid);
if (fwd_edgestatus.set() != EdgeSet::kUnreachedOrReset) {
const auto& fwd_edgelabels = edgelabel_[MATRIX_FORW][source];
uint32_t fwd_predidx = fwd_edgelabels[fwd_edgestatus.index()].predecessor();
const BDEdgeLabel& fwd_label = fwd_edgelabels[fwd_edgestatus.index()];
// Special case - common edge for source and target are both initial edges
if (rev_pred.predecessor() == kInvalidLabel && fwd_predidx == kInvalidLabel) {
// bail if either edge wasn't allowed
if (!rev_pred.path_id() || !fwd_label.path_id()) {
return;
}
// remember: transition_cost is abused in SetSources/Targets: cost is secs, secs is length
float s =
std::abs(rev_pred.cost().secs + fwd_label.cost().secs - fwd_label.transition_cost().cost);
// Update best connection and set found = true.
// distance computation only works with the casts.
uint32_t d = std::abs(static_cast<int>(rev_pred.path_distance()) +
static_cast<int>(fwd_label.path_distance()) -
static_cast<int>(fwd_label.transition_cost().secs));
best_connection_[source_idx].Update(fwd_edgeid, rev_pred.edgeid(), Cost(s, s), d);
best_connection_[source_idx].found = true;
// Update status and update threshold if this is the last location
// to find for this source or target
UpdateStatus(source, target);
} else {
float oppcost = (fwd_predidx == kInvalidLabel) ? 0 : fwd_edgelabels[fwd_predidx].cost().cost;
float c = rev_pred.cost().cost + oppcost + fwd_label.transition_cost().cost;
// Check if best connection
if (c < best_connection_[source_idx].cost.cost) {
float fwd_sec =
(fwd_predidx == kInvalidLabel) ? 0 : fwd_edgelabels[fwd_predidx].cost().secs;
uint32_t fwd_dist =
(fwd_predidx == kInvalidLabel) ? 0 : fwd_edgelabels[fwd_predidx].path_distance();
float s = rev_pred.cost().secs + fwd_sec + fwd_label.transition_cost().secs;
uint32_t d = rev_pred.path_distance() + fwd_dist;
// Update best connection and set a threshold
best_connection_[source_idx].Update(fwd_edgeid, rev_pred.edgeid(), Cost(c, s), d);
if (best_connection_[source_idx].max_iterations == 0) {
best_connection_[source_idx].max_iterations =
n + GetThreshold(mode_, edgelabel_[MATRIX_FORW][source].size() +
edgelabel_[MATRIX_REV][target].size());
}
// Update status and update threshold if this is the last location
// to find for this source or target
UpdateStatus(source, target);
}
}
// setting this edge as connected
if (expansion_callback_) {
auto prev_pred = rev_pred.predecessor() == kInvalidLabel
? GraphId{}
: edgelabel_[MATRIX_REV][source][rev_pred.predecessor()].edgeid();
expansion_callback_(graphreader, rev_pred.edgeid(), prev_pred, "costmatrix", "c",
rev_pred.cost().secs, rev_pred.path_distance(), rev_pred.cost().cost);
}
}
}
return;
}
// Update status when a connection is found.
void CostMatrix::UpdateStatus(const uint32_t source, const uint32_t target) {
// Remove the target from the source status
auto& s = locs_status_[MATRIX_FORW][source].unfound_connections;
auto it = s.find(target);
if (it != s.end()) {
s.erase(it);
if (s.empty() && locs_status_[MATRIX_FORW][source].threshold > 0) {
// At least 1 connection has been found to each target for this source.
// Set a threshold to continue search for a limited number of times.
locs_status_[MATRIX_FORW][source].threshold =
GetThreshold(mode_, edgelabel_[MATRIX_FORW][source].size() +
edgelabel_[MATRIX_REV][target].size());
}
}
// Remove the source from the target status
auto& t = locs_status_[MATRIX_REV][target].unfound_connections;
it = t.find(source);
if (it != t.end()) {
t.erase(it);
if (t.empty() && locs_status_[MATRIX_REV][target].threshold > 0) {
// At least 1 connection has been found to each source for this target.
// Set a threshold to continue search for a limited number of times.
locs_status_[MATRIX_REV][target].threshold =
GetThreshold(mode_, edgelabel_[MATRIX_FORW][source].size() +
edgelabel_[MATRIX_REV][target].size());
}
}
}
// Sets the source/origin locations. Search expands forward from these
// locations.
void CostMatrix::SetSources(GraphReader& graphreader,
const google::protobuf::RepeatedPtrField<valhalla::Location>& sources,
const std::vector<baldr::TimeInfo>& time_infos) {
// Go through each source location
uint32_t index = 0;
Cost empty_cost;
for (const auto& origin : sources) {
// Only skip inbound edges if we have other options
bool has_other_edges = false;
std::for_each(origin.correlation().edges().begin(), origin.correlation().edges().end(),
[&has_other_edges](const valhalla::PathEdge& e) {
has_other_edges = has_other_edges || !e.end_node();
});
// Iterate through edges and add to adjacency list
for (const auto& edge : origin.correlation().edges()) {
// If origin is at a node - skip any inbound edge (dist = 1)
if (has_other_edges && edge.end_node()) {
continue;
}