Enhanced turn lane processing #1859

dgearhart · 2019-06-24T20:52:17Z

Issue

Needed to add logic to interpret none or empty turn lanes.
Needed to add logic to assign turn lanes at intersections and activate proper lane direction

Tasklist

Add tests
Review - you must request approval to merge any PR to master
Generally use squash merge to rebase and clean comments before merging
Update the changelog

…anes for the specified turn lane direction. Also, added unit tests for ActivateTurnLanes

…into more_turn_lanes

…re_turn_lanes

…into more_turn_lanes

…hose edges.

…ind an internal edge or not.

…into more_turn_lanes

gknisely · 2019-06-25T01:39:34Z

src/mjolnir/graphenhancer.cc

+    // Skip opposing directed edge and any edge that is not a road. Skip any
+    // edges that are not driveable outbound.
+    if (i == directededge.opp_local_idx() || !(diredge->forwardaccess() & kAutoAccess) ||
+        (directededge.restrictions() & (1 << diredge->localedgeidx())) != 0) {


skip any edges that are restricted too

…re_turn_lanes

gknisely · 2019-06-25T14:47:09Z

src/mjolnir/graphbuilder.cc

+                // to check if the last edge is internal or not.  If it is internal, we remove the
+                // turn lanes from the last edge and leave them on the prior.
+                if (edge.attributes.way_prior)
+                  directededge.set_internal(true);


gknisely · 2019-06-25T14:50:56Z

src/mjolnir/graphenhancer.cc

+  }
+}
+
+// Update the rightmost lane as needed.


This is where we enhance the lanes by adding right lane information where the user added none. We only add slight rights when the through lanes have be accounted for in the turn types.

gknisely · 2019-06-25T14:51:21Z

src/mjolnir/graphenhancer.cc

+}
+
+// Update the leftmost lane as needed.
+void EnhanceLeftLane(const DirectedEdge directededge,


This is where we enhance the lanes by adding left lane information where the user added none. We only add slight lefts when the through lanes have be accounted for in the turn types.

gknisely · 2019-06-25T14:52:11Z

src/mjolnir/graphenhancer.cc

+}
+
+// update turn lanes vector
+bool ProcessLanes(bool isLeft, bool endOnTurn, std::vector<uint16_t>& enhanced_tls) {


ProcessLanes handles the majority of the lane enhancements.

gknisely · 2019-06-25T14:52:58Z

src/mjolnir/graphenhancer.cc

                     GraphTileBuilder& tilebuilder,
+                     GraphReader& reader,
+                     std::mutex& lock,
                     std::vector<TurnLanes>& turn_lanes) {



Some lambdas to check for right and left turns.

gknisely · 2019-06-25T14:54:14Z

src/mjolnir/graphenhancer.cc

+}
+
+// Is the next edge from the end node of the directededge is internal or not.
+bool IsNextEdgeInternal(const DirectedEdge directededge,


Used to determine if we delete the lane info on the prior edge or on the last edge

gknisely · 2019-06-25T14:55:19Z

src/mjolnir/graphenhancer.cc

@@ -1102,6 +1464,47 @@ void enhance(const boost::property_tree::ptree& pt,
      GraphId startnode(id, local_level, i);
      NodeInfo& nodeinfo = tilebuilder.node_builder(i);

+      // Get headings of the edges - set in NodeInfo. Set driveability info


Some refactoring as we needed the heading info for checking for internal lanes.

gknisely · 2019-06-25T15:00:13Z

src/mjolnir/graphenhancer.cc

@@ -1344,14 +1706,42 @@ void enhance(const boost::property_tree::ptree& pt,
          }
        }

+        // since the internal flag is set, we are at either the prior or the next edge and we need to


For the next few lines of code, this is where we either leave or toss the lane information based on if the next edge is internal or not.

kevinkreiser · 2019-06-26T15:24:08Z

src/mjolnir/graphbuilder.cc

+
+        uint32_t size = static_cast<uint32_t>(edges.size());
+        if (!edge.attributes.way_begin)
+          size += 1;


what is this doing?

can some one just describe in general the changes to this function. at a high level i cant quite grok them by looking at the code. like what do the changes accomplish for the sake of lane processing

The changes are we need to flag the edge after the beginning and the edge prior to the last so that we can temporary set the internal flag.

kevinkreiser · 2019-06-26T15:31:40Z

src/mjolnir/graphenhancer.cc

+      if (((*it & kTurnLaneLeft) || (*it & kTurnLaneSharpLeft) || (*it & kTurnLaneSlightLeft) ||
+           (*it & kTurnLaneThrough)) &&
+          (previous == 0u || (previous & kTurnLaneLeft) || (previous & kTurnLaneSharpLeft) ||
+           (previous & kTurnLaneSlightLeft) || (previous & kTurnLaneThrough))) {


no mere human can read this if statement

dgearhart · 2019-06-26T15:38:23Z

src/odin/enhancedtrippath.cc

@@ -17,6 +18,8 @@ using namespace valhalla::midgard;
 using namespace valhalla::baldr;

 namespace {
+constexpr float kShortRemainingDistanceThreshold = 0.402f; // Kilometers (~quarter mile)


used to determine if specific lane should be activated

dgearhart · 2019-06-26T15:40:07Z

src/odin/enhancedtrippath.cc

+}
+
+uint16_t
+EnhancedTripLeg_Edge::ActivateTurnLanes(uint16_t turn_lane_direction,


determines which lanes should be activated based on intersection, current maneuver, and next maneuver

dgearhart · 2019-06-26T15:40:36Z

src/odin/enhancedtrippath.cc

@@ -660,6 +767,145 @@ std::string EnhancedTripLeg_Edge::ToString() const {
  return str;
 }

+std::string EnhancedTripLeg_Edge::TurnLanesToString(


output for debug in specific order

dgearhart · 2019-06-26T15:41:47Z

src/odin/enhancedtrippath.cc

@@ -1245,6 +1361,22 @@ bool EnhancedTripLeg_Node::HasTraversableOutboundIntersectingEdge(
  return false;
 }

+bool EnhancedTripLeg_Node::HasSpecifiedTurnXEdge(const Turn::Type turn_type,


return true if an intersecting edge of the specified turn type exists

dgearhart · 2019-06-26T15:49:15Z

src/odin/enhancedtrippath.cc

@@ -1298,6 +1430,72 @@ uint32_t EnhancedTripLeg_Node::GetStraightestIntersectingEdgeTurnDegree(uint32_t
  return staightest_turn_degree;
 }

+uint32_t EnhancedTripLeg_Node::GetRightMostTurnDegree(uint32_t turn_degree,


will replace constants with this issue

dgearhart · 2019-06-26T15:49:28Z

src/odin/enhancedtrippath.cc

+  return right_most_turn_degree;
+}
+
+uint32_t EnhancedTripLeg_Node::GetLeftMostTurnDegree(uint32_t turn_degree,


will replace constants with this issue

dgearhart · 2019-06-26T15:50:57Z

src/odin/maneuversbuilder.cc

@@ -2322,6 +2342,130 @@ void ManeuversBuilder::EnhanceSignlessInterchnages(std::list<Maneuver>& maneuver
  }
 }

+uint16_t ManeuversBuilder::GetExpectedTurnLaneDirection(Maneuver& maneuver) const {


logic to determine which turn lane to expect based on the maneuver - will continue to iterate/refactor as needed

dgearhart · 2019-06-26T19:20:44Z

src/valhalla_run_route.cc

                                     maneuver.text_instruction() % maneuver.length() % units)
                                        .str(),
                                    " [NARRATIVE] ");

+    // Turn lanes
+    // Only for driving and no start/end maneuvers
+    if ((maneuver.travel_mode() == valhalla::DirectionsLeg_TravelMode_kDrive) &&


Output the turn lanes for RAD testing

…re_turn_lanes

gknisely and others added 30 commits May 31, 2019 13:33

added [left, [straight, left], none, straight] test.

d808d0f

working towards parity.

ac8c9b4

Refactored ActivateTurnLanes to retrun the number of activated turn l…

b9a1042

…anes for the specified turn lane direction. Also, added unit tests for ActivateTurnLanes

Merge branch 'more_turn_lanes' of https://github.com/valhalla/valhalla …

b9ff16d

…into more_turn_lanes

added merge-to-left/right test cases

29933bf

Added unit tests for HasNonDirectionalTurnLane

e06f4cf

Updates for specific turn lane activation

ac39953

added in more cases for specific turn lane activation

8374d57

updated TODO comments

55e6b30

updated the TurnLanesToString method

02ca27c

Assigned turn lanes within step & track remaining maneuver distance

f75f1a6

Merge branch 'master' of https://github.com/valhalla/valhalla into mo…

4c0031f

…re_turn_lanes

added more PA tests.

3bbaca1

Merge branch 'more_turn_lanes' of https://github.com/valhalla/valhalla …

2d5f45f

…into more_turn_lanes

update for route request debug output

46dc589

Added maneuver turn lanes to the output of valhalla_run_route

9c4063f

added some more roundabout examples

a726388

added logic to mark next and previous edges and store turn lanes on t…

e6ece1b

…hose edges.

added logic to set the turnlanes on the correct edge. Depends if we f…

d4843d5

…ind an internal edge or not.

added next and prior to attributes.

fc4e1bf

added another va test.

a0d5f4f

Merge branch 'more_turn_lanes' of https://github.com/valhalla/valhalla …

32de211

…into more_turn_lanes

Added more examples

c10dda5

Merge branch 'more_turn_lanes' of https://github.com/valhalla/valhalla …

d29a9e9

…into more_turn_lanes

format.

8edce5d

added logic to get headings for endnode in diff tile.

5fd08a4

more test routes

556b3ec

Merge branch 'more_turn_lanes' of https://github.com/valhalla/valhalla …

5b9bfb4

…into more_turn_lanes

added more comments.

8dcfbaf

Merge branch 'more_turn_lanes' of https://github.com/valhalla/valhalla …

babff91

…into more_turn_lanes

dgearhart self-assigned this Jun 24, 2019

gknisely reviewed Jun 25, 2019

View reviewed changes

dgearhart added 3 commits June 25, 2019 09:15

Merge branch 'master' of https://github.com/valhalla/valhalla into mo…

682f072

…re_turn_lanes

Updated for #1859

9d1205c

Added another test route

4eebb3e

gknisely reviewed Jun 25, 2019

View reviewed changes

dgearhart added 2 commits June 26, 2019 09:22

clean up - turn lanes only for driving and no start/end maneuvers

ea02a92

added the through case for some forks

ff6907d

kevinkreiser reviewed Jun 26, 2019

View reviewed changes

dgearhart commented Jun 26, 2019

View reviewed changes

kevinkreiser previously approved these changes Jun 27, 2019

View reviewed changes

Merge branch 'master' of https://github.com/valhalla/valhalla into mo…

91ee271

…re_turn_lanes

dgearhart dismissed kevinkreiser’s stale review via 91ee271 June 27, 2019 14:48

dgearhart merged commit db3a99f into master Jun 27, 2019

dgearhart deleted the more_turn_lanes branch June 27, 2019 14:50

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Enhanced turn lane processing #1859

Enhanced turn lane processing #1859

dgearhart commented Jun 24, 2019 •

edited

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gknisely Jun 25, 2019

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dgearhart Jun 26, 2019

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Enhanced turn lane processing #1859

Enhanced turn lane processing #1859

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dgearhart commented Jun 24, 2019 • edited Loading

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dgearhart commented Jun 24, 2019 •

edited

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