diff --git a/package-lock.json b/package-lock.json index 6306b1f..76590b1 100644 --- a/package-lock.json +++ b/package-lock.json @@ -1915,6 +1915,11 @@ "resolved": "https://registry.npmjs.org/destroy/-/destroy-1.0.4.tgz", "integrity": "sha1-l4hXRCxEdJ5CBmE+N5RiBYJqvYA=" }, + "dijkstrajs": { + "version": "1.0.1", + "resolved": "https://registry.npmjs.org/dijkstrajs/-/dijkstrajs-1.0.1.tgz", + "integrity": "sha1-082BIh4+pAdCz83lVtTpnpjdxxs=" + }, "doctrine": { "version": "3.0.0", "resolved": "https://registry.npmjs.org/doctrine/-/doctrine-3.0.0.tgz", diff --git a/package.json b/package.json index c5ac94c..8c47dc6 100644 --- a/package.json +++ b/package.json @@ -17,6 +17,7 @@ "axios": "^0.21.1", "color": "^3.1.3", "csv-parse": "^4.15.4", + "dijkstrajs": "^1.0.1", "express": "^4.17.1", "ol": "^6.5.0", "unzip-stream": "^0.3.1", diff --git a/script/output-graph.js b/script/output-graph.js new file mode 100755 index 0000000..d749c66 --- /dev/null +++ b/script/output-graph.js @@ -0,0 +1,37 @@ +#!/usr/bin/env -S node --experimental-json-modules + +import network from "../src/tam/network.json"; + +console.log("digraph {"); +console.log("graph[layout=fdp, outputorder=nodesfirst]"); + +for (const [stopId, stop] of Object.entries(network.stops)) { + console.log(`${stopId}[label="${stop.properties.name}"]`); +} + +const junctions = new Set(); + +for (const [beginId, begin] of Object.entries(network.navigation)) { + if (!(beginId in network.stops)) { + junctions.add(beginId); + } + + for (const endId in begin) { + if (!(endId in network.stops)) { + junctions.add(endId); + } + } +} + +for (const junction of junctions) { + console.log(`${junction}[label="", shape=point]`); +} + +for (const [beginId, begin] of Object.entries(network.navigation)) { + for (const [endId, end] of Object.entries(begin)) { + const len = end.properties.length; + console.log(`${beginId} -> ${endId}[len=${len}]`); + } +} + +console.log("}"); diff --git a/src/tam/courses.js b/src/tam/courses.js index 18166c8..95d3715 100644 --- a/src/tam/courses.js +++ b/src/tam/courses.js @@ -45,7 +45,7 @@ const isPenultimateStop = (stop, finalStop) => { return true; } - const route = routing.findRoute(stop, finalStop); + const route = routing.findPath(stop, finalStop); // If there is no way to link both stops, it can’t be if (route === null) { diff --git a/src/tam/network.js b/src/tam/network.js index 6c26f21..5042991 100644 --- a/src/tam/network.js +++ b/src/tam/network.js @@ -7,8 +7,8 @@ * Functions in this file also report inconsistencies in OSM data. * * Because of the static nature of this data, it is cached in a - * version-controlled file `network.json` next to this file. To update it, use - * the `script/update-network` script. + * version-controlled file `network.json` next to this file. To update it, + * run the `script/update-network.js` script. */ import * as turfHelpers from "@turf/helpers"; @@ -17,14 +17,91 @@ import * as util from "../util.js"; import * as osm from "./sources/osm.js"; /** - * Fetch stops and lines of the network. - * @param {string[]} lineRefs List of lines to fetch. - * @returns {{stops: Object, lines: Object, segments: Object}} Set of stops, - * segments and lines. + * Route of a line of a transport network. + * @typedef {Object} Route + * @property {string} from Name of the starting point of the route. + * @property {string} to Name of the ending point of the route. + * @property {string?} via Optional name of a major intermediate + * stop of the route. + * @property {string} name Human-readable name of the line. */ -export const fetch = async lineRefs => { - // Retrieve routes, ways and stops from OpenStreetMap - const rawData = await osm.runQuery(`[out:json]; + +/** + * Line of a transport network. + * @typedef {Object} Line + * @property {string} color Hexadecimal color code of this line. + * @property {Array.} routes Routes of this line. + */ + +/** + * Stop in a transport network (as a GeoJSON feature point). + * @typedef {Object} Stop + * @property {string} type Always equal to "Feature". + * @property {string} id Stop identifier (unique in each network.). + * @property {Object} properties + * @property {string} properties.name Human-readable name of the stop. + * @property {string} properties.node Associated node ID in OpenStreetMap. + * @property {Array.} properties.routes + * List of transport lines using this stop (as pairs of + * line and route identifiers). + * @property {Object} geometry + * @property {string} geometry.type Always equal to "Point" + * @property {Array.} geometry.coordinates + * Longitude and latitude of the stop point. + */ + +/** + * Planned segment routing between two stops of a transport network + * (as a GeoJSON feature line string). + * @typedef {Object} Segment + * @property {string} type Always equal to "Feature". + * @property {string} id Segment identifier (format: `{begin}-{end}`). + * @property {Object} properties + * @property {string} properties.begin ID of the stop at the beginning. + * @property {string} properties.end ID of the stop at the end. + * @property {number} properties.length Length of this segment (meters). + * @property {Array.} properties.routes + * List of transport lines using this segment (as pairs of + * line identifiers and line direction numbers). + * @property {Object} geometry + * @property {string} geometry.type Always equal to "LineString". + * @property {Array.>} geometry.coordinates + * Sequence of points forming this segment (as longitude/latitude pairs). + */ + +/** + * Edge of the graph for out-of-route navigation between stops. + * @typedef {Object} NavigationEdge + * @property {string} type Always equal to "Feature". + * @property {Object} properties + * @property {string} properties.begin ID of the stop or node at the beginning. + * @property {string} properties.end ID of the stop or node at the end. + * @property {number} properties.length Length of this edge (meters). + * @property {Object} geometry + * @property {string} geometry.type Always equal to "LineString". + * @property {Array.>} geometry.coordinates + * Sequence of points forming this edge (as longitude/latitude pairs). + */ + +/** + * Information about a public transport network. + * @typedef {Object} Network + * @property {Object.} stops List of stops. + * @property {Object.} lines List of lines. + * @property {Object.} segments List of segments. + * @property {Object.>} navigation + * Graph for out-of-route navigation between stops. + */ + +/** + * Retrieve raw routes, ways and stops from OpenStreetMap for the given + * transport lines. + * @param {Array.} lineRefs List of lines to fetch. + * @return {Array.} List of objects returned by OSM. + */ +// Retrieve routes, ways and stops from OpenStreetMap +const queryLines = async lineRefs => { + return (await osm.runQuery(`[out:json]; // Find the public transport lines bearing the requested references relation[network="TaM"][type="route_master"][ref~"^(${lineRefs.join("|")})$"]; @@ -43,35 +120,23 @@ relation[network="TaM"][type="route_master"][ref~"^(${lineRefs.join("|")})$"]; ); out body qt; -`); +`)).elements; +}; - // List of retrieved objects - const elementsList = rawData.elements; - - // List of retrieved lines - const routeMasters = elementsList.filter(osm.isTransportLine); - - // Retrieved objects indexed by ID - const elements = elementsList.reduce((prev, elt) => { - prev[elt.id] = elt; - return prev; - }, {}); - - // Graph for out-of-route navigation - const navigation = {}; - - // Stops in the network indexed by reference - const stops = {}; - - // Stops indexed by OSM identifier - const stopsReverse = {}; - - // Transport lines of the network indexed by name +/** + * Assemble information about lines, stops and segments from the raw + * OpenStreetMap data. + * @param {Array.} elementsList List of nodes retrieved from OSM. + * @param {Object.} elementsById OSM nodes indexed by their ID. + * @return {Object} Assembled information about lines, stops and segments. + */ +const processRoutes = (elementsList, elementsById) => { const lines = {}; - - // Segments leading from stop to stop in the planned route for each line + const stops = {}; const segments = {}; + const routeMasters = elementsList.filter(osm.isTransportLine); + // Extract lines, associated stops and planned routes for (const routeMaster of routeMasters) { const lineRef = routeMaster.tags.ref; @@ -80,14 +145,14 @@ out body qt; for (const [routeRef, data] of routeMaster.members.entries()) { const routeId = data.ref; - const route = elements[routeId]; + const route = elementsById[routeId]; const { from, via, to, name } = route.tags; const state = route.tags.state || "normal"; // Add missing stops to the global stops object for (const { ref, role } of route.members) { if (role === "stop") { - const stop = elements[ref]; + const stop = elementsById[ref]; if (!("ref" in stop.tags)) { throw new Error(`Stop ${stop.id} @@ -101,10 +166,11 @@ a “ref” tag`); stop.lat ], { name: stop.tags.name, + node: ref.toString(), routes: [[lineRef, routeRef]], + }, { + id: stop.tags.ref, }); - - stopsReverse[ref] = stop.tags.ref; } else { stops[stop.tags.ref].properties.routes.push([ lineRef, @@ -151,7 +217,7 @@ of ${name}`); let currentNode = lineStops[0]; for (let wayIndex = 0; wayIndex < ways.length; wayIndex += 1) { - const way = elements[ways[wayIndex]]; + const way = elementsById[ways[wayIndex]]; const { nodes: wayNodes } = way; const wayNodesSet = new Set(wayNodes); @@ -163,7 +229,7 @@ of ${name}`); let nextNodeIndex = null; if (wayIndex + 1 < ways.length) { - const nextNodeCandidates = elements[ways[wayIndex + 1]] + const nextNodeCandidates = elementsById[ways[wayIndex + 1]] .nodes.filter(node => wayNodesSet.has(node)); if (nextNodeCandidates.length !== 1) { @@ -201,9 +267,9 @@ ${name} is one-way and cannot be used in reverse.`); // Split the path into segments between stops for (let stopIdx = 0; stopIdx + 1 < lineStops.length; ++stopIdx) { - const begin = elements[lineStops[stopIdx]].tags.ref; + const begin = elementsById[lineStops[stopIdx]].tags.ref; const beginIdx = path.indexOf(lineStops[stopIdx]); - const end = elements[lineStops[stopIdx + 1]].tags.ref; + const end = elementsById[lineStops[stopIdx + 1]].tags.ref; const endIdx = path.indexOf( lineStops[stopIdx + 1], beginIdx @@ -225,15 +291,17 @@ different sequence of nodes in two or more lines.`); } else { segments[id] = turfHelpers.lineString(nodesIds.map( nodeId => [ - elements[nodeId].lon, - elements[nodeId].lat + elementsById[nodeId].lon, + elementsById[nodeId].lat ] ), { // Keep track of the original sequence of nodes to // compare with duplicates nodesIds, - routes: [[lineRef, routeRef]] - }); + routes: [[lineRef, routeRef]], + begin: begin, + end: end, + }, { id }); segments[id].properties.length = ( 1000 * turfLength(segments[id])); @@ -260,47 +328,240 @@ different sequence of nodes in two or more lines.`); delete segment.properties.nodesIds; } - // Create out-of-route navigation graph - const navigationId = objId => ( + return { lines, stops, segments }; +}; + +/** + * Create a graph for navigating between stops outside of + * regular planned routes. + * @property {Object.} stops List of stops. + * @param {Array.} elementsList List of nodes retrieved from OSM. + * @param {Object.} elementsById OSM nodes indexed by their ID. + * @return {Object.} Resulting graph. + */ +const createNavigationGraph = (stops, elementsList, elementsById) => { + // Graph of network stops and junctions + const navigation = {}; + + // Predecessors of each graph node + const navigationReverse = {}; + + // Stops indexed by their OSM ID instead of their network ID + const stopsReverse = Object.fromEntries( + Object.entries(stops).map(([id, stop]) => [stop.properties.node, id]) + ); + + // Get the ID of a node in the navigation graph + // (its network ID if it is a network object, otherwise its OSM id) + const getNavigationId = objId => ( objId in stopsReverse ? stopsReverse[objId] : objId.toString() ); + // Get the OSM ID of a navigation object + const getOSMId = navId => ( + navId in stops + ? stops[navId].properties.node + : navId + ); + + // Create graph nodes from OSM nodes for (const obj of elementsList) { if (obj.type === "node") { - const id = navigationId(obj.id); - - navigation[id] = { - // Position of this node - lon: obj.lon, - lat: obj.lat, - - // List of other nodes that can be accessed from this node - successors: [], - }; + navigation[getNavigationId(obj.id)] = {}; + navigationReverse[getNavigationId(obj.id)] = {}; } } + // Link up graph edges with OSM ways for (const obj of elementsList) { if (obj.type === "way") { const oneWay = osm.isOneWay(obj); const pairs = obj.nodes.slice(0, -1).map( (node, i) => [ - navigationId(node), - navigationId(obj.nodes[i + 1]), + getNavigationId(node), + getNavigationId(obj.nodes[i + 1]), ] ); for (const [from, to] of pairs) { - navigation[from].successors.push(to); + navigation[from][to] = [from, to]; + navigationReverse[to][from] = true; if (!oneWay) { - navigation[to].successors.push(from); + navigation[to][from] = [to, from]; + navigationReverse[from][to] = true; } } } } - return { navigation, stops, lines, segments }; + // Mark nodes of the graph to be kept + const nodesToKeep = {}; + + for (const nodeId in navigation) { + if (nodeId in stops) { + // Keep stop nodes + nodesToKeep[nodeId] = true; + continue; + } + + const entries = new Set(Object.keys(navigationReverse[nodeId])); + const exits = new Set(Object.keys(navigation[nodeId])); + + // Keep split nodes, i.e. nodes with at least two exit nodes + // and one entry node that are all distinct from each other + if (entries.size >= 1) { + if (exits.size >= 3) { + nodesToKeep[nodeId] = true; + continue; + } + + if (exits.size === 2) { + for (const entry of entries) { + if (!exits.has(entry)) { + nodesToKeep[nodeId] = true; + continue; + } + } + } + } + + // Keep junction nodes, i.e. nodes with at least two entry nodes + // and one exit node that are all distinct from each other + if (exits.size >= 1) { + if (entries.size >= 3) { + nodesToKeep[nodeId] = true; + continue; + } + + if (entries.size === 2) { + for (const exit of exits) { + if (!entries.has(exit)) { + nodesToKeep[nodeId] = true; + continue; + } + } + } + } + } + + // Compress edges between nodes of interest + for (const beginId in nodesToKeep) { + const begin = navigation[beginId]; + const stack = []; + const parent = {[beginId]: beginId}; + + for (const succId in begin) { + stack.push(succId); + parent[succId] = beginId; + } + + while (stack.length > 0) { + const endId = stack.pop(); + const end = navigation[endId]; + + if (endId in nodesToKeep) { + if (endId in begin) { + continue; + } + + const reversePath = [endId]; + let trackback = parent[endId]; + let oneWay = !(trackback in end); + + while (trackback !== beginId) { + reversePath.push(trackback); + oneWay = oneWay || !(parent[trackback] in navigation[trackback]); + + delete navigation[trackback]; + trackback = parent[trackback]; + } + + reversePath.push(beginId); + const forwardPath = [...reversePath]; + forwardPath.reverse(); + + delete begin[forwardPath[1]]; + + if (!(endId in begin)) { + begin[endId] = forwardPath; + } + + if (!oneWay) { + delete end[reversePath[1]]; + + if (!(beginId in end)) { + end[beginId] = reversePath; + } + } + } else { + let isFirst = true; + + for (const succId in end) { + if (succId !== parent[endId]) { + if (isFirst) { + parent[succId] = endId; + stack.push(succId); + isFirst = false; + } else { + throw new Error(`Multiple successors in \ +non-junction node ${endId}`); + } + } + } + + if (isFirst) { + // Reached a dead-end: remove the path + let trackback = endId; + + while (parent[trackback] !== beginId) { + delete navigation[trackback]; + trackback = parent[trackback]; + } + + delete navigation[trackback]; + delete begin[trackback]; + } + } + } + } + + // Convert graph edges to GeoJSON line strings + for (const [beginId, begin] of Object.entries(navigation)) { + for (const endId in begin) { + begin[endId] = turfHelpers.lineString(begin[endId].map( + nodeId => [ + elementsById[getOSMId(nodeId)].lon, + elementsById[getOSMId(nodeId)].lat + ] + ), { + begin: beginId, + end: endId, + }); + + begin[endId].properties.length = 1000 * turfLength(begin[endId]); + } + } + + return navigation; +}; + +/** + * Fetch information about the network. + * @param {Array.} lineRefs List of lines to fetch. + * @returns {Network} Network metadata extracted from OSM. + */ +export const fetch = async lineRefs => { + const elementsList = await queryLines(lineRefs); + const elementsById = elementsList.reduce((prev, elt) => { + prev[elt.id] = elt; + return prev; + }, {}); + + const { lines, stops, segments } = processRoutes(elementsList, elementsById); + const navigation = createNavigationGraph(stops, elementsList, elementsById); + + return { navigation, lines, stops, segments }; }; diff --git a/src/tam/network.json b/src/tam/network.json index 3c90104..d7e9497 100644 --- a/src/tam/network.json +++ b/src/tam/network.json @@ -1,44473 +1,44337 @@ { "navigation": { "41101": { - "lon": 3.8198414, - "lat": 43.6162888, - "successors": [ - "2564254195", - "2564254158" - ] + "2564254158": { + "type": "Feature", + "properties": { + "begin": "41101", + "end": "2564254158", + "length": 36.24041218096941 + }, + "geometry": { + "type": "LineString", + "coordinates": [ + [ + 3.8198414, + 43.6162888 + ], + [ + 3.819693, + 43.6165965 + ] + ] + } + } }, "41103": { - "lon": 3.817535, - "lat": 43.627657, - "successors": [ - "3781457509", - "3781457316" - ] + "41105": { + "type": "Feature", + "properties": { + "begin": "41103", + "end": "41105", + "length": 540.909024496814 + }, + "geometry": { + "type": 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43.6044915 ], [ - 3.9200614, - 43.6044658 + 3.9200645, + 43.6044668 ], [ 3.9200822, diff --git a/src/tam/routing.js b/src/tam/routing.js index 400a7d8..840065e 100644 --- a/src/tam/routing.js +++ b/src/tam/routing.js @@ -1,40 +1,58 @@ +import * as turfHelpers from "@turf/helpers"; +import dijkstra from "dijkstrajs"; import network from "./network.json"; -/** - * Find a route linking two nodes or stops. - * @param {string} from ID of the starting stop or node. - * @param {string} to ID of the ending stop or node. - * @return {lineString?} If it exists, a segment linking the two nodes that has - * the least number of nodes possible. - */ -export const findRoute = (from, to) => { - const queue = [from]; - const parent = {from: from}; +// Transform the navigation graph to be in the format expected by dijkstrajs +const graph = {}; - while (queue.length > 0 && !(to in parent)) { - const current = queue.shift(); +for (const [beginId, begin] of Object.entries(network.navigation)) { + const neighbors = {}; - for (const successor of network.navigation[current].successors) { - if (!(successor in parent)) { - queue.push(successor); - parent[successor] = current; - } - } + for (const [endId, end] of Object.entries(begin)) { + neighbors[endId] = end.properties.length; } - if (!(to in parent)) { + graph[beginId] = neighbors; +} + +/** + * Find the shortest path of nodes linking two nodes or stops. + * @param {string} from ID of the starting stop or node. + * @param {string} to ID of the ending stop or node. + * @return {Array.} If possible, list of nodes joining `from` to `to`. + */ +export const findPath = (from, to) => { + try { + return dijkstra.find_path(graph, from, to); + } catch (err) { + return null; + } +}; + +/** + * Find the shortest segment linking two nodes or stops. + * @param {string} from ID of the starting stop or node. + * @param {string} to ID of the ending stop or node. + * @return {LineString?} If it exists, a segment linking the two nodes. + */ +export const findSegment = (from, to) => { + const path = findPath(from, to); + + if (path === null) { return null; } - const path = []; - let current = to; + const initial = network.navigation[path[0]][path[1]]; + let points = [...initial.geometry.coordinates]; + let length = initial.properties.length; - while (current !== from) { - path.push(current); - current = parent[current]; + for (let i = 1; i + 1 < path.length; ++i) { + const current = network.navigation[path[i]][path[i + 1]]; + points = points.concat(current.geometry.coordinates.slice(1)); + length += current.properties.length; } - path.push(from); - path.reverse(); - return path; + const route = turfHelpers.lineString(points); + route.properties.length = length; + return route; }; diff --git a/src/tam/simulation.js b/src/tam/simulation.js index 7d985ac..f2f7a0a 100644 --- a/src/tam/simulation.js +++ b/src/tam/simulation.js @@ -1,7 +1,5 @@ import axios from "axios"; import turfAlong from "@turf/along"; -import turfLength from "@turf/length"; -import * as turfHelpers from "@turf/helpers"; import * as turfProjection from "@turf/projection"; import * as routing from "./routing.js"; import network from "./network.json"; @@ -100,20 +98,12 @@ class Course { } // Compute a custom route between two stops - const route = routing.findRoute(this.departureStop, this.arrivalStop); + this.segment = routing.findSegment(this.departureStop, this.arrivalStop); - if (route === null) { + if (this.segment === null) { console.warn(`No route from ${this.departureStop} \ to ${this.arrivalStop}`); } - - this.segment = turfHelpers.lineString( - route.map(node => [ - network.navigation[node].lon, - network.navigation[node].lat, - ]) - ); - this.segment.properties.length = 1000 * turfLength(this.segment); } /** Merge passings data received from the server. */