feat(routing): upgrade to GraphHopper 8.0

NOTICE-THIRD-PARTY.md

@@ -93,22 +93,22 @@ FindBugs-jsr305 (3.0.2)
  * Source: https://code.google.com/p/jsr-305/
 
 
-GraphHopper API (0.13.0)
-
- * License: Apache License, Version 2.0
- * Maven artifact: `com.graphhopper:graphhopper-api:0.13.0`
- * Project: https://www.graphhopper.com/graphhopper-api
- * Source: https://github.com/graphhopper/graphhopper/graphhopper-api
-
-
-GraphHopper Core (0.13.0)
+GraphHopper Core (8.0)
 
  * License: The Apache Software License, Version 2.0
- * Maven artifact: `com.graphhopper:graphhopper-core:0.13.0`
+ * Maven artifact: `com.graphhopper:graphhopper-core:8.0`
  * Project: https://www.graphhopper.com/graphhopper-core
  * Source: https://github.com/graphhopper/graphhopper/graphhopper-core
 
 
+GraphHopper Web API (8.0)
+
+ * License: Apache License, Version 2.0
+ * Maven artifact: `com.graphhopper:graphhopper-web-api:8.0`
+ * Project: https://www.graphhopper.com/graphhopper-web-api
+ * Source: https://github.com/graphhopper/graphhopper/graphhopper-web-api
+
+
 Gson (2.10.1)
 
  * License: Apache-2.0
@@ -133,46 +133,46 @@ HPPC Collections (0.8.1)
  * Source: https://github.com/carrotsearch/hppc/hppc
 
 
-Jackson module: JAXB Annotations (2.9.9)
+Jackson-annotations (2.15.0)
 
  * License: The Apache Software License, Version 2.0
- * Maven artifact: `com.fasterxml.jackson.module:jackson-module-jaxb-annotations:2.9.9`
- * Project: https://github.com/FasterXML/jackson-modules-base
- * Source: https://github.com/FasterXML/jackson-modules-base/jackson-module-jaxb-annotations
-
-
-Jackson-annotations (2.9.0)
-
- * License: The Apache Software License, Version 2.0
- * Maven artifact: `com.fasterxml.jackson.core:jackson-annotations:2.9.0`
- * Project: http://github.com/FasterXML/jackson
+ * Maven artifact: `com.fasterxml.jackson.core:jackson-annotations:2.15.0`
+ * Project: https://github.com/FasterXML/jackson
  * Source: https://github.com/FasterXML/jackson-annotations
 
 
-Jackson-core (2.9.9)
+Jackson-core (2.15.0)
 
  * License: The Apache Software License, Version 2.0
- * Maven artifact: `com.fasterxml.jackson.core:jackson-core:2.9.9`
+ * Maven artifact: `com.fasterxml.jackson.core:jackson-core:2.15.0`
  * Project: https://github.com/FasterXML/jackson-core
  * Source: https://github.com/FasterXML/jackson-core
 
 
-jackson-databind (2.9.9)
+jackson-databind (2.15.0)
 
  * License: The Apache Software License, Version 2.0
- * Maven artifact: `com.fasterxml.jackson.core:jackson-databind:2.9.9`
- * Project: http://github.com/FasterXML/jackson
+ * Maven artifact: `com.fasterxml.jackson.core:jackson-databind:2.15.0`
+ * Project: https://github.com/FasterXML/jackson
  * Source: https://github.com/FasterXML/jackson-databind
 
 
-Jackson-dataformat-XML (2.9.9)
+Jackson-dataformat-XML (2.15.0)
 
  * License: The Apache Software License, Version 2.0
- * Maven artifact: `com.fasterxml.jackson.dataformat:jackson-dataformat-xml:2.9.9`
- * Project: http://wiki.fasterxml.com/JacksonExtensionXmlDataBinding
+ * Maven artifact: `com.fasterxml.jackson.dataformat:jackson-dataformat-xml:2.15.0`
+ * Project: https://github.com/FasterXML/jackson-dataformat-xml
  * Source: https://github.com/FasterXML/jackson-dataformat-xml
 
 
+Jackson-datatype-jts (2.14)
+
+ * License: The Apache Software License, Version 2.0
+ * Maven artifact: `com.graphhopper.external:jackson-datatype-jts:2.14`
+ * Project: https://github.com/bedatadriven/jackson-datatype-jts/
+ * Source: scm:git:https://github.com/bedatadriven/jackson-datatype-jts
+
+
 Janino (2.7.5)
 
  * License: New BSD License
@@ -237,6 +237,14 @@ org.leadpony.justify (1.1.0)
  * Source: https://github.com/leadpony/justify
 
 
+org.locationtech.jts:jts-core (1.19.0)
+
+ * License: Eclipse Distribution License - v 1.0, Eclipse Public License, Version 2.0
+ * Maven artifact: `org.locationtech.jts:jts-core:1.19.0`
+ * Project: https://www.locationtech.org/projects/technology.jts/jts-modules/jts-core
+ * Source: https://github.com/locationtech/jts/jts-modules/jts-core
+
+
 Protocol Buffers [Core] (3.8.0)
 
  * License: 3-Clause BSD License
@@ -269,10 +277,10 @@ Stax2 API (4.2.1)
  * Source: https://github.com/FasterXML/stax2-api
 
 
-Woodstox (5.1.0)
+Woodstox (6.5.1)
 
  * License: The Apache License, Version 2.0
- * Maven artifact: `com.fasterxml.woodstox:woodstox-core:5.1.0`
+ * Maven artifact: `com.fasterxml.woodstox:woodstox-core:6.5.1`
  * Project: https://github.com/FasterXML/woodstox
  * Source: https://github.com/FasterXML/woodstox
 

bundle/src/assembly/mosaic-bundle.xml

@@ -154,9 +154,11 @@
                 <!-- [END] XML object binding -->
 
                 <!-- [START] GraphHopper dependencies -->
-                <include>com.graphhopper:graphhopper-api</include>
+                <include>com.graphhopper:graphhopper-web-api</include>
                 <include>com.graphhopper:graphhopper-core</include>
+                <include>com.graphhopper.external:jackson-datatype-jts</include>
                 <include>com.carrotsearch:hppc</include>
+                <include>org.locationtech.jts:jts-core</include>
                 <!-- [END] GraphHopper dependencies -->
 
                 <include>com.jcraft:jsch</include>

lib/mosaic-routing/pom.xml

@@ -32,16 +32,6 @@
         <dependency>
             <groupId>com.graphhopper</groupId>
             <artifactId>graphhopper-core</artifactId>
-            <exclusions>
-                <exclusion>
-                    <groupId>org.locationtech.jts</groupId>
-                    <artifactId>jts-core</artifactId>
-                </exclusion>
-                <exclusion>
-                    <groupId>org.apache.xmlgraphics</groupId>
-                    <artifactId>xmlgraphics-commons</artifactId>
-                </exclusion>
-            </exclusions>
         </dependency>
         <dependency>
             <groupId>com.google.guava</groupId>

lib/mosaic-routing/src/main/java/org/eclipse/mosaic/lib/routing/CandidateRoute.java

@@ -27,10 +27,20 @@ public class CandidateRoute {
     private final double length;
     private final double time;
 
+    private final double offsetToTarget;
+
+    private final double offsetFromSource;
+
     public CandidateRoute(List<String> connectionIds, double length, double time) {
+        this(connectionIds, length, time, 0, 0);
+    }
+
+    public CandidateRoute(List<String> connectionIds, double length, double time, double offsetFromSource, double offsetToTarget) {
         this.connectionIds = connectionIds;
         this.length = length;
         this.time = time;
+        this.offsetFromSource = offsetFromSource;
+        this.offsetToTarget = offsetToTarget;
     }
 
     public List<String> getConnectionIds() {
@@ -44,4 +54,12 @@ public double getLength() {
     public double getTime() {
         return time;
     }
+
+    public double getOffsetFromSource() {
+        return offsetFromSource;
+    }
+
+    public double getOffsetToTarget() {
+        return offsetToTarget;
+    }
 }

lib/mosaic-routing/src/main/java/org/eclipse/mosaic/lib/routing/database/DatabaseRouting.java

@@ -216,7 +216,7 @@ public CandidateRoute approximateCostsForCandidateRoute(CandidateRoute route, St
             length += con.getLength();
             time += con.getLength() / con.getMaxSpeedInMs();
         }
-        return new CandidateRoute(route.getConnectionIds(), length, time);
+        return new CandidateRoute(route.getConnectionIds(), length, time, 0, Double.POSITIVE_INFINITY);
     }
 
     private Edge findClosestEdge(GeoPoint location) {

lib/mosaic-routing/src/main/java/org/eclipse/mosaic/lib/routing/graphhopper/ExtendedGraphHopper.java

@@ -0,0 +1,161 @@
+/*
+ * Copyright (c) 2020 Fraunhofer FOKUS and others. All rights reserved.
+ *
+ * See the NOTICE file(s) distributed with this work for additional
+ * information regarding copyright ownership.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *
+ * Contact: [email protected]
+ */
+
+package org.eclipse.mosaic.lib.routing.graphhopper;
+
+import org.eclipse.mosaic.lib.routing.RoutingCostFunction;
+import org.eclipse.mosaic.lib.routing.graphhopper.util.GraphhopperToDatabaseMapper;
+import org.eclipse.mosaic.lib.routing.graphhopper.util.TurnCostsProvider;
+
+import com.graphhopper.GHRequest;
+import com.graphhopper.GHResponse;
+import com.graphhopper.GraphHopper;
+import com.graphhopper.config.Profile;
+import com.graphhopper.routing.WeightingFactory;
+import com.graphhopper.routing.ev.Subnetwork;
+import com.graphhopper.routing.subnetwork.PrepareRoutingSubnetworks;
+import com.graphhopper.routing.util.EncodingManager;
+import com.graphhopper.routing.weighting.Weighting;
+import com.graphhopper.storage.BaseGraph;
+import com.graphhopper.storage.RAMDirectory;
+import com.graphhopper.util.Helper;
+import com.graphhopper.util.PMap;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * An extension of GraphHopper which is able to import map data from the MOSAIC scenario database.
+ * Routing functionality is implemented {@link org.eclipse.mosaic.lib.routing.graphhopper.GraphHopperRouting}.
+ */
+class ExtendedGraphHopper extends GraphHopper {
+
+    static final String WEIGHTING_TURN_COSTS = "weighting.turnCosts";
+    static final String WEIGHTING_COST_FUNCTION = "weighting.costFunction";
+    static final String WEIGHTING_GRAPH_MAPPER = "weighting.graphMapper";
+
+    private final Logger logger = LoggerFactory.getLogger(getClass());
+
+    protected GraphLoader graphLoader;
+    protected GraphhopperToDatabaseMapper mapper;
+    protected VehicleEncodingManager encodingManager;
+
+    private boolean fullyLoaded = false;
+
+    ExtendedGraphHopper(VehicleEncodingManager encoding, GraphLoader graphLoader, GraphhopperToDatabaseMapper mapper) {
+        this.graphLoader = graphLoader;
+        this.mapper = mapper;
+        this.encodingManager = encoding;
+
+        setProfiles(encoding.getAllProfiles());
+    }
+
+    @Override
+    public EncodingManager getEncodingManager() {
+        return encodingManager.getEncodingManager();
+    }
+
+    @Override
+    public GraphHopper importOrLoad() {
+        fullyLoaded = false;
+
+        setBaseGraph(new BaseGraph
+                .Builder(getEncodingManager())
+                .setDir(new RAMDirectory())
+                .set3D(false)
+                .withTurnCosts(getEncodingManager().needsTurnCostsSupport())
+                .setSegmentSize(-1)
+                .build()
+        );
+
+        importDB(getGraphHopperLocation());
+        fullyLoaded = true;
+        return this;
+    }
+
+    @Override
+    protected WeightingFactory createWeightingFactory() {
+        return (profile, hints, b) -> {
+            final VehicleEncoding vehicleEncoding = encodingManager.getVehicleEncoding(profile.getVehicle());
+
+            final TurnCostsProvider turnCostProvider = new TurnCostsProvider(vehicleEncoding, getBaseGraph().getTurnCostStorage());
+            if (!hints.getBool(WEIGHTING_TURN_COSTS, false)) {
+                turnCostProvider.disableTurnCosts();
+            }
+            final GraphhopperToDatabaseMapper graphMapper = hints.getObject(WEIGHTING_GRAPH_MAPPER, null);
+            final RoutingCostFunction costFunction = hints.getObject(WEIGHTING_COST_FUNCTION, RoutingCostFunction.Default);
+            return new GraphHopperWeighting(vehicleEncoding, encodingManager.wayType(), turnCostProvider, graphMapper)
+                    .setRoutingCostFunction(costFunction);
+        };
+    }
+
+    private void importDB(String ignore) {
+        if (getBaseGraph() == null) {
+            throw new IllegalStateException("Load or init graph before import database");
+        }
+
+        if (mapper == null) {
+            throw new IllegalStateException("A mapper is required for importing database");
+        }
+
+        logger.info("start creating graph from database");
+
+        graphLoader.initialize(getBaseGraph(), encodingManager, mapper);
+        graphLoader.loadGraph();
+
+        postProcessing(false);
+        try {
+            cleanUp();
+        } catch (Exception e) {
+            logger.warn("Could not clean up routing graph, skipping. Routing might not work as expected!", e);
+        }
+        getBaseGraph().flush();
+    }
+
+    @Override
+    public boolean getFullyLoaded() {
+        return fullyLoaded;
+    }
+
+    @Override
+    public GHResponse route(GHRequest request) {
+        throw new UnsupportedOperationException("Routing Logic is implemented in GraphHopperRouting.");
+    }
+
+    /* the following code has been copied and adjusted from original GraphHopper repository.
+    * This was necessary, since `encodingManager` in `GraphHopper` is private, cannot be set from outside, and is used directly
+    * in `buildSubnetworkRemovalJobs`. */
+    @Override
+    protected void cleanUp() {
+        PrepareRoutingSubnetworks preparation = new PrepareRoutingSubnetworks(getBaseGraph(), buildSubnetworkRemovalJobs());
+        preparation.setMinNetworkSize(200);
+        preparation.setThreads(1);
+        preparation.doWork();
+        logger.info("nodes: " + Helper.nf(getBaseGraph().getNodes()) + ", edges: " + Helper.nf(getBaseGraph().getEdges()));
+    }
+
+    private List<PrepareRoutingSubnetworks.PrepareJob> buildSubnetworkRemovalJobs() {
+        List<PrepareRoutingSubnetworks.PrepareJob> jobs = new ArrayList<>();
+        for (Profile profile : getProfiles()) {
+            Weighting weighting = createWeighting(profile, new PMap());
+            // here we use `getEncodingManager()` instead of `encodingManager`, making this code work
+            jobs.add(new PrepareRoutingSubnetworks.PrepareJob(getEncodingManager().getBooleanEncodedValue(Subnetwork.key(profile.getName())), weighting));
+        }
+        return jobs;
+    }
+
+}