def astar_cnx(g, source_id=None, target_id=None, routes=None):
from limic.util import locate_by_id, distance
cs, node2closest, node2c = g.cs, g.node2closest, g.node2c
if isinstance(source_id, tuple) and isinstance(target_id, tuple):
source, target = source_id[0], target_id[0]
else:
nodes = list(node2closest.keys())
nodes.extend(node2c.keys())
ids = list(map(lambda x: x[0], nodes))
source, target = locate_by_id(ids, source_id, target_id)
source, target = nodes[source], nodes[target]
if not routes is None:
routes.append((source, target))
if source not in node2closest:
if target in node2closest or node2c[source] != node2c[target]:
cost = dist = distance(source, target)
path = None, [(0., 0., False) + source,
(float('inf'), dist, True) + target]
return path
path = astar_nx(node2c[source], (source, ), (target, ))
return path
if target not in node2closest:
cost = dist = distance(source, target)
path = None, [(0., 0., False) + source,
(float('inf'), dist, True) + target]
return path
paths = []
def extend(cp1, cp2):
cost = cp1[0]
path = cp1[1]
assert (path[-1][3:] == cp2[1][0][3:])
path.extend(map(lambda x: ((x[0] + cost, ) + x[1:]), cp2[1][1:]))
cost += cp2[0]
return cost, path
for ns, ps, cs in node2closest[source]:
for nt, pt, ct in node2closest[target]:
c = node2c[ns]
if c != node2c[nt]:
cost = dist = distance(source, target)
path = None, [(0., 0., False) + source,
(float('inf'), dist, True) + target]
return path
cp = astar_nx(ps, (source, ), (ns, ))
cpc = astar_nx(c, (ns, ), (nt, ))
for u, v in zip(cpc[1], cpc[1][1:]):
u, v = u[3:], v[3:]
cuv = c[u][v]
sg = cuv["path"]
cpuv = astar_nx(sg, (u, ), (v, ))
cp = extend(cp, cpuv)
cpt = astar_nx(pt, (nt, ), (target, ))
cp = extend(cp, cpt)
paths.append(cp)
# paths.append((cs+c.graph['lengths'][ns][nt]+ct,[]))
return min(paths)
def build_edges(g, find_all_neighbours, around, eps, safe_dist, penalize):
from limic.overpass import pylon
from limic.util import distance
#count = 0
neighbours2intersection = {}
minusid = [0]
latlon2id = {}
for tower in list(g.nodes()):
#count += 1
#if verbosity >= 2: print(count,"of",total)
for neighbour in find_all_neighbours(tower, around, eps, safe_dist,
minusid, latlon2id, penalize):
if neighbour.tower in g or neighbour.tower.id < 0:
#if verbosity >= 2: print("adding",neighbour)
g.add_edge(tower,
pylon(neighbour.tower.id, neighbour.tower.latlon),
weight=neighbour.dist,
type=neighbour.air)
if neighbour.tower.id < 0:
for intersection in neighbours2intersection.setdefault(
neighbour.tower.neighbours, []):
if intersection.latlon != neighbour.tower.latlon:
#if verbosity >= 2: print("double intersection:",intersection.latlon,neighbour.tower.latlon)
g.add_edge(intersection,
neighbour.tower,
weight=distance(intersection.latlon,
neighbour.tower.latlon),
type=False)
neighbours2intersection[neighbour.tower.neighbours].append(
neighbour.tower)
def reconstruct_path_direct(current):
from limic.util import distance
dist = current.g - current.origin.g if current.origin else 0.
air = distance(
current.tower.latlon,
current.origin.tower.latlon) < 0.9 * dist if current.origin else False
cost = 0.
path = [(current.g, dist, air, current.tower.id, current.tower.latlon[0],
current.tower.latlon[1])]
while current.origin:
current = current.origin
cost = current.g
dist = cost - current.origin.g if current.origin else 0.
air = distance(
current.tower.latlon, current.origin.tower.latlon) < 0.9 * (
current.g - current.origin.g) if current.origin else False
path.append((cost, dist, air, current.tower.id,
current.tower.latlon[0], current.tower.latlon[1]))
path.reverse()
return cost, path
def nodes_in_geometry(tree, polygon):
from limic.util import distance
from shapely.geometry import Point, Polygon
southwest, middle, _ = bounds_center(polygon)
radius = distance(southwest, middle)
candidates = tree.query(middle, radius)
get_latlon = tree.get_latlon
return [
candidate for candidate in candidates
if Point(*get_latlon(candidate)).within(Polygon(polygon))
]
def astar_nx(g, source_id=None, target_id=None):
from limic.util import locate_by_id, haversine_distance
from networkx import astar_path, NetworkXNoPath
if isinstance(source_id, tuple) and isinstance(target_id, tuple):
source, target = source_id[0], target_id[0]
else:
nodes = list(g.nodes())
ids = list(map(lambda x: x[0], nodes))
source, target = locate_by_id(ids, source_id, target_id)
source, target = nodes[source], nodes[target]
targetlat, targetlong = target[1], target[2]
def distance(x, y):
#assert(target==y)
return haversine_distance(longx=x[2],
latx=x[1],
longy=targetlong,
laty=targetlat)
try:
if 'paths' in g.graph and g.graph['paths']:
path = g.graph['paths'][source][target]
else:
path = astar_path(g, source, target, heuristic=distance)
cost = dist = 0.0
dpath = [(cost, dist, False) + path[0]]
for i in range(1, len(path)):
ggg = g[path[i - 1]][path[i]]
dist = ggg['weight']
cost += dist
air = ggg['type']
dpath.append((cost, dist, air < 0) + path[i])
return cost, dpath
except NetworkXNoPath as e:
cost = dist = distance(source, target)
path = None, [(0., 0., False) + source,
(float('inf'), dist, True) + target]
return path
def astar_tower_direct(start,
end,
max_fly=1000,
eps=0.01,
safe_dist=100,
penalty=20,
prec=1):
class node:
def __init__(self, f, g, tower, origin):
self.f = f
self.g = g
self.tower = tower
self.origin = origin
def __lt__(self, other):
return self.f < other.f
def __repr__(self):
return "node(f=" + repr(self.f) + ",g=" + repr(
self.g) + ",tower=" + repr(self.tower) + ",origin=" + repr(
self.origin.tower.id if self.origin else self.origin) + ")"
from limic.overpass import find_all_neighbours
from heapq import heappop, heappush, heapify
from limic.util import distance
from math import inf
latlon2id = {}
minusid = [0]
start_node = node(
distance(start.latlon, end.latlon) * prec, 0, start, None)
nodes = {start.id: start_node}
todo = [start_node]
while todo:
#if verbosity >= 4: print("*******************\n"+str(todo)+"\n***************")
#if verbosity >= 4: print("*******************\n"+str(sorted(todo))+"\n***************")
current = heappop(todo)
#if verbosity >= 2: print("visiting",current.f,current.tower.id,current.tower.latlon)
#if verbosity >= 2: print("full node",current)
if current.tower.id == end.id:
return reconstruct_path_direct(current)
#if verbosity >=2:
# print("CURRENT PATH:\nnode(id:"+(",".join(map(str,reconstruct_path(current)[1])))+");out;")
# print("FRONT:\nnode(id:"+(",".join(map(lambda n:str(n.tower.id),todo)))+");out;")
neighbours = find_all_neighbours(current.tower, max_fly, eps,
safe_dist, minusid, latlon2id,
penalty)
for neighbour in neighbours:
g = current.g + neighbour.dist
neighbour_node = nodes.get(neighbour.tower.id,
node(None, inf, neighbour.tower, None))
if g < neighbour_node.g:
if not neighbour_node.f:
nodes[neighbour.tower.id] = neighbour_node
must_add = neighbour_node not in todo
neighbour_node.origin = current
neighbour_node.g = g
neighbour_node.f = g + distance(neighbour.tower.latlon,
end.latlon) * prec
if must_add:
#if verbosity >= 3: print("added",neighbour_node)
heappush(todo, neighbour_node)
#else:
#if verbosity >= 3: print("modified",neighbour_node)
heapify(todo)
return None, [(0., 0., False, start.id, start.latlon[0], start.latlon[1]),
(float('inf'), start_node.f, True, end.id, end.latlon[0],
end.latlon[1])]
def astar_gt(g, source_id=None, target_id=None):
from graph_tool.search import astar_search, AStarVisitor, StopSearch
from limic.util import locate_by_id, haversine_distance
long = g.vp.long
lat = g.vp.lat
ids = list(map(lambda x: x[1], g.get_vertices([g.vp.id])))
source, target = locate_by_id(ids, source_id, target_id)
source, target = g.vertex(source), g.vertex(target)
targetlong, targetlat = long[target], lat[target]
class Visitor(AStarVisitor):
def __init__(self, target):
self.target = target
def edge_relaxed(self, e):
if e.target() == self.target:
raise StopSearch()
def distance(x):
return haversine_distance(longx=long[x],
latx=lat[x],
longy=targetlong,
laty=targetlat)
dist, pred = astar_search(g,
source,
g.ep.weight,
Visitor(target),
heuristic=distance)
path = []
current = target
total_cost = cost = dist[current]
if g.vertex(pred[current]) == current:
air = True
dist = distance(source)
else:
e = g.edge(g.vertex(pred[current]), g.vertex(current))
dist = g.ep.weight[e]
air = True if g.ep.type[e] < 0 else False
while True:
i = int(current)
path.append((cost, dist, air < 0, ids[i], lat[i], long[i]))
pre = g.vertex(pred[current])
if pre == current:
break
cost -= dist
current = pre
pre = g.vertex(pred[current])
if pre == current:
dist = 0.
air = False
else:
e = g.edge(g.vertex(pre), g.vertex(current))
dist = g.ep.weight[e]
air = True if g.ep.type[e] < 0 else False
path.reverse()
if len(path) < 2:
assert (len(path) == 1)
source = int(source)
return None if source != target else 0., [
(0., 0., False, ids[source], lat[source], long[source])
] + (path if source != target else [])
else:
return total_cost, path
def osm_post(lim,
file_name_out,
around=1000,
eps=0.01,
safe_dist=100,
penalize=20):
from limic.util import start, end, status, file_size, load_pickled, distance, save_pickled
from scipy.spatial import cKDTree as KDTree
from networkx import Graph, astar_path_length
from pyproj import CRS, Transformer
from itertools import chain
from limic.overpass import intersect, pylon
lines, substations, towers, id2tower, id2node, id2lines, id2types = lim
start("Building KD-tree from white nodes")
from limic.util import kdtree
towers_tree = kdtree(towers, get_latlon=lambda x: x.latlon)
end('')
status(len(towers))
start("Deleting black nodes")
to_delete = set()
from limic.util import nodes_in_geometry
for substation in substations:
to_delete.update(
nodes_in_geometry(towers_tree,
list(map(lambda x: id2node[x], substation))))
towers = [tower for tower in towers if tower not in to_delete]
end('')
status(len(towers))
start("Building initial graph")
g = Graph()
g.add_nodes_from(towers)
for line in lines:
line_nodes = list(map(lambda x: id2tower[x], line))
for from_node, to_node in zip(line_nodes, line_nodes[1:]):
if from_node in to_delete or to_node in to_delete:
continue
w = distance(from_node.latlon, to_node.latlon)
g.add_edge(from_node,
to_node,
weight=w,
type=id2types[from_node.id])
end('')
status(len(g.nodes()), end='/')
status(len(g.edges()))
start("Finding neighbours within " + str(around) + "m")
towers_tree = kdtree(towers, get_latlon=lambda x: x.latlon)
end('')
neighbour_indices, neighbours = towers_tree.get_neighbours(around=1000)
end()
start("Computing non-logical intersections")
tower2index = {}
for i, t in zip(range(len(towers)), towers):
tower2index[t] = i
for k, v in id2lines.items():
id2lines[k] = tuple(map(tuple, v))
end('')
segments = set()
for u, v in g.edges():
this = (u, v) if u < v else (v, u)
ui, vi = tower2index[u], tower2index[v]
lines = set()
lines.update(id2lines[u.id])
lines.update(id2lines[v.id])
for neighbour in chain(neighbours[ui], neighbours[vi]):
if neighbour == u or neighbour == v:
continue
if not lines.intersection(id2lines[neighbour.id]):
for nn in g.neighbors(neighbour):
other = (neighbour, nn) if neighbour < nn else (nn,
neighbour)
segments.add(tuple(sorted((this, other))))
end('')
status(len(segments), end=' ')
neighbours2intersection = {}
minusid = 0
latlon2id = {}
segments2intersections = {}
for (t1, t2), (t3, t4) in segments:
res = intersect(t1.latlon,
t2.latlon,
t3.latlon,
t4.latlon,
eps=eps,
no_tu=False)
if res:
intersection, (t, u) = res
if not intersection in latlon2id:
minusid -= 1
latlon2id[intersection] = minusid
segments2intersections.setdefault((t1, t2), []).append(
(t, latlon2id[intersection], intersection))
segments2intersections.setdefault((t3, t4), []).append(
(u, latlon2id[intersection], intersection))
end('')
status(-minusid, end=' ')
for (u, v), intersections in segments2intersections.items():
intersections.sort()
g.remove_edge(u, v)
type = id2types[u.id]
assert (type == id2types[v.id])
seq = [u]
for _, id, latlon in intersections:
seq.append(pylon(id, latlon))
seq.append(v)
for from_node, to_node in zip(seq, seq[1:]):
w = distance(from_node.latlon, to_node.latlon)
g.add_edge(from_node, to_node, weight=w, type=type)
end()
start("Adding routing through air")
airs = set()
for ns in neighbours:
n = ns[0]
for m in ns[1:]:
if not g.has_edge(n, m):
airs.add((n, m))
end('')
for n, m in airs:
w = penalize * distance(n.latlon, m.latlon)
g.add_edge(n, m, weight=w, type=-1)
end('')
status(len(g.nodes()), end='/')
status(len(g.edges()))
from networkx import relabel_nodes
start("Prune redundant edges (incomplete)")
prune_incomplete(g)
end('')
status(len(g.edges()))
start("Prune redundant edges (complete)")
prune_complete(g)
end('')
status(len(g.edges()))
start("Cleaning up graph")
relabel = dict(
map(
lambda tower: (tower,
(tower.id, tower.latlon[0], tower.latlon[1])),
g.nodes()))
relabel_nodes(g, relabel, copy=False)
end()
start("Saving graph to", file_name_out)
save_pickled(file_name_out, g)
end('')
file_size(file_name_out)