public override Task <RoutingResponse> EnqueueControlMessage(ControlMessage request, ServerCallContext context)
{
RoutingResponse response;
using (this.m_duration.NewTimer()) {
this.m_logger.LogDebug("Received egress routing request for sensor {sensorId}.", request.SensorID);
try {
var dto = ControlMessageProtobufConverter.Convert(request);
this.m_requests.Inc();
this.m_queue.Add(dto);
response = new RoutingResponse {
Count = 1,
Message = "Messages queued.",
ResponseID = ByteString.CopyFrom(Guid.NewGuid().ToByteArray())
};
} catch (FormatException ex) {
this.m_logger.LogWarning("Received messages from an invalid sensor. Exception: {exception}", ex);
response = new RoutingResponse {
Count = 0,
Message = "Messages not queued. Invalid sensor ID.",
ResponseID = ByteString.CopyFrom(Guid.NewGuid().ToByteArray())
};
}
}
return(Task.FromResult(response));
}
public static RoutingResponse GetRoute(GeoCoordinate start, GeoCoordinate dest, ISession session)
{
try
{
Logger.Write("Requesting routing info to http://openls.geog.uni-heidelberg.de", LogLevel.Debug);
//var responseFromServer = PostXmlData("http://openls.geog.uni-heidelberg.de/route", PrepareRequest(start, dest), session.Proxy);
var responseFromServer = PostXmlData("http://openls.geog.uni-heidelberg.de/testing2015/routing", PrepareRequest(start, dest), session.Proxy);
Logger.Write(
responseFromServer != null
? "Got response from http://openls.geog.uni-heidelberg.de"
: "Wrong response from http://openls.geog.uni-heidelberg.de, we doomed", LogLevel.Debug);
var responseParsed = HandleResponse(responseFromServer);
return(responseParsed);
}
catch (Exception ex)
{
Logger.Write("Routing error: " + ex.Message, LogLevel.Debug);
}
RoutingResponse emptyResponse = new RoutingResponse();
return(emptyResponse);
}
private static RoutingResponse HandleResponse(string responseFromServer)
{
var resp = new RoutingResponse();
var xmldoc = new XmlDocument();
xmldoc.LoadXml(responseFromServer);
var xmlnsManager = new XmlNamespaceManager(xmldoc.NameTable);
xmlnsManager.AddNamespace("xls", "http://www.opengis.net/xls");
xmlnsManager.AddNamespace("xsi", "http://www.w3.org/2001/XMLSchema-instance");
xmlnsManager.AddNamespace("gml", "http://www.opengis.net/gml");
try
{
var coordNodes = xmldoc.SelectNodes("/xls:XLS/xls:Response/xls:DetermineRouteResponse/xls:RouteGeometry/gml:LineString/gml:pos", xmlnsManager);
var points = new List <List <double> >();
if (coordNodes != null && coordNodes.Count > 0)
{
var rnd = new Random();
points.AddRange(from XmlNode node in coordNodes select node.InnerText into coordinate where coordinate != string.Empty select coordinate.Split(' ') into xy where xy.Length == 3 let lat = double.Parse(xy[1], CultureInfo.InvariantCulture) let lng = double.Parse(xy[0], CultureInfo.InvariantCulture) let alt = double.Parse(xy[2], CultureInfo.InvariantCulture) + 0.7 + rnd.NextInRange(0.1, 0.3) select new List <double> {
lng, lat, alt
});
resp.Coordinates = points;
}
}
catch
{
//ignore
}
return(resp);
}
public override Task <RoutingResponse> EnqueueBulkMessages(TextMessageData request, ServerCallContext context)
{
RoutingResponse response;
using (this.m_duration.NewTimer()) {
this.m_logger.LogDebug("Bulk ingress request with {count} messages.", request.Messages.Count);
try {
var dto = new List <Message>();
foreach (var raw in request.Messages)
{
var message = MessageProtobufConverter.Convert(raw);
if (MessageValidator.Validate(message))
{
dto.Add(message);
}
}
this.m_queue.AddRange(dto);
this.m_messageRequests.Inc();
response = new RoutingResponse {
Count = dto.Count,
Message = "Messages queued.",
ResponseID = ByteString.CopyFrom(Guid.NewGuid().ToByteArray())
};
} catch (FormatException ex) {
this.m_logger.LogWarning("Received messages from an invalid sensor. Exception: {exception}", ex);
response = new RoutingResponse {
Count = 0,
Message = "Messages not queued. Invalid sensor ID.",
ResponseID = ByteString.CopyFrom(Guid.NewGuid().ToByteArray())
};
}
}
return(Task.FromResult(response));
}
public override Task <RoutingResponse> EnqueueMeasurement(Platform.Router.Contracts.DTO.Measurement request, ServerCallContext context)
{
RoutingResponse response;
using (this.m_duration.NewTimer()) {
this.m_logger.LogDebug("Received measurement routing request from sensor {sensorId}.",
request.SensorID);
try {
var count = 0;
var dto = MeasurementProtobufConverter.Convert(request);
if (MeasurementValidator.Validate(dto))
{
this.m_queue.Add(dto);
this.m_measurementRequests.Inc();
count += 1;
}
response = new RoutingResponse {
Count = count,
Message = "Measurements queued.",
ResponseID = ByteString.CopyFrom(Guid.NewGuid().ToByteArray())
};
} catch (FormatException) {
this.m_logger.LogWarning("Received messages from an invalid sensor (ID): {sensorID}",
request.SensorID);
response = new RoutingResponse {
Count = 0,
Message = "Measurements not queued. Invalid sensor ID.",
ResponseID = ByteString.CopyFrom(Guid.NewGuid().ToByteArray())
};
}
}
return(Task.FromResult(response));
}
private async void BuildTheRoute_Click(object sender, RoutedEventArgs e)
{
if (_mapPoints.Count < 2)
{
return;
}
CheckRouteServicePreffer();
if (_mapPoints.Count > 47 && !_manualRoute)
{
MessageBox.Show(
"Too many waypoints, try to reduce them to 47, or wait for next releases, where that limit will be increased!",
"Routing Error", MessageBoxButton.OK, MessageBoxImage.Information);
return;
}
BuildingProgressBar.Value = 0;
BotWindowData bot;
var route = GetWorkingRouting(out bot);
if (route == "error" && !_manualRoute)
{
MessageBox.Show(
"You have to enter Google Direction API or Mapzen Valhalla API to any of your bots, before creating a route",
"API Key Error", MessageBoxButton.OK, MessageBoxImage.Information);
return;
}
var start = _mapPoints.FirstOrDefault(x => x.IsStart) ?? _mapPoints.First();
BuildingProgressBar.Value = 10;
RoutingResponse response = null;
var cycleWp = _mapPoints.Where(x => !x.IsStart).Select(x => x.Location).ToList();
cycleWp.Add(start.Location);
List <GeoCoordinate> routePoints;
if (!_manualRoute)
{
if (route == "google")
{
response = GoogleRouting.GetRoute(start.Location, null, bot.Session, cycleWp, true);
}
else if (route == "mapzen")
{
response = MapzenRouting.GetRoute(start.Location, null, bot.Session, cycleWp, true);
}
if (response?.Coordinates == null || response.Coordinates.Count == 0)
{
return;
}
routePoints = response.Coordinates.Select(wp => new GeoCoordinate(wp[0], wp[1])).ToList();
}
else
{
cycleWp.Insert(0, start.Location);
routePoints = new List <GeoCoordinate>(cycleWp);
}
BuildingProgressBar.Value = 60;
_currentRoute?.Points?.Clear();
if (_currentRoute == null)
{
_currentRoute = new GMapRoute(new List <PointLatLng>());
RouteCreatorMap.Markers.Add(_currentRoute);
}
BuildingProgressBar.Value = 70;
_buildedRoute = new List <GeoCoordinate>(routePoints);
foreach (var item in routePoints)
{
_currentRoute.Points?.Add(new PointLatLng(item.Latitude, item.Longitude));
}
_currentRoute?.RegenerateShape(RouteCreatorMap);
var path = _currentRoute?.Shape as Path;
if (path != null)
{
path.Stroke = new SolidColorBrush(Color.FromRgb(255, 0, 0));
}
bot = MainWindow.BotsCollection.FirstOrDefault(
x => !string.IsNullOrEmpty(x.GlobalSettings.LocationSettings.MapzenApiElevationKey));
if (bot != null)
{
await bot.Session.MapzenApi.FillAltitude(_buildedRoute.ToList());
}
BuildingProgressBar.Value = 100;
_builded = true;
}
private async Task BuildTheRouteTask(CancellationToken token)
{
try
{
token.ThrowIfCancellationRequested();
if (_mapPoints.Count < 2)
{
return;
}
await Dispatcher.BeginInvoke(new ThreadStart(CheckRouteServicePrefer));
if (_mapPoints.Count > 47 && !_manualRoute)
{
Dispatcher.Invoke(new ThreadStart(delegate
{
MessageBox.Show(
TranslationEngine.GetDynamicTranslationString("%TOO_MANY_ROUTE_POINTS%",
"Too many waypoints, try to reduce them to 47, or wait for next releases, where that limit will be increased!"),
"Routing Error", MessageBoxButton.OK, MessageBoxImage.Information);
}));
return;
}
UpdateProgress(TranslationEngine.GetDynamicTranslationString("%ROUTE_PROGRESS_2%", "Started!..."), 0);
BotWindowData bot;
var route = GetWorkingRouting(out bot);
if (route == "error" && !_manualRoute)
{
MessageBox.Show(
TranslationEngine.GetDynamicTranslationString("%NO_ROUTE_API_FOUND%",
"You have to enter Google Direction API or Mapzen Valhalla API to any of your bots, before creating a route"),
"API Key Error", MessageBoxButton.OK, MessageBoxImage.Information);
return;
}
var start = _mapPoints.FirstOrDefault(x => x.IsStart) ?? _mapPoints.First();
UpdateProgress(TranslationEngine.GetDynamicTranslationString("%ROUTE_PROGRESS_3%", "Started!..."), 10);
RoutingResponse response = null;
var cycleWp = _mapPoints.Where(x => !x.IsStart).Select(x => x.Location).ToList();
cycleWp.Add(start.Location);
List <GeoCoordinate> routePoints;
token.ThrowIfCancellationRequested();
if (!_manualRoute)
{
if (route == "google")
{
response = GoogleRouting.GetRoute(start.Location, null, bot.Session, cycleWp, true);
}
else if (route == "mapzen")
{
response = MapzenRouting.GetRoute(start.Location, null, bot.Session, cycleWp, true);
}
if (response?.Coordinates == null || response.Coordinates.Count == 0)
{
return;
}
routePoints = response.Coordinates.Select(wp => new GeoCoordinate(wp[0], wp[1])).ToList();
}
else
{
cycleWp.Insert(0, start.Location);
routePoints = new List <GeoCoordinate>(cycleWp);
}
token.ThrowIfCancellationRequested();
UpdateProgress(
TranslationEngine.GetDynamicTranslationString("%ROUTE_PROGRESS_4%", "Handling result..."), 60);
_currentRoute?.Points?.Clear();
if (_currentRoute == null)
{
_currentRoute = new GMapRoute(new List <PointLatLng>());
}
await RouteCreatorMap.Dispatcher.BeginInvoke(new ThreadStart(delegate
{
RouteCreatorMap.Markers.Add(_currentRoute);
}));
token.ThrowIfCancellationRequested();
UpdateProgress(
TranslationEngine.GetDynamicTranslationString("%ROUTE_PROGRESS_5%", "Requesting altitude..."), 70);
_buildedRoute = new List <GeoCoordinate>(routePoints);
token.ThrowIfCancellationRequested();
foreach (var item in routePoints)
{
_currentRoute.Points?.Add(new PointLatLng(item.Latitude, item.Longitude));
}
await Dispatcher.BeginInvoke(new ThreadStart(delegate
{
try
{
_currentRoute.RegenerateShape(RouteCreatorMap);
}
catch (Exception)
{
//ignore
}
}));
var path = _currentRoute?.Shape as Path;
await Dispatcher.BeginInvoke(new ThreadStart(delegate
{
if (path != null)
{
path.Stroke = new SolidColorBrush(Color.FromRgb(255, 0, 0));
}
}));
bot = MainWindow.BotsCollection.FirstOrDefault(
x => !string.IsNullOrEmpty(x.GlobalSettings.LocationSettings.MapzenApiKey));
if (bot != null)
{
await bot.Session.MapzenApi.FillAltitude(_buildedRoute.ToList(), token : token);
}
UpdateProgress(TranslationEngine.GetDynamicTranslationString("%ROUTE_PROGRESS_6%", "Done!"), 100);
_builded = true;
}
catch (OperationCanceledException)
{
//ignore
}
}
public ResponseWrapper(RoutingRequest request, RoutingResponse rawResponse)
{
// TODO: Complete member initialization
this.request = request;
this.rawResponse = rawResponse;
}
public static RoutingResponse GetRoute(GeoCoordinate start, GeoCoordinate dest, ISession session, List <GeoCoordinate> waypoints, bool silent = false)
{
string apiKey = session.LogicSettings.MapzenValhallaApiKey;
if (string.IsNullOrEmpty(apiKey))
{
if (!silent)
{
session.EventDispatcher.Send(new WarnEvent
{
Message = "Mapzen Valhalla API Key is Empty!"
});
}
return(new RoutingResponse());
}
if (waypoints == null || waypoints.Count == 0)
{
waypoints = new List <GeoCoordinate> {
dest
};
}
waypoints.Insert(0, start);
string waypointsRequest = "";
if (waypoints.Count > 0)
{
waypointsRequest = "\"locations\":[";
var wpList = new List <string>();
foreach (var wp in waypoints)
{
wpList.Add($"{{\"lat\":{wp.Latitude.ToString(CultureInfo.InvariantCulture)},\"lon\":{wp.Longitude.ToString(CultureInfo.InvariantCulture)},\"type\":\"break\"}}");
}
waypointsRequest += wpList.Aggregate((x, v) => x + "," + v);
waypointsRequest += "],";
}
try
{
Logger.Write("Requesting routing info to Mapzen Valhalla Routing API", LogLevel.Debug);
var request = WebRequest.Create(
"https://valhalla.mapzen.com/route?json={" + waypointsRequest +
"\"costing\":\"pedestrian\",\"costing_options\":{\"pedestrian\":{\"alley_factor\":1.0, \"driveway_factor\":1.0, \"step_penalty\":1.0}}}" +
$"&api_key={apiKey}");
request.Credentials = CredentialCache.DefaultCredentials;
request.Proxy = WebRequest.DefaultWebProxy;
request.Proxy.Credentials = CredentialCache.DefaultCredentials;
var responseFromServer = "";
request.Timeout = 20000;
using (var response = request.GetResponse())
{
Logger.Write("Got response from MapzenValhalla", LogLevel.Debug);
//Console.WriteLine(((HttpWebResponse)response).StatusDescription);
using (var dataStream = response.GetResponseStream())
using (var reader = new StreamReader(dataStream))
{
responseFromServer = reader.ReadToEnd();
}
}
var valhallaResponse = JsonConvert.DeserializeObject <ValhallaResponse>(responseFromServer);
var responseParsed = new RoutingResponse();
var route = valhallaResponse.trip;
if (route != null)
{
responseParsed.Coordinates = route.GetRoute();
}
return(responseParsed);
}
catch (Exception ex)
{
Logger.Write("Routing error: " + ex.Message, LogLevel.Debug);
}
RoutingResponse emptyResponse = new RoutingResponse();
return(emptyResponse);
}
