/// <summary>
/// Calculates observation probability
/// </summary>
/// <param name="original">GPS track point</param>
/// <param name="candidate">Candidate point</param>
/// <returns>double representing probability that GPS track point corresponds with Candidate point</returns>
double CalculateObservationProbability(GPXPoint original, IPointGeo candidate)
{
double sigma = 30;
double distance = Calculations.GetDistance2D(original, candidate);
return(Math.Exp(-distance * distance / (2 * sigma * sigma)) / (sigma * Math.Sqrt(Math.PI * 2)));
}
public GPXTrackSegment Filter(TimeSpan minInterval, GPXTrackSegment track)
{
GPXTrackSegment result = new GPXTrackSegment();
if (track.Nodes.Count == 0)
{
return(result);
}
GPXPoint last = track.Nodes[0];
result.Nodes.Add(last);
int index = 1;
while (index < track.Nodes.Count)
{
if (track.Nodes[index].Time - last.Time >= minInterval)
{
last = track.Nodes[index];
result.Nodes.Add(last);
}
index++;
}
if (last.Time != track.Nodes.Last().Time)
{
result.Nodes.Add(track.Nodes.Last());
}
return(result);
}
/// <summary>
/// Finds all candidates points for given GPS track point
/// </summary>
/// <param name="gpxPt">GPS point</param>
/// <returns>Collection of points candidate points on road segments</returns>
public IEnumerable <CandidatePoint> FindCandidatePoints(GPXPoint gpxPt)
{
List <CandidatePoint> result = new List <CandidatePoint>();
BBox gpxBbox = new BBox(new IPointGeo[] { gpxPt });
gpxBbox.Inflate(0.0007, 0.0011);
foreach (var road in _trackCutout)
{
if (Topology.Intersects(gpxBbox, road.BBox))
{
Segment <IPointGeo> roadSegment;
IPointGeo projectedPoint = Topology.ProjectPoint(gpxPt, road, out roadSegment);
result.Add(new CandidatePoint()
{
MapPoint = projectedPoint,
Road = road,
RoadSegment = roadSegment,
ObservationProbability = CalculateObservationProbability(gpxPt, projectedPoint)
});
}
}
if (result.Count == 0)
{
throw new Exception(string.Format("Can not find any candidate point for {0}", gpxPt));
}
return(result);
}
public double getTimeInRH(TrafficLight t)
{
double timeAvgSegments = 0;
foreach (var segment in _segments)
{
GPXPoint firstPoint = segment.Nodes.First();
GPXPoint lastPoint = segment.Nodes.Last();
if (segment.Nodes.Contains(t))
{
if (firstPoint == t)
{
break;
}
}
var distance = Calculations.GetDistance2D(firstPoint, lastPoint);
double timeAvgSegment = distance / segment.AvgSpeed;
timeAvgSegments += timeAvgSegment;
if (segment.Nodes.Contains(t))
{
break;
}
}
return(timeAvgSegments);
}
/// <summary>
/// Raises the WaypointRead event
/// </summary>
/// <param name="node">The waypoint read from the xml</param>
protected void OnWaypointRead(GPXPoint waypoint)
{
GPXWaypointReadHandler temp = WaypointRead;
if (temp != null)
{
temp(waypoint);
}
}
/// <summary>
/// Creates a new layer in the CandidatesGraph
/// </summary>
/// <param name="originalPoint">GPX track point</param>
/// <param name="candidates">Candidate points for the original point</param>
public void CreateLayer(GPXPoint originalPoint, IEnumerable <CandidatePoint> candidates)
{
CandidateGraphLayer result = new CandidateGraphLayer()
{
TrackPoint = originalPoint
};
result.Candidates.AddRange(candidates);
foreach (var candidate in candidates)
{
candidate.Layer = result;
}
_layers.Add(result);
}
static void Main(string[] args)
{
string gpxPath = "";
bool showHelp = false;
OptionSet parameters = new OptionSet()
{
{ "gpx=", "path to the map file", v => gpxPath = v },
{ "h|?|help", v => showHelp = v != null },
};
try
{
parameters.Parse(args);
}
catch (OptionException e)
{
Console.Write("TRoute: ");
Console.WriteLine(e.Message);
Console.WriteLine("Try `TRoute --help' for more information.");
return;
}
if (showHelp || string.IsNullOrEmpty(gpxPath))
{
ShowHelp(parameters);
return;
}
HRDocument hr = new HRDocument();
hr.Load(gpxPath);
hr.Webster();
GPXPoint bucketInfo = null;
foreach (var track in hr.Tracks)
{
foreach (var seg in track.Segments)
{
bucketInfo = seg.Nodes.ToList().Find(x => x.Id == 0);
}
}
Solve(hr.getListProcessor(), hr.getJobTime(), hr.getJobId(), bucketInfo, hr.cycleTime);
}
/// <summary>
/// Writes point data to the specific tag to the output
/// </summary>
/// <param name="point">The point that's data should be written</param>
/// <param name="tag">The name of the output tag</param>
/// <example>
/// //writes waypoint
/// WritePointData(waypoint, "wpt");
/// </example>
protected void WritePointData(GPXPoint point, string tag)
{
_xmlWriter.WriteStartElement(tag);
// writing id
_xmlWriter.WriteAttributeString("id", point.Id.ToString(System.Globalization.CultureInfo.InvariantCulture));
_xmlWriter.WriteAttributeString("lat", point.Latitude.ToString(System.Globalization.CultureInfo.InvariantCulture));
_xmlWriter.WriteAttributeString("lon", point.Longitude.ToString(System.Globalization.CultureInfo.InvariantCulture));
if (point.Elevation != 0)
{
_xmlWriter.WriteElementString("ele", point.Elevation.ToString(System.Globalization.CultureInfo.InvariantCulture));
}
if (point.Time != DateTime.MinValue)
{
_xmlWriter.WriteElementString("time", point.Time.ToString("yyyy'-'MM'-'dd'T'HH':'mm':'ss'Z'"));
}
if (string.IsNullOrEmpty(point.Name) == false)
{
_xmlWriter.WriteElementString("name", point.Name);
}
if (string.IsNullOrEmpty(point.Description) == false)
{
_xmlWriter.WriteElementString("desc", point.Description);
}
if (string.IsNullOrEmpty(point.Commenet) == false)
{
_xmlWriter.WriteElementString("cmt", point.Commenet);
}
if (point.TrafficSignal != false)
{
_xmlWriter.WriteAttributeString("traffic_signal", point.TrafficSignal.ToString());
}
if (point.StartBucket >= TimeSpan.Zero && point.EndBucket != TimeSpan.Zero)
{
_xmlWriter.WriteAttributeString("startBucket", point.StartBucket.ToString());
_xmlWriter.WriteAttributeString("endBucket", point.EndBucket.ToString());
}
_xmlWriter.WriteEndElement();
}
static void GenerateGpxFiles(List <Bucket> buckets, string file, int positionFile)
{
foreach (var b in buckets)
{
if (b.Paths.Any())
{
// Saving the Map to GPX instead of OSM - START
var tracks = new List <GPXTrack>();
foreach (var p in b.Paths)
{
GPXTrack track = new GPXTrack(p.Key);
foreach (var t in p.Value)
{
List <GPXPoint> list = new List <GPXPoint>();
foreach (var s in t.Segments)
{
GPXPoint start = new GPXPoint()
{
Latitude = s.StartPoint.Latitude, Longitude = s.StartPoint.Longitude
};
GPXPoint end = new GPXPoint()
{
Latitude = s.EndPoint.Latitude, Longitude = s.EndPoint.Longitude
};
list.Add(start);
list.Add(end);
}
GPXTrackSegment gpxTrack = new GPXTrackSegment(list);
track.Segments.Add(gpxTrack);
}
tracks.Add(track);
}
var gpx = new GPXDocument()
{
Tracks = tracks
};
gpx.Save("mapGpx" + positionFile + ".gpx");
// END
}
}
}
public double getTotalTimeRoute()
{
double timeAvgSegments = 0;
foreach (var s in _segments)
{
GPXPoint firstPoint = s.Nodes.First();
GPXPoint lastPoint = s.Nodes.Last();
var distance = Calculations.GetDistance2D(firstPoint, lastPoint);
if (s.AvgSpeed != 0)
{
double timeAvgSegment = distance / s.AvgSpeed;
timeAvgSegments += timeAvgSegment;
}
}
return(timeAvgSegments);
}
static void Main(string[] args)
{
string osmPath = "";
int eps = -1;
int minTraffic = -1;
bool showHelp = false;
OptionSet parameters = new OptionSet()
{
{ "osm=", "path to the map file", v => osmPath = v },
{ "eps=", "size of the eps-neighborhood to be considered (integer)", v => eps = Convert.ToInt32(v) },
{ "minTraffic=", "minimum traffic considered (integer)", v => minTraffic = Convert.ToInt32(v) },
{ "h|?|help", v => showHelp = v != null },
};
try
{
parameters.Parse(args);
}
catch (OptionException e)
{
Console.Write("TRoute: ");
Console.WriteLine(e.Message);
Console.WriteLine("Try `TRoute --help' for more information.");
return;
}
if (showHelp || string.IsNullOrEmpty(osmPath) || eps < 0 || minTraffic < 0)
{
ShowHelp(parameters);
return;
}
var osmFile = new OSMDB();
osmFile.Load(osmPath);
var roadGraph = new RoadGraph();
roadGraph.Build(osmFile);
// Getting all the nodes with traffic signals
Dictionary <double, OSMNode> tagsNodes = new Dictionary <double, OSMNode>();
foreach (var node in osmFile.Nodes)
{
foreach (var tag in node.Tags)
{
if (tag.Value.Equals("traffic_signals"))
{
if (!tagsNodes.Keys.Contains(node.Latitude + node.Longitude))
{
tagsNodes.Add(node.Latitude + node.Longitude, node);
}
}
}
}
var hotRoutes = new FlowScan().Run(roadGraph, eps, minTraffic);
// Saving GPX file of the Hot Route
HashSet <GPXPoint> listPoints;
HashSet <GPXTrackSegment> listSegments;
GPXTrackSegment segTrack;
List <GPXTrack> track = new List <GPXTrack>();
GPXTrack tr;
//Console.WriteLine(hotRoutes.Count);
foreach (var hr in hotRoutes)
{
//Console.WriteLine("Number segs: " + hr.Segments.Count);
listSegments = new HashSet <GPXTrackSegment>();
foreach (var seg in hr.Segments)
{
listPoints = new HashSet <GPXPoint>();
foreach (var segInner in seg.Geometry.Segments)
{
GPXPoint start;
if (tagsNodes.Keys.Contains(segInner.StartPoint.Latitude + segInner.StartPoint.Longitude))
{
OSMNode osmNode = tagsNodes[segInner.StartPoint.Latitude + segInner.StartPoint.Longitude];
start = new GPXPoint()
{
Id = osmNode.ID, Latitude = segInner.StartPoint.Latitude,
Longitude = segInner.StartPoint.Longitude, TrafficSignal = true
};
}
else
{
OSMNode osmNode = osmFile.Nodes.ToList().First(x => x.Latitude == segInner.StartPoint.Latitude &&
x.Longitude == segInner.StartPoint.Longitude);
start = new GPXPoint()
{
Id = osmNode.ID, Latitude = segInner.StartPoint.Latitude,
Longitude = segInner.StartPoint.Longitude, TrafficSignal = false
};
}
GPXPoint end;
if (tagsNodes.Keys.Contains(segInner.EndPoint.Latitude + segInner.EndPoint.Longitude))
{
OSMNode osmNode = tagsNodes[segInner.EndPoint.Latitude + segInner.EndPoint.Longitude];
end = new GPXPoint()
{
Id = osmNode.ID, Latitude = segInner.EndPoint.Latitude,
Longitude = segInner.EndPoint.Longitude, TrafficSignal = true
};
}
else
{
OSMNode osmNode = osmFile.Nodes.ToList().First(x => x.Latitude == segInner.EndPoint.Latitude &&
x.Longitude == segInner.EndPoint.Longitude);
end = new GPXPoint()
{
Id = osmNode.ID, Latitude = segInner.EndPoint.Latitude,
Longitude = segInner.EndPoint.Longitude, TrafficSignal = false
};
}
listPoints.Add(start);
listPoints.Add(end);
}
segTrack = new GPXTrackSegment(listPoints, seg.AvgSpeed, seg.Speed, seg.Id);
// passing the traffic
segTrack.Traffic = seg.Traffic;
listSegments.Add(segTrack);
}
tr = new GPXTrack();
tr.Segments.AddRange(listSegments);
track.Add(tr);
}
// Bucket Information
GPXTrack tBucket = new GPXTrack();
GPXPoint pBucket = new GPXPoint(0, 0, 0, false);
GPXTrackSegment sBucket = new GPXTrackSegment();
var bucketInfo = osmFile.Nodes.ToList().Find(x => x.ID == 0);
if (bucketInfo != null)
{
pBucket.StartBucket = TimeSpan.Parse(bucketInfo.Tags.First().Value);
pBucket.EndBucket = TimeSpan.Parse(bucketInfo.Tags.Last().Value);
}
sBucket.Nodes.Add(pBucket);
tBucket.Segments.Add(sBucket);
var gpx = new GPXDocument()
{
Tracks = track
};
gpx.Tracks.Add(tBucket);
gpx.Save("mapWithHotRoutes.gpx");
}
// Constructor
public JobShop(List <List <int> > machines, List <List <int> > processingTime, List <List <int> > jobIds, GPXPoint bucketInfo, int cycleTime)
{
this.machinesCount = machines.Count;
this.jobsCount = processingTime.Count;
this.bucketInfo = bucketInfo;
this.cycleTime = cycleTime;
this.jobIds = jobIds;
Console.WriteLine("machinesCount: " + this.machinesCount);
Console.WriteLine("jobsCount: " + jobsCount);
this.allMachines = new List <int>();
for (var i = 0; i < this.machinesCount; i++)
{
this.allMachines.Add(i);
}
this.allJobs = new List <int>();
for (var i = 0; i < this.jobsCount; i++)
{
this.allJobs.Add(i);
}
// Define data.
this.machines = machines;
this.processingTimes = processingTime;
// Computes horizon
for (var i = 0; i < allMachines.Count; i++)
{
this.horizon += processingTimes.ElementAt(i).Sum();
}
Console.WriteLine("Horizon: " + this.horizon);
}
/// <summary>
/// Writes point data to the specific tag to the output
/// </summary>
/// <param name="point">The point that's data should be written</param>
/// <param name="tag">The name of the output tag</param>
/// <example>
/// //writes waypoint
/// WritePointData(waypoint, "wpt");
/// </example>
protected void WritePointData(GPXPoint point, string tag)
{
_xmlWriter.WriteStartElement(tag);
_xmlWriter.WriteAttributeString("lat", point.Latitude.ToString(System.Globalization.CultureInfo.InvariantCulture));
_xmlWriter.WriteAttributeString("lon", point.Longitude.ToString(System.Globalization.CultureInfo.InvariantCulture));
if (point.Elevation != 0) {
_xmlWriter.WriteElementString("ele", point.Elevation.ToString(System.Globalization.CultureInfo.InvariantCulture));
}
if (point.Time != DateTime.MinValue) {
_xmlWriter.WriteElementString("time", point.Time.ToString("yyyy'-'MM'-'dd'T'HH':'mm':'ss'Z'"));
}
if (string.IsNullOrEmpty(point.Name) == false) {
_xmlWriter.WriteElementString("name", point.Name);
}
if (string.IsNullOrEmpty(point.Description) == false) {
_xmlWriter.WriteElementString("desc", point.Description);
}
if (string.IsNullOrEmpty(point.Commenet) == false) {
_xmlWriter.WriteElementString("cmt", point.Commenet);
}
_xmlWriter.WriteEndElement();
}
/// <summary>
/// Writes the specific waypoint to the output
/// </summary>
/// <param name="waypoint">The waypoint to be written</param>
public void WriteWaypoint(GPXPoint waypoint)
{
WritePointData(waypoint, "wpt");
}
/// <summary>
/// Reads a point from gpx document
/// </summary>
private GPXPoint ReadPoint()
{
// latitude attribute
string lat = _xmlReader.GetAttribute("lat");
if (string.IsNullOrEmpty(lat))
{
throw new XmlException("Attribute 'lat' is missing.");
}
double pointLat = double.Parse(lat, System.Globalization.CultureInfo.InvariantCulture);
// longitude attribute
string lon = _xmlReader.GetAttribute("lon");
if (string.IsNullOrEmpty(lon))
{
throw new XmlException("Attribute 'lon' is missing.");
}
// longitude attribute
string trafficSignal = _xmlReader.GetAttribute("traffic_signal");
double pointLon = double.Parse(lon, System.Globalization.CultureInfo.InvariantCulture);
GPXPoint parsedPoint = new GPXPoint(pointLat, pointLon);
// Id
if (_xmlReader.GetAttribute("id") != null)
{
parsedPoint.Id = long.Parse(_xmlReader.GetAttribute("id"));
}
if (trafficSignal != null)
{
parsedPoint.TrafficSignal = bool.Parse(trafficSignal);
}
// Reading bucket info
if (_xmlReader.GetAttribute("startBucket") != null &&
_xmlReader.GetAttribute("endBucket") != null)
{
parsedPoint.StartBucket = TimeSpan.Parse(_xmlReader.GetAttribute("startBucket"));
parsedPoint.EndBucket = TimeSpan.Parse(_xmlReader.GetAttribute("endBucket"));
}
if (_xmlReader.IsEmptyElement == false)
{
_xmlReader.Read();
while (_xmlReader.NodeType != XmlNodeType.EndElement)
{
if (_xmlReader.NodeType == XmlNodeType.Element)
{
switch (_xmlReader.Name)
{
case "ele":
string ele = _xmlReader.ReadString();
parsedPoint.Elevation = double.Parse(ele, System.Globalization.CultureInfo.InvariantCulture);
_xmlReader.Skip();
break;
case "time":
string time = _xmlReader.ReadString();
parsedPoint.Time = DateTime.Parse(time, System.Globalization.CultureInfo.InvariantCulture, System.Globalization.DateTimeStyles.AdjustToUniversal | System.Globalization.DateTimeStyles.AssumeUniversal);
//parsedPoint.Time = TimeSpan.ParseExact(time, "yyyy'-'MM'-'dd'T'HH':'mm':'ss'Z'", System.Globalization.CultureInfo.InvariantCulture, System.Globalization.DateTimeStyles.AdjustToUniversal | System.Globalization.DateTimeStyles.AssumeUniversal);
_xmlReader.Skip();
break;
case "name":
parsedPoint.Name = _xmlReader.ReadString();
_xmlReader.Skip();
break;
case "desc":
parsedPoint.Description = _xmlReader.ReadString();
_xmlReader.Skip();
break;
case "cmt":
parsedPoint.Commenet = _xmlReader.ReadString();
_xmlReader.Skip();
break;
default:
_xmlReader.Skip();
break;
}
}
else
{
_xmlReader.Skip();
}
}
}
_xmlReader.Skip();
return(parsedPoint);
}
static void ProcessCSVFile(string path, string outputPath, int samplingPeriod)
{
double max_lat = -3.691978693, min_lat = -3.8881242275, max_lon = -38.4018707275, min_lon = -38.6374359131; //geo-bounding box for Fortaleza
GPXDocument gpx = new GPXDocument();
Console.Write("Parsing {0} ...", Path.GetFileName(path));
string line;
char[] seps = { ';', ',', '\t' };
char sep = '.';
String[] fields = { };
long last_id = -1;
int id_field = 0;
int lat_field = 1;
int lon_field = 2;
int time_field = 7;
int uf1_field = 3;
int uf2_field = 4;
int uf3_field = 5;
int uf4_field = 6;
Boolean header = true;
GPXTrack trk = null;
List <long> ids = new List <long>();
if (samplingPeriod > 0)
{
DateTime dt = File.GetLastWriteTime(path);
if ((DateTime.Now - dt).Days > samplingPeriod)
{
Console.WriteLine("skiping");
return;
}
}
// Read the file and display it line by line.
System.IO.StreamReader csv = new System.IO.StreamReader(path);
line = csv.ReadLine();
if (line != null)
{
for (int i = 0; i < seps.Length; i++)
{
if ((fields = line.Split(seps[i])).Length > 1)
{
sep = seps[i];
break;
}
}
if (sep == '.')
{
throw new Exception(string.Format("Can not find any known separators.{';',',','TAB'}"));
}
for (int i = 0; i < fields.Length; i++)
{
if (fields[i] == "id")
{
id_field = i;
}
else
if (fields[i] == "lat")
{
lat_field = i;
}
else
if (fields[i] == "lon")
{
lon_field = i;
}
else
if (fields[i] == "time")
{
time_field = i;
}
else
if (fields[i] == "uf1")
{
uf1_field = i;
}
else
if (fields[i] == "uf2")
{
uf2_field = i;
}
else
if (fields[i] == "uf3")
{
uf3_field = i;
}
else
if (fields[i] == "uf4")
{
uf4_field = i;
}
else
{
header = false;
Console.WriteLine(string.Format("Can not find header line.(id, lat, lon, time)"));
csv.Close();
csv = new System.IO.StreamReader(path);
break;
}
}
}
if (!header)
{
line = csv.ReadLine();
}
while ((line = csv.ReadLine()) != null)
{
fields = line.Split(sep);
long id = Convert.ToInt64(fields[id_field]);
if (id != last_id)
{
if (ids.Find(item => item == id) == 0)
{
ids.Add(id);
}
last_id = id;
//break;
}
}
csv.Close();
foreach (long next_id in ids)
{
Console.Write(next_id);
int count = 0;
csv = new System.IO.StreamReader(path);
trk = new GPXTrack();
GPXTrackSegment trkseg = new GPXTrackSegment();
gpx.Tracks.Add(trk);
trk.Name = "trk_" + next_id;
line = csv.ReadLine();
while ((line = csv.ReadLine()) != null)
{
fields = line.Split(sep);
long id = Convert.ToInt64(fields[id_field]);
if (id == next_id)
{
if (!(fields[lat_field] == "null" && fields[lon_field] == "null"))
{
var lat = Double.Parse(fields[lat_field], System.Globalization.CultureInfo.InvariantCulture);
var lon = Double.Parse(fields[lon_field], System.Globalization.CultureInfo.InvariantCulture);
if (lat > min_lat && lat < max_lat && lon > min_lon && lon < max_lon)
{
GPXPoint p = new GPXPoint();
p.Latitude = lat;
p.Longitude = lon;
p.Time = DateTime.ParseExact(fields[time_field], "ddd MMM dd yyyy HH:mm:ss 'GMT-0300 (BRT)'", System.Globalization.CultureInfo.InvariantCulture);
trkseg.Nodes.Add(p);
count++;
}
}
}
}
trk.Segments.Add(trkseg);
csv.Close();
Console.WriteLine("[" + count + "]");
}
String fileout = Path.Combine(outputPath, Path.GetFileNameWithoutExtension(path) + ".gpx");
Console.WriteLine(fileout);
gpx.Save(fileout);
Console.WriteLine("\tDone.");
}
static void Solve(List <List <int> > machines, List <List <int> > processingTimes, List <List <int> > jobIds, GPXPoint bucketInfo, int cycleTime)
{
Console.WriteLine("\n---- Job shop Scheduling Program ----");
JobShop jobShop = new JobShop(machines, processingTimes, jobIds, bucketInfo, cycleTime);
jobShop.RunJobShopScheduling("Jobshop");
}
/// <summary>
/// Writes the specific waypoint to the output
/// </summary>
/// <param name="waypoint">The waypoint to be written</param>
public void WriteWaypoint(GPXPoint waypoint)
{
WritePointData(waypoint, "wpt");
}
