626 lines
27 KiB
Python
626 lines
27 KiB
Python
import logging
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from collections import deque
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from decimal import Decimal
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from itertools import chain, combinations
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from operator import attrgetter, itemgetter
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import numpy as np
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from django.core.validators import MinValueValidator
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from django.db import models
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from django.urls import reverse
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from django.utils.functional import cached_property
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from django.utils.text import format_lazy
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from django.utils.translation import gettext_lazy as _
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from scipy.sparse.csgraph._shortest_path import dijkstra
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from shapely import prepared
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from shapely.affinity import scale
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from shapely.geometry import JOIN_STYLE, LineString, MultiPolygon
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from shapely.geometry.polygon import orient
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from shapely.ops import unary_union
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from c3nav.mapdata.fields import GeometryField, I18nField
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from c3nav.mapdata.grid import grid
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from c3nav.mapdata.models import Level
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from c3nav.mapdata.models.access import AccessRestrictionMixin
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from c3nav.mapdata.models.geometry.base import GeometryMixin
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from c3nav.mapdata.models.locations import SpecificLocation
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from c3nav.mapdata.utils.cache.changes import changed_geometries
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from c3nav.mapdata.utils.geometry import (assert_multilinestring, assert_multipolygon, clean_cut_polygon,
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cut_polygon_with_line)
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class LevelGeometryMixin(GeometryMixin):
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level = models.ForeignKey('mapdata.Level', on_delete=models.CASCADE, verbose_name=_('level'))
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class Meta:
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abstract = True
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def get_geojson_properties(self, *args, instance=None, **kwargs) -> dict:
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result = super().get_geojson_properties(*args, **kwargs)
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result['level'] = self.level_id
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if hasattr(self, 'get_color'):
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color = self.get_color(instance=instance)
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if color:
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result['color'] = color
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if hasattr(self, 'opacity'):
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result['opacity'] = self.opacity
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return result
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def _serialize(self, level=True, **kwargs):
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result = super()._serialize(**kwargs)
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if level:
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result['level'] = self.level_id
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return result
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def details_display(self, **kwargs):
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result = super().details_display(**kwargs)
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result['display'].insert(3, (
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_('Level'),
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{
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'id': self.level_id,
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'slug': self.level.get_slug(),
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'title': self.level.title,
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'can_search': self.level.can_search,
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},
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))
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result['level'] = self.level_id
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return result
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@property
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def subtitle(self):
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base_subtitle = super().subtitle
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level = getattr(self, '_level_cache', None)
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if level is not None:
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return format_lazy(_('{category}, {level}'),
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category=base_subtitle,
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level=level.title)
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return base_subtitle
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def register_change(self, force=False):
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force = force or self.all_geometry_changed
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if force or self.geometry_changed:
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changed_geometries.register(self.level_id, self.geometry if force else self.get_changed_geometry())
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def register_delete(self):
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changed_geometries.register(self.level_id, self.geometry)
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@classmethod
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def q_for_request(cls, request, prefix='', allow_none=False):
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return (
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super().q_for_request(request, prefix=prefix, allow_none=allow_none) &
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Level.q_for_request(request, prefix=prefix+'level__', allow_none=allow_none)
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)
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def save(self, *args, **kwargs):
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self.register_change()
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super().save(*args, **kwargs)
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class Building(LevelGeometryMixin, models.Model):
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"""
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The outline of a building on a specific level
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"""
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geometry = GeometryField('polygon')
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class Meta:
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verbose_name = _('Building')
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verbose_name_plural = _('Buildings')
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default_related_name = 'buildings'
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class Space(LevelGeometryMixin, SpecificLocation, models.Model):
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"""
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An accessible space. Shouldn't overlap with spaces on the same level.
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"""
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geometry = GeometryField('polygon')
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height = models.DecimalField(_('height'), max_digits=6, decimal_places=2, null=True, blank=True,
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validators=[MinValueValidator(Decimal('0'))])
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outside = models.BooleanField(default=False, verbose_name=_('only outside of building'))
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enter_description = I18nField(_('Enter description'), blank=True, fallback_language=None)
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base_mapdata_accessible = models.BooleanField(default=False,
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verbose_name=_('always accessible (overwrites base mapdata setting)'))
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class Meta:
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verbose_name = _('Space')
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verbose_name_plural = _('Spaces')
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default_related_name = 'spaces'
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def _serialize(self, geometry=True, **kwargs):
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result = super()._serialize(geometry=geometry, **kwargs)
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result['outside'] = self.outside
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result['height'] = None if self.height is None else float(str(self.height))
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return result
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@property
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def grid_square(self):
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return grid.get_squares_for_bounds(self.geometry.bounds) or ''
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def details_display(self, editor_url=True, **kwargs):
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result = super().details_display(**kwargs)
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result['display'].extend([
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(_('height'), self.height),
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(_('outside only'), _('Yes') if self.outside else _('No')),
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])
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if editor_url:
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result['editor_url'] = reverse('editor.spaces.detail', kwargs={'level': self.level_id, 'pk': self.pk})
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return result
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class Door(LevelGeometryMixin, AccessRestrictionMixin, models.Model):
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"""
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A connection between two spaces
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"""
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geometry = GeometryField('polygon')
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class Meta:
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verbose_name = _('Door')
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verbose_name_plural = _('Doors')
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default_related_name = 'doors'
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class ItemWithValue:
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def __init__(self, obj, func):
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self.obj = obj
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self._func = func
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@cached_property
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def value(self):
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return self._func()
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class AltitudeArea(LevelGeometryMixin, models.Model):
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"""
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An altitude area
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"""
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geometry = GeometryField('multipolygon')
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altitude = models.DecimalField(_('altitude'), null=False, max_digits=6, decimal_places=2)
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altitude2 = models.DecimalField(_('second altitude'), null=True, max_digits=6, decimal_places=2)
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point1 = GeometryField('point', null=True)
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point2 = GeometryField('point', null=True)
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class Meta:
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verbose_name = _('Altitude Area')
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verbose_name_plural = _('Altitude Areas')
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default_related_name = 'altitudeareas'
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ordering = ('altitude', )
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def get_altitudes(self, points):
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points = np.asanyarray(points).reshape((-1, 2))
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if self.altitude2 is None:
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return np.full((points.shape[0], ), fill_value=float(self.altitude))
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slope = np.array(self.point2.coords) - np.array(self.point1.coords)
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distances = (np.sum(((points - np.array(self.point1.coords)) * slope), axis=1) / (slope ** 2).sum()).clip(0, 1)
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if self.altitude2 < self.altitude:
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min_altitude = float(self.altitude2)
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max_altitude = float(self.altitude)
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else:
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min_altitude = float(self.altitude)
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max_altitude = float(self.altitude2)
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return np.clip(
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float(self.altitude) + distances*(float(self.altitude2)-float(self.altitude)),
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a_min=min_altitude, a_max=max_altitude
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)
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@classmethod
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def recalculate(cls):
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# collect location areas
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all_areas = []
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all_ramps = []
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space_areas = {}
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spaces = {}
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levels = Level.objects.prefetch_related('buildings', 'doors', 'spaces', 'spaces__columns',
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'spaces__obstacles', 'spaces__lineobstacles', 'spaces__holes',
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'spaces__stairs', 'spaces__ramps', 'spaces__altitudemarkers')
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logger = logging.getLogger('c3nav')
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for level in levels:
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areas = []
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ramps = []
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stairs = []
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# collect all accessible areas on this level
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buildings_geom = unary_union(tuple(building.geometry for building in level.buildings.all()))
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for space in level.spaces.all():
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spaces[space.pk] = space
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space.orig_geometry = space.geometry
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if space.outside:
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space.geometry = space.geometry.difference(buildings_geom)
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space_accessible = space.geometry.difference(
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unary_union(tuple(c.geometry for c in space.columns.all() if c.access_restriction_id is None) +
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tuple(o.geometry for o in space.obstacles.all() if o.altitude == 0) +
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tuple(o.buffered_geometry for o in space.lineobstacles.all() if o.altitude == 0) +
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tuple(h.geometry for h in space.holes.all()))
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)
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space_ramps = unary_union(tuple(r.geometry for r in space.ramps.all()))
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areas.append(space_accessible.difference(space_ramps))
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for geometry in assert_multipolygon(space_accessible.intersection(space_ramps)):
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ramp = AltitudeArea(geometry=geometry, level=level)
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ramp.geometry_prep = prepared.prep(geometry)
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ramp.space = space.pk
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ramps.append(ramp)
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areas = tuple(orient(polygon) for polygon in assert_multipolygon(
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unary_union(areas+list(door.geometry for door in level.doors.all()))
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))
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# collect all stairs on this level
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for space in level.spaces.all():
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space_buffer = space.geometry.buffer(0.001, join_style=JOIN_STYLE.mitre)
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for stair in space.stairs.all():
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stairs.extend(assert_multilinestring(
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stair.geometry.intersection(space_buffer)
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))
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# divide areas using stairs
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for stair in stairs:
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areas = cut_polygon_with_line(areas, stair)
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# create altitudearea objects
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areas = [AltitudeArea(geometry=clean_cut_polygon(area), level=level)
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for area in areas]
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# prepare area geometries
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for area in areas:
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area.geometry_prep = prepared.prep(area.geometry)
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# assign spaces to areas
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space_areas.update({space.pk: [] for space in level.spaces.all()})
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for area in areas:
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area.spaces = set()
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area.geometry_prep = prepared.prep(area.geometry)
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for space in level.spaces.all():
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if area.geometry_prep.intersects(space.geometry):
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area.spaces.add(space.pk)
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space_areas[space.pk].append(area)
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# give altitudes to areas
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for space in level.spaces.all():
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for altitudemarker in space.altitudemarkers.all():
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for area in space_areas[space.pk]:
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if area.geometry_prep.contains(altitudemarker.geometry):
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area.altitude = altitudemarker.altitude
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break
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else:
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logger.error(
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_('AltitudeMarker #%(marker_id)d in Space #%(space_id)d on Level %(level_label)s '
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'is not placed in an accessible area') % {'marker_id': altitudemarker.pk,
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'space_id': space.pk,
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'level_label': level.short_label})
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# determine altitude area connections
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for area in areas:
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area.connected_to = []
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for area, other_area in combinations(areas, 2):
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if area.geometry_prep.intersects(other_area.geometry):
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area.connected_to.append(other_area)
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other_area.connected_to.append(area)
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# determine ramp connections
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for ramp in ramps:
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ramp.connected_to = []
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buffered = ramp.geometry.buffer(0.001)
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for area in areas:
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if area.geometry_prep.intersects(buffered):
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intersection = area.geometry.intersection(buffered)
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ramp.connected_to.append((area, intersection))
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if len(ramp.connected_to) != 2:
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if len(ramp.connected_to) == 0:
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logger.warning('A ramp in space #%d has no connections!' % ramp.space)
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elif len(ramp.connected_to) == 1:
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logger.warning('A ramp in space #%d has only one connection!' % ramp.space)
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else:
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logger.warning('A ramp in space #%d has more than two connections!' % ramp.space)
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# add areas to global areas
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all_areas.extend(areas)
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all_ramps.extend(ramps)
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# give temporary ids to all areas
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areas = all_areas
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ramps = all_ramps
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for i, area in enumerate(areas):
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area.tmpid = i
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for area in areas:
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area.connected_to = set(area.tmpid for area in area.connected_to)
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for space in space_areas.keys():
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space_areas[space] = set(area.tmpid for area in space_areas[space])
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areas_without_altitude = set(area.tmpid for area in areas if area.altitude is None)
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# interpolate altitudes
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logger.info('Interpolating altitudes...')
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areas_with_altitude = [i for i in range(len(areas)) if i not in areas_without_altitude]
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for i, tmpid in enumerate(areas_with_altitude):
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areas[tmpid].i = i
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csgraph = np.zeros((len(areas), len(areas)), dtype=bool)
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for area in areas:
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for connected_tmpid in area.connected_to:
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csgraph[area.tmpid, connected_tmpid] = True
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repeat = True
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while repeat:
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repeat = False
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distances, predecessors = dijkstra(csgraph, directed=False, return_predecessors=True, unweighted=True)
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np_areas_with_altitude = np.array(areas_with_altitude, dtype=np.uint32)
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relevant_distances = distances[np_areas_with_altitude[:, None], np_areas_with_altitude]
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# noinspection PyTypeChecker
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for from_i, to_i in np.argwhere(np.logical_and(relevant_distances < np.inf, relevant_distances > 1)):
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from_area = areas[areas_with_altitude[from_i]]
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to_area = areas[areas_with_altitude[to_i]]
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if from_area.altitude == to_area.altitude:
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continue
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path = [to_area.tmpid]
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while path[-1] != from_area.tmpid:
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path.append(predecessors[from_area.tmpid, path[-1]])
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from_altitude = from_area.altitude
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delta_altitude = (to_area.altitude-from_altitude)/(len(path)-1)
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if set(path[1:-1]).difference(areas_without_altitude):
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continue
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for i, tmpid in enumerate(reversed(path[1:-1]), start=1):
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area = areas[tmpid]
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area.altitude = Decimal(from_altitude+delta_altitude*i).quantize(Decimal('1.00'))
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areas_without_altitude.discard(tmpid)
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area.i = len(areas_with_altitude)
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areas_with_altitude.append(tmpid)
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for from_tmpid, to_tmpid in zip(path[:-1], path[1:]):
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csgraph[from_tmpid, to_tmpid] = False
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csgraph[to_tmpid, from_tmpid] = False
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repeat = True
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# remaining areas: copy altitude from connected areas if any
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repeat = True
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while repeat:
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repeat = False
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for tmpid in tuple(areas_without_altitude):
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area = areas[tmpid]
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connected_with_altitude = area.connected_to-areas_without_altitude
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if connected_with_altitude:
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area.altitude = areas[next(iter(connected_with_altitude))].altitude
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areas_without_altitude.discard(tmpid)
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repeat = True
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# remaining areas which belong to a room that has an altitude somewhere
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for contained_areas in space_areas.values():
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contained_areas_with_altitude = contained_areas - areas_without_altitude
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contained_areas_without_altitude = contained_areas - contained_areas_with_altitude
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if contained_areas_with_altitude and contained_areas_without_altitude:
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altitude_areas = {}
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for tmpid in contained_areas_with_altitude:
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area = areas[tmpid]
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altitude_areas.setdefault(area.altitude, []).append(area.geometry)
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for altitude in altitude_areas.keys():
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altitude_areas[altitude] = unary_union(altitude_areas[altitude])
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for tmpid in contained_areas_without_altitude:
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area = areas[tmpid]
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area.altitude = min(altitude_areas.items(), key=lambda aa: aa[1].distance(area.geometry))[0]
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areas_without_altitude.difference_update(contained_areas_without_altitude)
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# last fallback: level base_altitude
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for tmpid in areas_without_altitude:
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area = areas[tmpid]
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area.altitude = area.level.base_altitude
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# prepare per-level operations
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level_areas = {}
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for area in areas:
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level_areas.setdefault(area.level, set()).add(area.tmpid)
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# make sure there is only one altitude area per altitude per level
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for level in levels:
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areas_by_altitude = {}
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for tmpid in level_areas.get(level, []):
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area = areas[tmpid]
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areas_by_altitude.setdefault(area.altitude, []).append(area.geometry)
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level_areas[level] = [AltitudeArea(level=level, geometry=unary_union(geometries), altitude=altitude)
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for altitude, geometries in areas_by_altitude.items()]
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# renumber joined areas
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areas = list(chain(*(a for a in level_areas.values())))
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for i, area in enumerate(areas):
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area.tmpid = i
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# finalize ramps
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for ramp in ramps:
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if not ramp.connected_to:
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for area in space_areas[ramp.space]:
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ramp.altitude = areas[area].altitude
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break
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else:
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ramp.altitude = ramp.level.base_altitude
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continue
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if len(ramp.connected_to) == 1:
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ramp.altitude = ramp.connected_to[0][0].altitude
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continue
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if len(ramp.connected_to) > 2:
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ramp.connected_to = sorted(ramp.connected_to, key=lambda item: item[1].area)[-2:]
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ramp.point1 = ramp.connected_to[0][1].centroid
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ramp.point2 = ramp.connected_to[1][1].centroid
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ramp.altitude = ramp.connected_to[0][0].altitude
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ramp.altitude2 = ramp.connected_to[1][0].altitude
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ramp.tmpid = len(areas)
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areas.append(ramp)
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level_areas[ramp.level].append(ramp)
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#
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# we have altitude areas, but they only cover accessible space for now
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# however, we need obstacles to be part of altitude areas too.
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# this is where we do that.
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#
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for level in levels:
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logger.info('Assign remaining space (%s)...' % level.title)
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for space in level.spaces.all():
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space.geometry = space.orig_geometry
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|
|
buildings_geom = unary_union(tuple(b.geometry for b in level.buildings.all()))
|
|
doors_geom = unary_union(tuple(d.geometry for d in level.doors.all()))
|
|
space_geom = unary_union(tuple((s.geometry if not s.outside else s.geometry.difference(buildings_geom))
|
|
for s in level.spaces.all()))
|
|
|
|
# accessible area on this level is doors + spaces - holes
|
|
accessible_area = unary_union((doors_geom, space_geom))
|
|
for space in level.spaces.all():
|
|
accessible_area = accessible_area.difference(space.geometry.intersection(
|
|
unary_union(tuple(h.geometry for h in space.holes.all()))
|
|
))
|
|
|
|
# areas mean altitude areas (including ramps) here
|
|
our_areas = level_areas.get(level, [])
|
|
for area in our_areas:
|
|
area.orig_geometry = area.geometry
|
|
area.orig_geometry_prep = prepared.prep(area.geometry)
|
|
area.polygons_to_add = deque()
|
|
|
|
stairs = []
|
|
for space in level.spaces.all():
|
|
space_geom = space.geometry
|
|
if space.outside:
|
|
space_geom = space_geom.difference(buildings_geom)
|
|
space_geom_prep = prepared.prep(space_geom)
|
|
holes_geom = unary_union(tuple(h.geometry for h in space.holes.all()))
|
|
|
|
# remaining_space means remaining space (=obstacles) that still needs to be added to altitude areas
|
|
remaining_space = (
|
|
tuple(o.geometry for o in space.obstacles.all()) +
|
|
tuple(o.buffered_geometry for o in space.lineobstacles.all())
|
|
)
|
|
# make sure to remove everything outside the space the obstacles are in as well as holes
|
|
remaining_space = tuple(g.intersection(space_geom).difference(holes_geom)
|
|
for g in remaining_space
|
|
if space_geom_prep.intersects(g))
|
|
# we need this to be a list of simple normal polygons
|
|
remaining_space = tuple(chain(*(
|
|
assert_multipolygon(g) for g in remaining_space if not g.is_empty
|
|
)))
|
|
if not remaining_space:
|
|
# if there are no remaining spaces? great, we're done here.
|
|
continue
|
|
|
|
cuts = []
|
|
for cut in chain(*(assert_multilinestring(stair.geometry) for stair in space.stairs.all()),
|
|
(ramp.geometry.exterior for ramp in space.ramps.all())):
|
|
for coord1, coord2 in zip(tuple(cut.coords)[:-1], tuple(cut.coords)[1:]):
|
|
line = space_geom.intersection(LineString([coord1, coord2]))
|
|
if line.is_empty:
|
|
continue
|
|
factor = (line.length + 2) / line.length
|
|
line = scale(line, xfact=factor, yfact=factor)
|
|
centroid = line.centroid
|
|
line = min(assert_multilinestring(space_geom.intersection(line)),
|
|
key=lambda l: l.centroid.distance(centroid), default=None)
|
|
cuts.append(scale(line, xfact=1.01, yfact=1.01))
|
|
|
|
remaining_space = tuple(
|
|
orient(polygon) for polygon in remaining_space
|
|
)
|
|
|
|
for cut in cuts:
|
|
remaining_space = tuple(chain(*(cut_polygon_with_line(geom, cut)
|
|
for geom in remaining_space)))
|
|
remaining_space = MultiPolygon(remaining_space)
|
|
|
|
for polygon in assert_multipolygon(remaining_space):
|
|
polygon = clean_cut_polygon(polygon).buffer(0)
|
|
buffered = polygon.buffer(0.001)
|
|
|
|
center = polygon.centroid
|
|
touches = tuple(ItemWithValue(area, lambda: buffered.intersection(area.orig_geometry).area)
|
|
for area in our_areas
|
|
if area.orig_geometry_prep.intersects(buffered))
|
|
if len(touches) == 1:
|
|
area = touches[0].obj
|
|
elif touches:
|
|
min_touches = sum((t.value for t in touches), 0)/4
|
|
area = max(touches, key=lambda item: (item.value > min_touches,
|
|
item.obj.altitude2 is not None,
|
|
item.obj.altitude,
|
|
item.value)).obj
|
|
else:
|
|
area = min(our_areas,
|
|
key=lambda a: a.orig_geometry.distance(center)-(0 if a.altitude2 is None else 0.6))
|
|
area.polygons_to_add.append(polygon)
|
|
|
|
for i_area, area in enumerate(our_areas):
|
|
if area.polygons_to_add:
|
|
area.geometry = unary_union((area.geometry.buffer(0), *area.polygons_to_add))
|
|
del area.polygons_to_add
|
|
|
|
for level in levels:
|
|
level_areas[level] = set(area.tmpid for area in level_areas.get(level, []))
|
|
|
|
# save to database
|
|
areas_to_save = set(range(len(areas)))
|
|
|
|
all_candidates = AltitudeArea.objects.select_related('level')
|
|
for candidate in all_candidates:
|
|
candidate.area = candidate.geometry.area
|
|
candidate.geometry_prep = prepared.prep(candidate.geometry)
|
|
all_candidates = sorted(all_candidates, key=attrgetter('area'), reverse=True)
|
|
|
|
num_modified = 0
|
|
num_deleted = 0
|
|
num_created = 0
|
|
|
|
field = AltitudeArea._meta.get_field('geometry')
|
|
|
|
for candidate in all_candidates:
|
|
new_area = None
|
|
|
|
if candidate.altitude2 is None:
|
|
for tmpid in level_areas.get(candidate.level, set()):
|
|
area = areas[tmpid]
|
|
if area.altitude2 is None and area.altitude == candidate.altitude:
|
|
new_area = area
|
|
break
|
|
else:
|
|
potential_areas = [areas[tmpid] for tmpid in level_areas.get(candidate.level, set())]
|
|
potential_areas = [area for area in potential_areas
|
|
if (candidate.altitude, candidate.altitude2) in ((area.altitude, area.altitude2),
|
|
(area.altitude2, area.altitude))]
|
|
potential_areas = [(area, area.geometry.intersection(candidate.geometry).area)
|
|
for area in potential_areas
|
|
if candidate.geometry_prep.intersects(area.geometry)]
|
|
if potential_areas:
|
|
new_area = max(potential_areas, key=itemgetter(1))[0]
|
|
|
|
if new_area is None:
|
|
candidate.delete()
|
|
num_deleted += 1
|
|
continue
|
|
|
|
if not field.get_final_value(new_area.geometry).equals_exact(candidate.geometry, 0.00001):
|
|
num_modified += 1
|
|
|
|
candidate.geometry = new_area.geometry
|
|
candidate.altitude = new_area.altitude
|
|
candidate.altitude2 = new_area.altitude2
|
|
candidate.point1 = new_area.point1
|
|
candidate.point2 = new_area.point2
|
|
candidate.save()
|
|
areas_to_save.discard(new_area.tmpid)
|
|
level_areas[new_area.level].discard(new_area.tmpid)
|
|
|
|
for tmpid in areas_to_save:
|
|
num_created += 1
|
|
areas[tmpid].save()
|
|
|
|
logger = logging.getLogger('c3nav')
|
|
logger.info(_('%d altitude areas built.') % len(areas))
|
|
logger.info(_('%(num_modified)d modified, %(num_deleted)d deleted, %(num_created)d created.') %
|
|
{'num_modified': num_modified, 'num_deleted': num_deleted, 'num_created': num_created})
|