From 1c6724b7d07379b1b75e977f45c580b3919617eb Mon Sep 17 00:00:00 2001 From: yfe404 Date: Thu, 29 Jun 2023 06:52:38 +0200 Subject: [PATCH] first commit --- .gitignore | 10 + Dockerfile | 46 + README.org | 16 + access.py | 97 + export_clean_splitted.json | 13599 +++++++++++++++++++++++++++++++++++ generate_graph.py | 57 + generator.py | 170 + protos/route_service.proto | 35 + requirements.txt | 5 + route_service_pb2.py | 35 + server.py | 82 + 11 files changed, 14152 insertions(+) create mode 100644 .gitignore create mode 100644 Dockerfile create mode 100644 README.org create mode 100644 access.py create mode 100644 export_clean_splitted.json create mode 100644 generate_graph.py create mode 100644 generator.py create mode 100644 protos/route_service.proto create mode 100644 requirements.txt create mode 100644 route_service_pb2.py create mode 100644 server.py diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..95f841a --- /dev/null +++ b/.gitignore @@ -0,0 +1,10 @@ +*~ +venv/ +__pycache__/ +protos/*.py +route_service_pb2.py +route_service_pb2_grpc.py + +*.o +*.so +*.cpp diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..3f7e086 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,46 @@ +FROM python:3.9-bullseye + +MAINTAINER Yann Feunteun + +RUN wget https://boostorg.jfrog.io/artifactory/main/release/1.77.0/source/boost_1_77_0.tar.bz2 + + +RUN apt update && apt install -y python3.9-dev + +RUN tar --bzip2 -xf boost_1_77_0.tar.bz2 + +RUN cd boost_1_77_0 && ./bootstrap.sh --with-python-version=3.9 && ./b2 +#apt-get install -y --no-install-recommends libboost-all-dev + +RUN cp /boost_1_77_0/stage/lib/libboost_python39.so.1.77.0 /usr/lib + +COPY requirements.txt requirements.txt +RUN pip install -r requirements.txt + +COPY generate_graph.py generate_graph.py +COPY generator.py generator.py +COPY access.py access.py +COPY export_clean_splitted.json data.json + + +RUN python generate_graph.py +#COPY test.cc test.cc + +RUN g++ -Ofast -c -fPIC -I/boost_1_77_0/ -I/usr/include/python3.9/ foot.cpp -o c_foot.o +RUN g++ -Ofast -c -fPIC -I/boost_1_77_0/ -I/usr/include/python3.9/ manual_wheelchair.cpp -o c_manual_wheelchair.o +RUN g++ -Ofast -c -fPIC -I/boost_1_77_0/ -I/usr/include/python3.9/ electric_wheelchair.cpp -o c_electric_wheelchair.o + + + +RUN g++ -Ofast -L/boost_1_77_0/stage/lib -shared -Wl,-soname,test.so -o c_foot.so c_foot.o -lboost_python39 -lpython3.9 +RUN g++ -Ofast -L/boost_1_77_0/stage/lib -shared -Wl,-soname,test.so -o c_manual_wheelchair.so c_manual_wheelchair.o -lboost_python39 -lpython3.9 +RUN g++ -Ofast -L/boost_1_77_0/stage/lib -shared -Wl,-soname,test.so -o c_electric_wheelchair.so c_electric_wheelchair.o -lboost_python39 -lpython3.9 + +COPY protos protos +RUN python -m grpc_tools.protoc -I./protos --python_out=. --grpc_python_out=. ./protos/route_service.proto + +COPY server.py / + +EXPOSE 50051 + +ENTRYPOINT python server.py diff --git a/README.org b/README.org new file mode 100644 index 0000000..f8604fa --- /dev/null +++ b/README.org @@ -0,0 +1,16 @@ +* grpc-routing-microservice +** Build with Docker + #+begin_src sh + docker build . -t routing + #+end_src +** Run with Docker + #+begin_src sh + docker run -it routing + #+end_src +** Benchmark (from within the container) + #+begin_src sh + python benchmark.py N_RUNS + #+end_src + =N_RUNS= denotes the number of time a random routing request will be + made. Runtimes are then averaged and returned by the script. + diff --git a/access.py b/access.py new file mode 100644 index 0000000..9f50786 --- /dev/null +++ b/access.py @@ -0,0 +1,97 @@ +from andyamo import types + + +def is_accessible(feature, profile: types.Profile): + feature_type = feature["feature"]["properties"]["type"] + feature_attributes = feature["attr"] + + # |-------------- foot / crosswalk, sidewalk, stairs + if profile.value == "foot": + return True + + elif profile.value == "manual_wheelchair": + + # |-------------- manual_wheelchair / crosswalk + if feature_type == "passage_pieton": + predicates = [ + feature_attributes["Hauteur"] == "Non abaissé", + feature_attributes["Marquage"] == "Non" + and feature_attributes["Feu tricolore"] == "Non", + feature_attributes["Feu tricolore"] == "Non" + and feature_attributes["Croisement"] + == "Piste cyclable bidirectionnelle", + ] + not_accessible = sum(predicates) > 0 + if not_accessible: + return False + + # |-------------- manual_wheelchair / sidewalk + elif feature_type == "segment": + + predicates = [ + feature_attributes["Largeur"] == "Passe pas", + feature_attributes["Largeur"] == "Passe seul" + and feature_attributes["Obstacle"] == "Oui qui bloque le passage", + feature_attributes["Type de revêtement"] == "Impraticable", + feature_attributes["Type de revêtement"] == "Carrossable", + feature_attributes["Etat"] == "Très abimé", + feature_attributes["Inclinaison"] == "Très pentu", + feature_attributes["Dévers"] == "Très pentu", + feature_attributes["A vérifier"] == "En travaux", + ] + not_accessible = sum(predicates) > 0 + if not_accessible: + return False + + # |-------------- manual_wheelchair / stairs + elif feature_type == "escalier": + return False + + # |-------------- manual_wheelchair / catch all + else: + raise Exception(f"Unknown feature: {feature_type}") + + return True + + elif profile.value == "electric_wheelchair": + + # |-------------- electric_wheelchair / crosswalk + if feature_type == "passage_pieton": + predicates = [ + feature_attributes["Hauteur"] == "Non abaissé", + feature_attributes["Marquage"] == "Non" + and feature_attributes["Feu tricolore"] == "Non", + feature_attributes["Feu tricolore"] == "Non" + and feature_attributes["Croisement"] + == "Piste cyclable bidirectionnelle", + ] + not_accessible = sum(predicates) > 0 + if not_accessible: + return False + + # |-------------- electric_wheelchair / sidewalk + elif feature_type == "segment": + + predicates = [ + feature_attributes["Largeur"] == "Passe pas", + feature_attributes["Largeur"] == "Passe seul" + and feature_attributes["Obstacle"] == "Oui qui bloque le passage", + feature_attributes["Type de revêtement"] == "Impraticable", + feature_attributes["Etat"] == "Très abimé", + feature_attributes["Inclinaison"] == "Très pentu", + feature_attributes["Dévers"] == "Très pentu", + feature_attributes["A vérifier"] == "En travaux", + ] + not_accessible = sum(predicates) > 0 + if not_accessible: + return False + + # |-------------- electric_wheelchair / stairs + elif feature_type == "escalier": + return False + + # |-------------- electric_wheelchair / catch all + else: + raise Exception(f"Unknown feature: {feature_type}") + + return True diff --git a/export_clean_splitted.json b/export_clean_splitted.json new file mode 100644 index 0000000..0f01a63 --- /dev/null +++ b/export_clean_splitted.json @@ -0,0 +1,13599 @@ +{"_id": {"$oid": "6448f47f75a31a6bb4852277"}, "feature": {"type": "Feature", "geometry": {"type": "LineString", "coordinates": [[-9.152824379896272, 38.70758121281303], [-9.15282100119912, 38.70749116966743]]}, "properties": {"index": "e59e86d804cd02b8967e6665e3c4ce5b", "nodes": ["72d7e97b77021d0d11da480c5d9c44ae", "aa730b9824f0a3a235595bb0900778dc"], "service": "lisbon", "type": "segment", "last_update_date": 1682502783.285618}}, "attr": {"Largeur": "Peut croiser", "Type de rev\u00eatement": "Praticable", "Etat": "Neuf", "Inclinaison": "Plat", "D\u00e9vers": "Plat", "Obstacle": "Non", 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[-9.149590029333517, 38.71547888609245]]}, "properties": {"index": "da515e7cb6bbba3b52280e74670019e6", "nodes": ["d692197ed8e18309b19758595ba7999d", "acf9b9d81832cfae662bfcd18c4b58c5"], "service": "lisbon", "type": "escalier", "last_update_date": 1684184844.649394, "collected_by": "thomas"}}, "attr": {"Bande d\u2019\u00e9veil": "Non", "Constraste marche 1ere et derniere marche": "Non", "Main courante": "Oui"}} diff --git a/generate_graph.py b/generate_graph.py new file mode 100644 index 0000000..4c6e3da --- /dev/null +++ b/generate_graph.py @@ -0,0 +1,57 @@ +import json +import random +from copy import deepcopy +from collections import namedtuple + +import access +from andyamo import types + +from generator import generate_graph +from geopy import distance as geo_distance + + +Edge = namedtuple("Edge", ["start_id", "end_id", "distance"]) + +with open("data.json", "r") as f: + data = [json.loads(x.strip()) for x in f.readlines()] + + +def get_graph(profile: types.Profile): + node_set = set() + edges = list() + + for feature in data: + try: + if access.is_accessible(feature, profile): + nodes = feature["feature"]["properties"]["nodes"] + if len(nodes) == 2: + coordinates = feature["feature"]["geometry"]["coordinates"] + + for node in nodes: + node_set.add(f"id_{node}") + + distance = 0 + for i in range(len(coordinates)-1): + distance += geo_distance.distance( + coordinates[i], coordinates[i+1] + ).m + + edges.append(Edge(f"id_{nodes[0]}", f"id_{nodes[1]}", distance)) + + + except Exception as e : + print(feature) + raise(e) + + node_ids = list(node_set) + return node_ids, edges + + +node_ids, edges = get_graph(types.Profile("manual_wheelchair")) +generate_graph("manual_wheelchair.cpp", "c_manual_wheelchair", node_ids, edges) + +node_ids, edges = get_graph(types.Profile("electric_wheelchair")) +generate_graph("electric_wheelchair.cpp", "c_electric_wheelchair", node_ids, edges) + +node_ids, edges = get_graph(types.Profile("foot")) +generate_graph("foot.cpp", "c_foot", node_ids, edges) diff --git a/generator.py b/generator.py new file mode 100644 index 0000000..f35eec4 --- /dev/null +++ b/generator.py @@ -0,0 +1,170 @@ + + +def generate_graph(output_name, module_name, node_ids, edges): + + with open(output_name, "w") as out: + + out.write(""" + #include + #include + #include + #include + + #include + #include + #include + #include + + + using namespace boost; + + + // create a typedef for the Graph type + typedef adjacency_list< vecS, vecS, undirectedS, no_property, + property< edge_weight_t, int > > graph_t; + + typedef graph_traits< graph_t >::vertex_descriptor vertex_descriptor; + typedef std::pair< int, int > Edge; + + + int getIndex(std::vector, std::string); + graph_t buildGraph(); + + + """) + + + out.write(f"const int num_nodes = {len(node_ids)};\n\n") + out.write("enum nodes {\n") + for node_id in node_ids: + out.write(f" {node_id},\n") + + out.write("};\n\n") + + out.write('std::string _name[] = {') + for node_id in node_ids: + if node_id != node_ids[-1]: + out.write(f'"{str(node_id)}",') + else: + out.write(f'"{str(node_id)}"') + out.write('};\n') + + out.write("std::vector name(_name, _name + sizeof(_name)/sizeof(std::string));\n\n") + + out.write("Edge edge_array[] = {\n") + + for edge in edges: + if edge != edges[-1]: + out.write(f" Edge({edge.start_id}, {edge.end_id}),\n") + else: + out.write(f" Edge({edge.start_id}, {edge.end_id})\n") + + out.write("};\n\n") + + out.write("float weights[] = {") + for edge in edges: + if edge != edges[-1]: + out.write(f"{edge.distance}, ") + else: + out.write(f"{edge.distance}") + out.write("};\n") + + out.write(""" + + std::string get_route(std::string start, std::string end) { + graph_t graph = buildGraph(); + + property_map< graph_t, edge_weight_t >::type weightmap = get(edge_weight, graph); + std::vector< vertex_descriptor > p(num_vertices(graph)); + std::vector< int > d(num_vertices(graph)); + + int pos_start = getIndex(name, start); + int pos_end = getIndex(name, end); + + if (pos_start == -1) { + std::string msg("Invalid id (not found) for start position"); + throw std::invalid_argument(msg); + } else if (pos_end == -1) { + std::string msg("Invalid id (not found) for end position"); + throw std::invalid_argument(msg); + } + + vertex_descriptor s = vertex(nodes(pos_start), graph); + vertex_descriptor e = vertex(nodes(pos_end), graph); + + dijkstra_shortest_paths(graph, s, + predecessor_map(boost::make_iterator_property_map( + p.begin(), get(boost::vertex_index, graph))) + .distance_map(boost::make_iterator_property_map( + d.begin(), get(boost::vertex_index, graph)))); + + //find path from start to end vertex + std::list pathVertices; + + int distance = d[e]; + while (e != s) + { + pathVertices.push_front(e); + if(name[e] == name[p[e]]) // see https://stackoverflow.com/questions/48367649/boost-dijkstra-shortest-paths-cant-extract-or-find-the-path-path-contains + break; + e = p[e]; + } + + pathVertices.push_front(s); // add starting point to path + + + std::string path; + + for (vertex_descriptor n : pathVertices) { + path += name[n]; + path += " "; + } + + path += ":"; + path += std::to_string(distance); + + return path; + + } + + graph_t buildGraph() { + + int num_arcs = sizeof(edge_array) / sizeof(Edge); + + graph_t g(edge_array, edge_array + num_arcs, weights, num_nodes); + + return g; + } + + int getIndex(std::vector v, std::string element) + { + auto it = find(v.begin(), v.end(), element); + + // If element was found + if (it != v.end()) + { + + // calculating the index + // of element + int index = it - v.begin(); + //std::cout << index << std::endl; + return index; + } + else { + // If the element is not + // present in the vector + return -1; + } + } + + """) + + out.write(f"BOOST_PYTHON_MODULE({module_name}) // module name must match the name of the .so compiled") + out.write(""" + { + using namespace boost::python; + def("get_route", get_route); + } + + """) + diff --git a/protos/route_service.proto b/protos/route_service.proto new file mode 100644 index 0000000..ae2ad62 --- /dev/null +++ b/protos/route_service.proto @@ -0,0 +1,35 @@ +syntax = "proto3"; + +// Interface exported by the server. +service RouteService { + rpc ShortestPath(RouteRequest) returns (RouteResponse) {} + rpc ListNodes(Profile) returns (stream Node) {} +} + +message RouteRequest { + string start = 1; + string end = 2; + Profile profile = 3; +} + + +message Profile { + enum Profile { + FOOT = 0; + MANUAL_WHEELCHAIR = 1; + ELECTRIC_WHEELCHAIR = 2; + + } + Profile profile = 1; +} + +message RouteResponse { + repeated string route = 1; + int32 distance = 2; +} + +message Node { + string index = 1; + float latitude = 2; + float longitude = 3; +} \ No newline at end of file diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..5c940d4 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,5 @@ +-i https://pypi.andyamo.fr/simple +andyamo==0.1.2 +grpcio-tools==1.44.0 +geographiclib==1.52 +geopy==2.2.0 diff --git a/route_service_pb2.py b/route_service_pb2.py new file mode 100644 index 0000000..417259c --- /dev/null +++ b/route_service_pb2.py @@ -0,0 +1,35 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: route_service.proto +"""Generated protocol buffer code.""" +from google.protobuf.internal import builder as _builder +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13route_service.proto\"E\n\x0cRouteRequest\x12\r\n\x05start\x18\x01 \x01(\t\x12\x0b\n\x03\x65nd\x18\x02 \x01(\t\x12\x19\n\x07profile\x18\x03 \x01(\x0b\x32\x08.Profile\"q\n\x07Profile\x12!\n\x07profile\x18\x01 \x01(\x0e\x32\x10.Profile.Profile\"C\n\x07Profile\x12\x08\n\x04\x46OOT\x10\x00\x12\x15\n\x11MANUAL_WHEELCHAIR\x10\x01\x12\x17\n\x13\x45LECTRIC_WHEELCHAIR\x10\x02\"0\n\rRouteResponse\x12\r\n\x05route\x18\x01 \x03(\t\x12\x10\n\x08\x64istance\x18\x02 \x01(\x05\":\n\x04Node\x12\r\n\x05index\x18\x01 \x01(\t\x12\x10\n\x08latitude\x18\x02 \x01(\x02\x12\x11\n\tlongitude\x18\x03 \x01(\x02\x32\x61\n\x0cRouteService\x12/\n\x0cShortestPath\x12\r.RouteRequest\x1a\x0e.RouteResponse\"\x00\x12 \n\tListNodes\x12\x08.Profile\x1a\x05.Node\"\x00\x30\x01\x62\x06proto3') + +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals()) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'route_service_pb2', globals()) +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _ROUTEREQUEST._serialized_start=23 + _ROUTEREQUEST._serialized_end=92 + _PROFILE._serialized_start=94 + _PROFILE._serialized_end=207 + _PROFILE_PROFILE._serialized_start=140 + _PROFILE_PROFILE._serialized_end=207 + _ROUTERESPONSE._serialized_start=209 + _ROUTERESPONSE._serialized_end=257 + _NODE._serialized_start=259 + _NODE._serialized_end=317 + _ROUTESERVICE._serialized_start=319 + _ROUTESERVICE._serialized_end=416 +# @@protoc_insertion_point(module_scope) diff --git a/server.py b/server.py new file mode 100644 index 0000000..afdd133 --- /dev/null +++ b/server.py @@ -0,0 +1,82 @@ +import sys +import timeit + +from concurrent import futures +import logging +import math +import time +import json + +import grpc +import route_service_pb2 +import route_service_pb2_grpc + +from andyamo import types + +import c_foot +import c_manual_wheelchair +import c_electric_wheelchair + +import access + + + +class RouteServiceServicer(route_service_pb2_grpc.RouteService): + """Provides methods that implement functionality of routing server.""" + + def __init__(self): + pass + + def ShortestPath(self, request, context): + + _profile = request.profile.profile + profile_as_str = route_service_pb2._PROFILE_PROFILE.values_by_number[_profile].name + profile = types.Profile[profile_as_str] + + if profile == types.Profile.FOOT: + res = c_foot.get_route(request.start, request.end) + + elif profile == types.Profile.MANUAL_WHEELCHAIR: + res = c_manual_wheelchair.get_route(request.start, request.end) + + elif profile == types.Profile.ELECTRIC_WHEELCHAIR: + res = c_electric_wheelchair.get_route(request.start, request.end) + + else: + raise NotImplementedError + + route_str, distance_str = res.split(":") + + route = route_str.strip().split(" ") + distance = int(distance_str.strip()) + return route_service_pb2.RouteResponse(route=route, distance=distance) + + def ListNodes(self, request, context): + _profile = request.profile + profile_as_str = route_service_pb2._PROFILE_PROFILE.values_by_number[_profile].name + print(profile_as_str) + + profile = types.Profile[profile_as_str] + + with open("data.json", "r") as f: + for line in f.readlines(): + feature = json.loads(line.strip()) + if access.is_accessible(feature, profile): + coords = feature["feature"]["geometry"]["coordinates"] + indexes = feature["feature"]["properties"]["nodes"] + for coord, index in zip(coords, indexes): + yield route_service_pb2.Node(index=f"id_{index}", latitude=coord[1], longitude=coord[0]) + + +def serve(): + server = grpc.server(futures.ThreadPoolExecutor(max_workers=10)) + route_service_pb2_grpc.add_RouteServiceServicer_to_server( + RouteServiceServicer(), server) + server.add_insecure_port('[::]:50051') + server.start() + server.wait_for_termination() + + +if __name__ == '__main__': + logging.basicConfig() + serve()