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feat: allow starting navigation at any point in the route #692

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2 changes: 1 addition & 1 deletion android/core/src/main/java/com/stadiamaps/ferrostar/core/Location.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -170,7 +170,7 @@ class SimulatedLocationProvider : LocationProvider {
}

fun setSimulatedRoute(route: Route, bias: LocationBias = LocationBias.None) {
simulationState = locationSimulationFromRoute(route, resampleDistance = 10.0, bias)
simulationState = locationSimulationFromRoute(route, resampleDistance = 10.0, bias, 0u)
lastLocation = simulationState?.currentLocation

if (listeners.isNotEmpty() && simulationJob?.isActive != true) {
Expand Down
91 changes: 76 additions & 15 deletions common/ferrostar/src/navigation_controller/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -13,14 +13,15 @@ use crate::navigation_controller::models::{
};
use crate::{
algorithms::{
advance_step, apply_snapped_course, calculate_trip_progress,
advance_step, apply_snapped_course, calculate_trip_progress, distance_between_locations,
index_of_closest_segment_origin, snap_user_location_to_line,
},
models::{Route, RouteStep, UserLocation, Waypoint},
navigation_controller::models::{NavigationRecordingEvent, TripSummary},
navigation_controller::recording::{NavigationRecordingMetadata, RecordingError},
};
use chrono::Utc;
use core::cmp::Ordering;
use geo::{
algorithm::{Distance, Haversine},
geometry::{LineString, Point},
Expand Down Expand Up @@ -79,7 +80,7 @@ pub fn create_navigator(
///
/// Notes for implementing a new platform:
/// - A controller is bound to a single route; if you want recalculation, create a new instance.
/// - This is a pure type (no interior mutability), so a core function of your platform code is responsibly managing mutable state.
/// - This is a pure type (no interior mutability), so a core function of your platform code is responsibly managing mutabl`e state.
#[cfg_attr(feature = "uniffi", derive(uniffi::Object))]
pub struct NavigationController {
route: Route,
Expand Down Expand Up @@ -107,20 +108,51 @@ impl Navigator for NavigationController {
ended_at: None,
};

let Some(current_route_step) = remaining_steps.first() else {
// Bail early; if we don't have any steps, this is a useless route
return NavState::complete(location, initial_summary, None);
};

// TODO: We could move this to the Route struct or NavigationController directly to only calculate it once.
let current_step_linestring = current_route_step.get_linestring();
let (current_step_geometry_index, snapped_user_location) =
self.snap_user_to_line(location, &current_step_linestring);
//
// Find the closest step by iterating through all steps, snapping the user to each one,
// and calculating the distance between the user's actual location and their snapped location.
let closest_step_info = self
.route
.steps
.iter()
.enumerate()
.map(|(step_index, step)| {
let step_linestring = step.get_linestring();
let (geometry_index, snapped_location) =
self.snap_user_to_line(location, &step_linestring);

// Calculate the distance from the user's reported location to the snapped point on the line.
let distance_to_line = distance_between_locations(&location, &snapped_location);

(
step_index,
step,
geometry_index,
snapped_location,
distance_to_line,
step_linestring,
)
})
// Find the step with the minimum distance to the user.
.min_by(|a, b| a.4.partial_cmp(&b.4).unwrap_or(Ordering::Equal));

// Since we already checked that steps is not empty, we can safely unwrap.
let (
closest_step_index,
current_route_step,
current_step_geometry_index,
snapped_user_location,
_, // discard the distance_to_line, it was only for comparison
current_step_linestring,
) = closest_step_info.unwrap();

let updated_remaining_steps = remaining_steps[closest_step_index..].to_vec();

let progress = calculate_trip_progress(
&snapped_user_location.into(),
&current_step_linestring,
&remaining_steps,
&updated_remaining_steps,
);
let deviation = self.config.route_deviation_tracking.check_route_deviation(
location,
Expand All @@ -137,11 +169,13 @@ impl Navigator for NavigationController {
let annotation_json = current_step_geometry_index
.and_then(|index| current_route_step.get_annotation_at_current_index(index));

// TODO: still have to remove all skipped waypoints, not just the first

let trip_state = TripState::Navigating {
current_step_geometry_index,
user_location: location,
snapped_user_location,
remaining_steps,
remaining_steps: updated_remaining_steps,
// Skip the first waypoint, as it is the current one
remaining_waypoints: self.route.waypoints.iter().skip(1).copied().collect(),
progress,
Expand Down Expand Up @@ -551,10 +585,15 @@ mod tests {
route: Route,
step_advance_condition: Arc<dyn StepAdvanceCondition>,
should_record: bool,
route_starting_index: u32,
) -> (Arc<dyn Navigator>, Vec<NavState>) {
let mut simulation_state =
location_simulation_from_route(&route, Some(10.0), LocationBias::None)
.expect("Unable to create simulation");
let mut simulation_state = location_simulation_from_route(
&route,
Some(10.0),
LocationBias::None,
route_starting_index,
)
.expect("Unable to create simulation");

let controller = create_navigator(
route,
Expand Down Expand Up @@ -632,6 +671,7 @@ mod tests {
minimum_horizontal_accuracy: 0,
}),
false,
0,
);
insta::assert_yaml_snapshot!(states
.into_iter()
Expand All @@ -647,6 +687,7 @@ mod tests {
get_test_route(TestRoute::Extended),
Arc::new(DistanceEntryAndExitCondition::exact()),
false,
0,
);
insta::assert_yaml_snapshot!(states
.into_iter()
Expand All @@ -665,6 +706,7 @@ mod tests {
minimum_horizontal_accuracy: 0,
}),
false,
0,
);
insta::assert_yaml_snapshot!(states
.into_iter()
Expand All @@ -683,6 +725,7 @@ mod tests {
minimum_horizontal_accuracy: 0,
}),
true,
0,
);

let final_nav_state = states.into_iter().last().expect("No final nav state?!");
Expand All @@ -703,6 +746,7 @@ mod tests {
get_test_route(TestRoute::SelfIntersecting),
Arc::new(DistanceEntryAndExitCondition::exact()),
false,
0,
);
insta::assert_yaml_snapshot!(states
.into_iter()
Expand All @@ -721,6 +765,23 @@ mod tests {
minimum_horizontal_accuracy: 0,
}),
false,
0,
);
insta::assert_yaml_snapshot!(states
.into_iter()
.map(|state| state.trip_state())
.collect::<Vec<_>>());
});
}

#[test]
fn test_starting_in_the_middle_linestring() {
nav_controller_insta_settings().bind(|| {
let (_, states) = test_full_route_state_snapshot(
get_test_route(TestRoute::Extended),
Arc::new(DistanceEntryAndExitCondition::exact()),
false,
42,
);
insta::assert_yaml_snapshot!(states
.into_iter()
Expand Down
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