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New OSM LTRA* application added. Beta version of new OSM FX framework finished.
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‎aimax-osm/src/main/java/aimax/osm/gui/fx/IntegratedAimaOsmFxApp.java‎

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import aima.gui.fx.demo.IntegratedAimaFxApp;
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import aima.gui.fx.framework.IntegratedAppPaneBuilder;
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import aimax.osm.gui.fx.applications.OsmLRTAStarAgentApp;
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import aimax.osm.gui.fx.applications.OsmRouteFindingAgentApp;
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import aimax.osm.gui.fx.applications.OsmRoutePlannerApp;
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import javafx.application.Application;
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builder.registerApp(OsmRoutePlannerApp.class);
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builder.registerApp(OsmRouteFindingAgentApp.class);
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builder.registerApp(OsmLRTAStarAgentApp.class);
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}
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}

‎aimax-osm/src/main/java/aimax/osm/gui/fx/applications/OsmLRTAStarAgentApp.java‎

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package aimax.osm.gui.fx.applications;
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import aima.core.agent.Action;
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import aima.core.agent.Agent;
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import aima.core.agent.Environment;
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import aima.core.agent.EnvironmentView;
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import aima.core.environment.map.*;
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import aima.core.search.framework.Node;
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import aima.core.search.framework.NodeExpander;
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import aima.core.search.framework.SearchForActions;
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import aima.core.search.framework.problem.Problem;
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import aima.core.search.online.LRTAStarAgent;
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import aima.core.search.online.OnlineSearchProblem;
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import aima.core.util.CancelableThread;
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import aima.core.util.math.geom.shapes.Point2D;
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import aima.gui.fx.framework.IntegrableApplication;
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import aima.gui.fx.framework.Parameter;
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import aima.gui.fx.framework.SimulationPaneBuilder;
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import aima.gui.fx.framework.SimulationPaneCtrl;
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import aima.gui.fx.views.SimpleEnvironmentViewCtrl;
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import aima.gui.util.SearchFactory;
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import aimax.osm.data.DataResource;
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import aimax.osm.data.EntityClassifier;
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import aimax.osm.data.MapWayAttFilter;
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import aimax.osm.data.Position;
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import aimax.osm.data.entities.EntityViewInfo;
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import aimax.osm.data.entities.MapNode;
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import aimax.osm.data.entities.MapWay;
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import aimax.osm.gui.fx.viewer.MapPaneCtrl;
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import aimax.osm.gui.swing.applications.SearchDemoOsmAgentApp;
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import aimax.osm.routing.MapAdapter;
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import aimax.osm.viewer.DefaultEntityRenderer;
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import aimax.osm.viewer.DefaultEntityViewInfo;
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import aimax.osm.viewer.MapStyleFactory;
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import aimax.osm.viewer.UColor;
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import javafx.application.Platform;
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import javafx.scene.layout.BorderPane;
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import javafx.scene.layout.Pane;
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import javafx.scene.layout.StackPane;
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import java.text.DecimalFormat;
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import java.util.HashSet;
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import java.util.List;
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/**
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* Integrable application which demonstrates how different kinds of search
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* algorithms perform an a route finding scenario based on a real OSM map.
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* Map locations corresponding to expanded nodes are highlighted in green.
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*
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* @author Ruediger Lunde
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*
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*/
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public class OsmLRTAStarAgentApp extends IntegrableApplication {
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public static void main(String[] args) {
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launch(args);
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}
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public static String PARAM_WAY_SELECTION = "WaySelection";
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public static String PARAM_Q_SEARCH_IMPL = "QSearch";
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public static String PARAM_HEURISTIC = "Heuristic";
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public static String TRACK_NAME = "Track";
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private MapPaneCtrl mapPaneCtrl;
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private SimulationPaneCtrl simPaneCtrl;
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private MapAdapter map;
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private MapEnvironment env;
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/** Heuristic function to be used when performing informed search. */
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protected AdaptableHeuristicFunction heuristic;
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/**
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* Stores those states (Strings with map node ids), whose corresponding
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* search nodes have been expanded during the last search. Quick and dirty
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* solution...
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*/
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static final HashSet<Object> visitedStates = new HashSet<Object>();
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@Override
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public String getTitle() { return "OSM LRTA* Agent App"; }
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/**
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* Defines state view, parameters, and call-back functions and calls the
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* simulation pane builder to create layout and controller objects.
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*/
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@Override
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public Pane createRootPane() {
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BorderPane root = new BorderPane();
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Parameter[] params = createParameters();
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StackPane mapPane = new StackPane();
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mapPaneCtrl = new MapPaneCtrl(mapPane);
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mapPaneCtrl.loadMap(DataResource.getULMFileResource());
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SimulationPaneBuilder builder = new SimulationPaneBuilder();
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builder.defineParameters(params);
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builder.defineStateView(mapPane);
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builder.defineInitMethod(this::initialize);
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builder.defineSimMethod(this::simulate);
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simPaneCtrl = builder.getResultFor(root);
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simPaneCtrl.setParam(SimulationPaneCtrl.PARAM_SIM_SPEED, 0);
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return root;
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}
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protected Parameter[] createParameters() {
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Parameter p1 = new Parameter(PARAM_WAY_SELECTION, "Use any way", "Travel by car", "Travel by bicycle");
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Parameter p2 = new Parameter(PARAM_HEURISTIC, "0", "SLD");
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p2.setDefaultValueIndex(1);
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return new Parameter[] { p1, p2 };
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}
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/** Is called after each parameter selection change. */
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@Override
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public void initialize() {
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map = new MapAdapter(mapPaneCtrl.getMap());
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switch (simPaneCtrl.getParamValueIndex(PARAM_WAY_SELECTION)) {
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case 0:
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map.setMapWayFilter(MapWayAttFilter.createAnyWayFilter());
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map.ignoreOneways(true);
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break;
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case 1:
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map.setMapWayFilter(MapWayAttFilter.createCarWayFilter());
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map.ignoreOneways(false);
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break;
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case 2:
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map.setMapWayFilter(MapWayAttFilter.createBicycleWayFilter());
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map.ignoreOneways(false);
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break;
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}
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switch (simPaneCtrl.getParamValueIndex(PARAM_HEURISTIC)) {
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case 0:
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heuristic = new H1();
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break;
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default:
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heuristic = new H2();
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}
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map.getOsmMap().clearTrack(TRACK_NAME);
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}
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/** Creates a new agent and adds them to the current environment. */
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protected void initAgent(List<MapNode> markers) {
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String[] locs = new String[markers.size()];
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for (int i = 0; i < markers.size(); i++) {
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MapNode node = markers.get(i);
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Point2D pt = new Point2D(node.getLon(), node.getLat());
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locs[i] = map.getNearestLocation(pt);
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}
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heuristic.adaptToGoal(locs[1], map);
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env = new MapEnvironment(map);
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Problem p = new BidirectionalMapProblem(map, null, locs[1]);
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OnlineSearchProblem osp = new OnlineSearchProblem(
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p.getActionsFunction(), p.getGoalTest(),
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p.getStepCostFunction());
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Agent agent = new LRTAStarAgent(osp,
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MapFunctionFactory.getPerceptToStateFunction(), heuristic);
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env.addEnvironmentView(new TrackUpdater());
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env.addAgent(agent, locs[0]);
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}
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/** Starts the experiment. */
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public void simulate() {
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List<MapNode> markers = map.getOsmMap().getMarkers();
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if (markers.size() < 2) {
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simPaneCtrl.setStatus("Error: Please set two markers with mouse-left.");
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} else {
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initAgent(markers);
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while (!env.isDone() && !CancelableThread.currIsCanceled()) {
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env.step();
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simPaneCtrl.waitAfterStep();
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}
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Double travelDistance = env.getAgentTravelDistance(env.getAgents().get(0));
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if (travelDistance != null) {
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DecimalFormat f = new DecimalFormat("#0.0");
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simPaneCtrl.setStatus("Travel distance: "
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+ f.format(travelDistance) + "km");
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}
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}
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}
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@Override
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public void finalize() {
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simPaneCtrl.cancelSimulation();
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}
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/** Visualizes agent positions. Call from simulation thread. */
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private void updateTrack(Agent agent) {
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MapAdapter map = (MapAdapter) env.getMap();
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MapNode node = map.getWayNode(env.getAgentLocation(agent));
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if (node != null) {
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Platform.runLater(() -> map.getOsmMap().addToTrack(TRACK_NAME,
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new Position(node.getLat(), node.getLon()))
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);
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}
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}
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// helper classes...
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/**
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* Returns always the heuristic value 0.
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*/
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static class H1 extends AdaptableHeuristicFunction {
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public double h(Object state) {
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return 0.0;
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}
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}
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/**
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* A simple heuristic which interprets <code>state</code> and {@link #goal}
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* as location names and uses the straight-line distance between them as
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* heuristic value.
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*/
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static class H2 extends AdaptableHeuristicFunction {
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public double h(Object state) {
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double result = 0.0;
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Point2D pt1 = map.getPosition((String) state);
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Point2D pt2 = map.getPosition((String) goal);
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if (pt1 != null && pt2 != null)
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result = pt1.distance(pt2);
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return result;
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}
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}
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class TrackUpdater implements EnvironmentView {
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@Override
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public void notify(String msg) { }
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@Override
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public void agentAdded(Agent agent, Environment source) {
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updateTrack(agent);
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}
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/**
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* Reacts on environment changes and updates the tracks.
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*/
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@Override
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public void agentActed(Agent agent, Action command, Environment source) {
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if (command instanceof MoveToAction) {
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updateTrack(agent);
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}
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}
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}
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}

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