feat: implement turning circle support for u-turns

docs/profiles.md

@@ -416,6 +416,7 @@ angle                              | Read          | Float                     |
 number_of_roads                    | Read          | Integer                   | Number of ways at the intersection of the turn
 is_u_turn                          | Read          | Boolean                   | Is the turn a u-turn?
 has_traffic_light                  | Read          | Boolean                   | Is a traffic light present at this turn?
+has_turning_facility               | Read          | Boolean                   | Is a turning facility (turning_circle, turning_loop, or mini_roundabout) present at this intersection?
 is_left_hand_driving               | Read          | Boolean                   | Is left-hand traffic?
 source_restricted                  | Read          | Boolean                   | Is it from a restricted access road? (See definition in `process_way`)
 source_mode                        | Read          | Enum                      | Travel mode before the turn. Defined in `include/extractor/travel_mode.hpp`

features/car/turning_circle_uturn.feature

@@ -0,0 +1,190 @@
+@routing @car @turning_circle @uturn
+Feature: Car - Use turning circles for u-turns
+
+    Background:
+        Given the profile "car"
+
+    Scenario: Car - Should use turning_circle for u-turn when direct u-turn is restricted
+        Given the node map
+            """
+            a---b---c---e
+                |
+                d
+            """
+
+        And the ways
+            | nodes | highway |
+            | abce  | primary |
+            | bd    | primary |
+
+        And the nodes
+            | node | highway        |
+            | d    | turning_circle |
+
+        And the relations
+            | type        | way:from | node:via | way:to | restriction |
+            | restriction | abce     | b        | abce   | no_u_turn   |
+
+        When I route I should get
+            | waypoints | bearings     | route                   | turns                                             |
+            | a,a       | 90,10 270,10 | abce,bd,bd,abce,abce    | depart,turn right,continue uturn,turn left,arrive |
+
+    Scenario: Car - Should use turning_loop for u-turn when direct u-turn is restricted
+        Given the node map
+            """
+            a---b---c---d
+                |
+                e
+            """
+
+        And the ways
+            | nodes | highway |
+            | abcd  | primary |
+            | be    | primary |
+
+        And the nodes
+            | node | highway      |
+            | e    | turning_loop |
+
+        And the relations
+            | type        | way:from | node:via | way:to | restriction |
+            | restriction | abcd     | b        | abcd   | no_u_turn   |
+
+        When I route I should get
+            | waypoints | bearings     | route                   | turns                                             |
+            | a,a       | 90,10 270,10 | abcd,be,be,abcd,abcd    | depart,turn right,continue uturn,turn left,arrive |
+
+    Scenario: Car - Should use mini_roundabout for u-turn when direct u-turn is restricted
+        Given the node map
+            """
+            a---b---c---d
+                |
+                e
+            """
+
+        And the ways
+            | nodes | highway |
+            | abcd  | primary |
+            | be    | primary |
+
+        And the nodes
+            | node | highway         |
+            | e    | mini_roundabout |
+
+        And the relations
+            | type        | way:from | node:via | way:to | restriction |
+            | restriction | abcd     | b        | abcd   | no_u_turn   |
+
+        When I route I should get
+            | waypoints | bearings     | route                   | turns                                             |
+            | a,a       | 90,10 270,10 | abcd,be,be,abcd,abcd    | depart,turn right,continue uturn,turn left,arrive |
+
+    Scenario: Car - Prefer turning_circle over plain dead end for u-turn
+        Given the node map
+            """
+                c
+                |
+            a---b
+                |
+                d
+            """
+
+        And the ways
+            | nodes | highway |
+            | ab    | primary |
+            | bc    | primary |
+            | bd    | primary |
+
+        And the nodes
+            | node | highway        |
+            | d    | turning_circle |
+
+        And the relations
+            | type        | way:from | node:via | way:to | restriction |
+            | restriction | ab       | b        | ab     | no_u_turn   |
+
+        When I route I should get
+            | waypoints | bearings     | route             | turns                                             |
+            | a,a       | 90,10 270,10 | ab,bd,bd,ab,ab    | depart,turn right,continue uturn,turn left,arrive |
+
+    Scenario: Car - Multiple turning facilities, use closest
+        Given the node map
+            """
+            a---b---c---d---e
+                |       |
+                f       g
+            """
+
+        And the ways
+            | nodes | highway |
+            | abcde | primary |
+            | bf    | primary |
+            | dg    | primary |
+
+        And the nodes
+            | node | highway        |
+            | f    | turning_circle |
+            | g    | turning_loop   |
+
+        When I route I should get
+            | waypoints | bearings     | route                       | turns                                             |
+            | a,a       | 90,10 270,10 | abcde,bf,bf,abcde,abcde     | depart,turn right,continue uturn,turn left,arrive |
+
+    Scenario: Car - Dead end with turning_circle
+        Given the node map
+            """
+            a---b---c
+                    |
+                    d
+            """
+
+        And the ways
+            | nodes | highway   |
+            | abc   | primary   |
+            | cd    | primary   |
+
+        And the nodes
+            | node | highway        |
+            | d    | turning_circle |
+
+        When I route I should get
+            | waypoints | route       | turns                            |
+            | a,d       | abc,cd,cd   | depart,new name right,arrive     |
+            | d,a       | cd,abc,abc  | depart,new name left,arrive      |
+
+    Scenario: Car - Regular u-turn without turning facility still penalized
+        Given the node map
+            """
+            a---b---c---d
+            """
+
+        And the ways
+            | nodes | highway |
+            | abcd  | primary |
+
+        # Note: No turning facility nodes defined
+
+        When I route I should get
+            | waypoints | bearings     | route             | turns                        |
+            | a,a       | 90,10 270,10 | abcd,abcd,abcd    | depart,continue uturn,arrive |
+
+    Scenario: Car - Turning circle on one-way should respect direction
+        Given the node map
+            """
+            a---b---c
+                |
+                d
+            """
+
+        And the ways
+            | nodes | highway | oneway |
+            | abc   | primary | no     |
+            | bd    | primary | yes    |
+
+        And the nodes
+            | node | highway        |
+            | d    | turning_circle |
+
+        When I route I should get
+            | waypoints | bearings     | route         | turns                        |
+            | a,a       | 90,10 270,10 | abc,abc,abc   | depart,continue uturn,arrive |

features/step_definitions/distance_matrix.js

@@ -73,7 +73,7 @@ async function tableCodeOnlyParse(table, annotation, format) {
   let got;
 
   await this.reprocessAndLoadData();
-  const testRow = function (row, ri) {
+  const testRow = function (row, _ri) {
     return new Promise((resolve, reject) => {
       const afterRequest = function (err, res, body) {
         if (err) return reject(err);
@@ -174,7 +174,7 @@ async function tableParse(table, noRoute, annotation, format) {
   await this.reprocessAndLoadData();
   // compute matrix
 
-  const { response, body } = await new Promise((resolve, reject) => {
+  const { body } = await new Promise((resolve, reject) => {
     this.requestTable(waypoints, params, (err, response, body) => {
       if (err) return reject(err);
       resolve({ response, body });

features/step_definitions/matching.js

@@ -8,7 +8,7 @@ When(/^I match I should get$/, async function (table) {
   let got;
 
   await this.reprocessAndLoadData();
-  const testRow = function (row, ri) {
+  const testRow = function (row, _ri) {
     return new Promise((resolve, reject) => {
       const afterRequest = function (err, res, body) {
         if (err) return reject(err);

features/step_definitions/nearest.js

@@ -8,7 +8,7 @@ import { When } from '@cucumber/cucumber';
 
 When(/^I request nearest I should get$/, async function (table) {
   await this.reprocessAndLoadData();
-  const testRow = function (row, ri) {
+  const testRow = function (row, _ri) {
     return new Promise((resolve, reject) => {
       const inNode = this.findNodeByName(row.in);
       if (!inNode) return reject(new Error(util.format('*** unknown in-node "%s"', row.in)));
@@ -79,7 +79,7 @@ When(/^I request nearest I should get$/, async function (table) {
 
 When(/^I request nearest with flatbuffers I should get$/, async function (table) {
   await this.reprocessAndLoadData();
-  const testRow = function (row, ri) {
+  const testRow = function (row, _ri) {
     return new Promise((resolve, reject) => {
       const inNode = this.findNodeByName(row.in);
       if (!inNode) return reject(new Error(util.format('*** unknown in-node "%s"', row.in)));

features/step_definitions/trip.js

@@ -11,7 +11,7 @@ When(/^I plan a trip I should get$/, async function (table) {
   let got;
 
   await this.reprocessAndLoadData();
-  const testRow = function (row, ri) {
+  const testRow = function (row, _ri) {
     return new Promise((resolve, reject) => {
       const afterRequest = function (err, res, body) {
         if (err) return reject(err);

include/extractor/extraction_turn.hpp

@@ -82,6 +82,7 @@ struct ExtractionTurn
                    int number_of_roads,
                    bool is_u_turn,
                    bool has_traffic_light,
+                   bool has_turning_facility,
                    bool is_left_hand_driving,
 
                    bool source_restricted,
@@ -112,7 +113,8 @@ struct ExtractionTurn
                    const NodeID via,
                    const NodeID to)
         : angle(180. - angle), number_of_roads(number_of_roads), is_u_turn(is_u_turn),
-          has_traffic_light(has_traffic_light), is_left_hand_driving(is_left_hand_driving),
+          has_traffic_light(has_traffic_light), has_turning_facility(has_turning_facility),
+          is_left_hand_driving(is_left_hand_driving),
 
           source_restricted(source_restricted), source_mode(source_mode),
           source_is_motorway(source_is_motorway), source_is_link(source_is_link),
@@ -146,11 +148,13 @@ struct ExtractionTurn
                    const ExtractionTurnLeg::EdgeData &target_edge,
                    const std::vector<ExtractionTurnLeg> &roads_on_the_right,
                    const std::vector<ExtractionTurnLeg> &roads_on_the_left,
-                   const bool has_traffic_light)
+                   const bool has_traffic_light,
+                   const bool has_turning_facility)
         : ExtractionTurn{0,
                          2,
                          false,
                          has_traffic_light,
+                         has_turning_facility,
                          false,
                          // source
                          false,
@@ -187,6 +191,7 @@ struct ExtractionTurn
     const int number_of_roads;
     const bool is_u_turn;
     const bool has_traffic_light;
+    const bool has_turning_facility;
     const bool is_left_hand_driving;
 
     // source info

include/extractor/obstacles.hpp

@@ -174,6 +174,13 @@ class ObstacleMap
     // inexpensive general test
     bool any(NodeID to) const { return obstacles.contains(to); }
 
+    // is there any obstacle of type 'type' at node 'to' (from any direction)?
+    // 'type' can be a bitwise-or combination of Obstacle::Type
+    bool any(NodeID to, Obstacle::Type type) const
+    {
+        return any(to) && !get(SPECIAL_NODEID, to, type).empty();
+    }
+
     // is there any obstacle of type 'type' at node 'to' when coming from node 'from'?
     // pass SPECIAL_NODEID as 'from' to query all obstacles at 'to'
     // 'type' can be a bitwise-or combination of Obstacle::Type

profiles/car.lua

@@ -37,6 +37,10 @@ function setup()
     speed_reduction           = 0.8,
     turn_bias                 = 1.075,
     cardinal_directions       = false,
+    -- Penalty in seconds for u-turns at designated turning facilities
+    -- (highway=turning_circle, turning_loop, mini_roundabout).
+    -- Lower than u_turn_penalty because these nodes are specifically designed for turning around.
+    turning_circle_penalty    = 5,
 
     -- Penalty multiplier for roads with no lane markings (lane_markings=no)
     -- Applied to bidirectional roads to prefer roads with clear lane markings
@@ -538,7 +542,12 @@ function process_turn(profile, turn)
     end
 
     if turn.is_u_turn then
-      turn.duration = turn.duration + profile.properties.u_turn_penalty
+      if turn.has_turning_facility then
+        -- No regular u-turn penalty at designated turning facilities (turning_circle, turning_loop, mini_roundabout)
+        turn.duration = turn.duration + profile.turning_circle_penalty
+      else
+        turn.duration = turn.duration + profile.properties.u_turn_penalty
+      end
     end
   end
 

profiles/lib/obstacles.lua

@@ -3,12 +3,24 @@
 
 local Obstacles = {}
 
+-- Mapping from highway tag values to obstacle types
+local highway_to_obstacle_type = {
+    ["traffic_signals"] = obstacle_type.traffic_signals,
+    ["stop"] = obstacle_type.stop,
+    ["give_way"] = obstacle_type.give_way,
+    ["crossing"] = obstacle_type.crossing,
+    ["traffic_calming"] = obstacle_type.traffic_calming,
+    ["mini_roundabout"] = obstacle_type.mini_roundabout,
+    ["turning_loop"] = obstacle_type.turning_loop,
+    ["turning_circle"] = obstacle_type.turning_circle
+}
+
 -- process the obstacles at the given node
 -- note: does not process barriers
 function Obstacles.process_node(profile, node)
     local highway = node:get_value_by_key("highway")
     if highway then
-        local type = obstacle_type[highway]
+        local type = highway_to_obstacle_type[highway]
         -- barriers already handled in car.lua
         if type and type ~= obstacle_type.barrier then
             local direction = node:get_value_by_key("direction")

src/extractor/edge_based_graph_factory.cpp

@@ -621,6 +621,8 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
             // node. But we'll check anyway.
             const bool is_traffic_light = scripting_environment.m_obstacle_map.any(
                 node_along_road_entering, intersection_node, Obstacle::Type::TrafficSignals);
+            const bool has_turning_facility = scripting_environment.m_obstacle_map.any(
+                intersection_node, Obstacle::Type::Turning);
             const bool is_uturn =
                 guidance::getTurnDirection(turn_angle) == guidance::DirectionModifier::UTurn;
 
@@ -631,6 +633,7 @@ void EdgeBasedGraphFactory::GenerateEdgeExpandedEdges(
                                  is_uturn),
                 is_uturn,
                 is_traffic_light,
+                has_turning_facility,
                 m_edge_based_node_container.GetAnnotation(edge_data1.annotation_data)
                     .is_left_hand_driving,
                 // source info