Navigate between two points and dynamically recalculate an alternate route when the original route is unavailable.
Use case
While traveling between destinations, field workers use navigation to get live directions based on their locations. In cases where a field worker makes a wrong turn, or if the route suggested is blocked due to a road closure, it is necessary to calculate an alternate route to the original destination.
How to use the sample
Click 'Navigate' to simulate traveling and to receive directions from a preset starting point to a preset destination. Observe how the route is recalculated when the simulation does not follow the suggested route.
How it works
- Create a
RouteTaskusing a local geodatabase. - Generate default
RouteParametersusingcreateDefaultParametersAsync. - Set
returnStopsandreturnDirectionson the parameters to true. - Add
Stops to the parametersstopscollection for each destination. - Solve the route using to get a
RouteResult. - Create a
RouteTrackerusing the route result, and the index of the desired route to take. - Enable rerouting in the route tracker. Use
ReroutingStrategy::toNextWaypointto specify that in the case of a reroute the new route goes from present location to next waypoint or stop. - Track the location of the device and update the route tracking status.
- Add a listener to capture and get the
TrackingStatusand use it to display updated route information. Tracking status includes a variety of information on the route progress, such as the remaining distance, remaining geometry or traversed geometry (represented by aPolyline), or the remaining time (Double), amongst others. - Add a
NewVoiceGuidanceListenerto get theVoiceGuidancewhenever new instructions are available. - You can also query the tracking status for the current
DirectionManeuverindex, retrieve that maneuver from theRouteand get its direction text to display in the GUI. - To establish whether the destination has been reached, get the
DestinationStatusfrom the tracking status. If the destination status isREACHED, and theremainingDestinationCountis 1, you have arrived at the destination and can stop routing. If there are several destinations in your route, and the remaining destination count is greater than 1, switch the route tracker to the next destination.
Relevant API
- DestinationStatus
- DirectionManeuver
- Location
- LocationDataSource
- ReroutingStrategy
- Route
- RouteParameters
- RouteTask
- RouteTracker
- Stop
- VoiceGuidance
Offline data
The data used by this sample is available on ArcGIS Online.
| Link | Local Location |
|---|---|
| Navigate a Route JSON Track | <userhome>/ArcGIS/Runtime/Data/tpkx/san_diego |
About the data
The route taken in this sample goes from the San Diego Convention Center, site of the annual Esri User Conference, to the Fleet Science Center, San Diego.
Additional information
The route tracker will start a rerouting calculation automatically as necessary when the device's location indicates that it is off-route. The route tracker also validates that the device is "on" the transportation network, if it is not (e.g. in a parking lot) rerouting will not occur until the device location indicates that it is back "on" the transportation network.
Tags
directions, maneuver, navigation, route, turn-by-turn, voice
Sample Code
// [WriteFile Name=NavigateARouteWithRerouting, Category=Routing]
// [Legal]
// Copyright 2022 Esri.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// [Legal]
#ifdef PCH_BUILD
#include "pch.hpp"
#endif // PCH_BUILD
// sample headers
#include "NavigateARouteWithRerouting.h"
// ArcGIS Maps SDK headers
#include "DirectionManeuverListModel.h"
#include "Error.h"
#include "ErrorException.h"
#include "Graphic.h"
#include "GraphicListModel.h"
#include "GraphicsOverlay.h"
#include "GraphicsOverlayListModel.h"
#include "LinearUnit.h"
#include "Location.h"
#include "LocationDisplay.h"
#include "Map.h"
#include "MapQuickView.h"
#include "MapTypes.h"
#include "MapViewTypes.h"
#include "NavigationTypes.h"
#include "Point.h"
#include "Polyline.h"
#include "ReroutingParameters.h"
#include "Route.h"
#include "RouteParameters.h"
#include "RouteResult.h"
#include "RouteTask.h"
#include "RouteTracker.h"
#include "RouteTrackerLocationDataSource.h"
#include "SimpleLineSymbol.h"
#include "SimpleMarkerSymbol.h"
#include "SimulatedLocationDataSource.h"
#include "SimulationParameters.h"
#include "SpatialReference.h"
#include "Stop.h"
#include "SymbolTypes.h"
#include "TrackingDistance.h"
#include "TrackingProgress.h"
#include "TrackingStatus.h"
#include "VoiceGuidance.h"
// Qt headers
#include <QFileInfo>
#include <QFuture>
#include <QList>
#include <QStandardPaths>
#include <QTime>
#include <QUrl>
#include <QUuid>
#include <QtTextToSpeech/QTextToSpeech>
// STL headers
#include <memory>
using namespace Esri::ArcGISRuntime;
namespace {
const Point conventionCenterPoint(-117.160386727066026, 32.706608204740171, SpatialReference::wgs84());
const Point aerospaceMuseumPoint(-117.146679999797271, 32.730351428946854, SpatialReference::wgs84());
const QString tourPolyineJson("{\"paths\":[[[ -117.160386727066026, 32.706608204740171 ], [ -117.160205336548898, 32.706508733108137 ], [ -117.16002394693011, 32.706409261365152 ], [ -117.159842556412997, 32.706309788755419 ], [ -117.159651667110055, 32.706216667017223 ], [ -117.159454444684357, 32.706127778166461 ], [ -117.159257222258688, 32.706038889227095 ], [ -117.159059999833019, 32.705950000199223 ], [ -117.158902856642044, 32.705835713852132 ], [ -117.158739999267553, 32.705720000231665 ], [ -117.158576363053726, 32.705604545733003 ], [ -117.158417272315205, 32.70549090901352 ], [ -117.158256250198832, 32.705376874547866 ], [ -117.158087499876075, 32.70526125028416 ], [ -117.157918750451643, 32.70514562511471 ], [ -117.1577500001289, 32.705029999795485 ], [ -117.157600000341063, 32.704940000101111 ], [ -117.157425000438906, 32.704823332883613 ], [ -117.157250000536706, 32.704706666269544 ], [ -117.15707875020253, 32.70459250003033 ], [ -117.156909999879787, 32.704480000413547 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QString defaultDataPath()
{
QString dataPath;
#ifdef Q_OS_IOS
dataPath = QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation);
#else
dataPath = QStandardPaths::writableLocation(QStandardPaths::HomeLocation);
#endif
return dataPath;
}
}
NavigateARouteWithRerouting::NavigateARouteWithRerouting(QObject* parent /* = nullptr */):
QObject(parent),
m_map(new Map(BasemapStyle::ArcGISNavigation, this))
{
m_routeOverlay = new GraphicsOverlay(this);
//setup route task
const QString folderLocation = QString("%1/ArcGIS/Runtime/Data/tpkx/san_diego").arg(defaultDataPath());
if (!QFileInfo::exists(folderLocation))
{
qWarning() << "Please download required data.";
return;
}
const QString geodatabaseLocation = folderLocation + QString("/sandiego.geodatabase");
m_routeTask = new RouteTask(geodatabaseLocation, "Streets_ND", this);
m_speaker = new QTextToSpeech(this);
}
NavigateARouteWithRerouting::~NavigateARouteWithRerouting() = default;
void NavigateARouteWithRerouting::init()
{
// Register the map view for QML
qmlRegisterType<MapQuickView>("Esri.Samples", 1, 0, "MapView");
qmlRegisterType<NavigateARouteWithRerouting>("Esri.Samples", 1, 0, "NavigateARouteWithReroutingSample");
}
MapQuickView* NavigateARouteWithRerouting::mapView() const
{
return m_mapView;
}
// Set the view (created in QML)
void NavigateARouteWithRerouting::setMapView(MapQuickView* mapView)
{
if (!mapView || mapView == m_mapView)
return;
m_mapView = mapView;
m_mapView->setMap(m_map);
m_mapView->graphicsOverlays()->append(m_routeOverlay);
connect(m_routeTask, &RouteTask::doneLoading, this, [this](const Error& error)
{
if (error.isEmpty())
initializeRoute();
else
qDebug() << error.message() << error.additionalMessage();
});
m_routeTask->load();
// add graphics for the predefined stops
SimpleMarkerSymbol* stopSymbol = new SimpleMarkerSymbol(SimpleMarkerSymbolStyle::Diamond, Qt::red, 20, this);
m_routeOverlay->graphics()->append(new Graphic(conventionCenterPoint, stopSymbol, this));
m_routeOverlay->graphics()->append(new Graphic(aerospaceMuseumPoint, stopSymbol, this));
emit mapViewChanged();
}
void NavigateARouteWithRerouting::initializeRoute()
{
// Asynchronously create default parameters then solve the initial route using methods that utililze QFuture
m_routeTask->createDefaultParametersAsync()
.then(this, [this](RouteParameters defaultParameters)
{
// set values for parameters
defaultParameters.setReturnStops(true);
defaultParameters.setReturnDirections(true);
defaultParameters.setReturnRoutes(true);
defaultParameters.setOutputSpatialReference(SpatialReference::wgs84());
Stop stop1(conventionCenterPoint);
Stop stop2(aerospaceMuseumPoint);
QList<Stop> stopsList = {stop1, stop2};
defaultParameters.setStops(stopsList);
m_routeParameters = defaultParameters;
m_routeTask->solveRouteAsync(defaultParameters)
.then(this, [this](const RouteResult& routeResult)
{
if (routeResult.isEmpty() || routeResult.routes().empty())
return;
m_routeResult = routeResult;
m_route = std::as_const(m_routeResult).routes()[0];
m_directionManeuvers = m_route.directionManeuvers(this)->directionManeuvers();
// adjust viewpoint to enclose the route with a 100 DPI padding
m_mapView->setViewpointGeometryAsync(m_route.routeGeometry(), 100);
// create graphics to show the route traversed and route ahead
m_routeAheadGraphic = new Graphic(m_route.routeGeometry(), new SimpleLineSymbol(SimpleLineSymbolStyle::Solid, Qt::blue, 5, this), this);
m_routeTraveledGraphic = new Graphic(Geometry(), new SimpleLineSymbol(SimpleLineSymbolStyle::Solid, Qt::cyan, 3, this), this);
m_routeOverlay->graphics()->append(m_routeAheadGraphic);
m_routeOverlay->graphics()->append(m_routeTraveledGraphic);
m_navigationEnabled = true;
emit navigationEnabledChanged();
})
// Handle any errors that arise from solving the route
.onFailed(this, [](const ErrorException& e)
{
qWarning() << "Solve route failed" << e.error().message() << e.error().additionalMessage();
});
})
// Handle any errors that arise from creating default parameters
.onFailed(this, [](const ErrorException& e)
{
qWarning() << "Create default parameters failed" << e.error().message() << e.error().additionalMessage();
});
}
bool NavigateARouteWithRerouting::navigationEnabled() const
{
return m_navigationEnabled;
}
bool NavigateARouteWithRerouting::recenterEnabled() const
{
return m_recenterEnabled;
}
void NavigateARouteWithRerouting::startNavigation()
{
// disable the navigation button
m_navigationEnabled = false;
emit navigationEnabledChanged();
m_directionManeuvers = m_route.directionManeuvers(this)->directionManeuvers();
// create a route tracker
m_routeTracker = new RouteTracker(m_routeResult, 0, this);
connectRouteTrackerSignals();
// enable the RouteTracker to know when the QTextToSpeech engine is ready
m_routeTracker->setSpeechEngineReadyFunction([speaker = m_speaker]() -> bool
{
return speaker->state() == QTextToSpeech::State::Ready;
});
// enable "recenter" button when location display is moved from nagivation mode
connect(m_mapView->locationDisplay(), &LocationDisplay::autoPanModeChanged, this, [this](LocationDisplayAutoPanMode autoPanMode)
{
m_recenterEnabled = autoPanMode != LocationDisplayAutoPanMode::Navigation;
emit recenterEnabledChanged();
});
connect(m_mapView->locationDisplay(), &LocationDisplay::locationChanged, this, [this](const Location& location)
{
auto future = m_routeTracker->trackLocationAsync(location);
Q_UNUSED(future);
});
// turn on map view's navigation mode
m_mapView->locationDisplay()->setAutoPanMode(LocationDisplayAutoPanMode::Navigation);
RouteTrackerLocationDataSource* dataSource = new RouteTrackerLocationDataSource(m_routeTracker, this);
m_mapView->locationDisplay()->setDataSource(dataSource);
ReroutingParameters* rerouteParameters = new ReroutingParameters(m_routeTask, m_routeParameters, this);
rerouteParameters->setStrategy(ReroutingStrategy::ToNextWaypoint);
rerouteParameters->setVisitFirstStopOnStart(false);
auto future = m_routeTracker->enableReroutingAsync(rerouteParameters);
Q_UNUSED(future);
double velocity = 40.0;
double horizontalAccuracy = 0.0;
double verticalAccuracy = 0.0;
// add a data source for the location display
SimulationParameters* simulationParameters = new SimulationParameters(QDateTime::currentDateTime(), velocity, horizontalAccuracy, verticalAccuracy, this);
m_simulatedLocationDataSource = new SimulatedLocationDataSource(this);
m_simulatedLocationDataSource->setLocationsWithPolyline(geometry_cast<Polyline>(Geometry::fromJson(tourPolyineJson)), simulationParameters);
m_mapView->locationDisplay()->setDataSource(m_simulatedLocationDataSource);
m_simulatedLocationDataSource->start();
}
void NavigateARouteWithRerouting::connectRouteTrackerSignals()
{
connect(m_routeTracker, &RouteTracker::newVoiceGuidance, this, [this](VoiceGuidance* rawVoiceGuidance)
{
auto voiceGuidance = std::unique_ptr<VoiceGuidance>(rawVoiceGuidance);
m_speaker->say(voiceGuidance->text());
});
connect(m_routeTracker, &RouteTracker::trackingStatusChanged, this, [this](TrackingStatus* rawTrackingStatus)
{
auto trackingStatus = std::unique_ptr<TrackingStatus>(rawTrackingStatus);
QString textString("Route status: \n");
if (trackingStatus->destinationStatus() == DestinationStatus::NotReached || trackingStatus->destinationStatus() == DestinationStatus::Approaching)
{
if (trackingStatus->isOnRoute())
{
textString += "Distance remaining: " + trackingStatus->routeProgress()->remainingDistance()->displayText() + " " +
trackingStatus->routeProgress()->remainingDistance()->displayTextUnits().pluralDisplayName() + "\n";
QTime time = QTime::fromMSecsSinceStartOfDay(trackingStatus->routeProgress()->remainingTime() * 60 * 1000); // convert time to milliseconds
textString += "Time remaining: " + time.toString("hh:mm:ss") + "\n";
// display next direction
if (m_directionManeuvers.size() > 0)
{
if (trackingStatus->currentManeuverIndex() + 1 < m_directionManeuvers.length())
{
textString += "Next direction: " + m_directionManeuvers[trackingStatus->currentManeuverIndex() + 1].directionText() + "\n";
}
}
m_routeTraveledGraphic->setGeometry(trackingStatus->routeProgress()->traversedGeometry());
m_routeAheadGraphic->setGeometry(trackingStatus->routeProgress()->remainingGeometry());
}
}
else if (trackingStatus->destinationStatus() == DestinationStatus::Reached)
{
textString += "Destination reached.\n";
// set the route geometries to reflect the completed route
m_routeAheadGraphic->setGeometry(Geometry());
m_routeTraveledGraphic->setGeometry(trackingStatus->routeResult().routes()[0].routeGeometry());
// navigate to next stop, if available
if (trackingStatus->remainingDestinationCount() > 1)
{
auto future = m_routeTracker->switchToNextDestinationAsync();
Q_UNUSED(future);
}
else
{
m_simulatedLocationDataSource->stop();
m_navigationEnabled = true;
emit navigationEnabledChanged();
}
}
m_textString = textString;
emit textStringChanged();
});
connect(m_routeTracker, &RouteTracker::rerouteCompleted, this, [this](TrackingStatus* rawTrackingStatus)
{
// When a reroute is completed, clear the previous graphics overlay and append the new ones for the new path
m_routeOverlay->graphics()->clear();
// Use the updated route to get the new direction maneuvers list
m_directionManeuvers = rawTrackingStatus->routeResult().routes().at(0).directionManeuvers(this)->directionManeuvers();
// Since we cleared the routeOverlay above, re-add the graphics for the predefined stops
SimpleMarkerSymbol* stopSymbol = new SimpleMarkerSymbol(SimpleMarkerSymbolStyle::Diamond, Qt::red, 20, this);
m_routeOverlay->graphics()->append(new Graphic(conventionCenterPoint, stopSymbol, this));
m_routeOverlay->graphics()->append(new Graphic(aerospaceMuseumPoint, stopSymbol, this));
// Add the new routeAhead and routeTraveled graphics to the overlay
m_routeOverlay->graphics()->append(m_routeAheadGraphic);
m_routeOverlay->graphics()->append(m_routeTraveledGraphic);
});
}
QString NavigateARouteWithRerouting::textString() const
{
return m_textString;
}
void NavigateARouteWithRerouting::recenterMap()
{
m_mapView->locationDisplay()->setAutoPanMode(LocationDisplayAutoPanMode::Navigation);
}