Navigate a route with rerouting

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Navigate between two points and dynamically recalculate an alternate route when the original route is unavailable.

screenshot

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. Check 'Voice Directions' to activate announcing maneuvers. Click 'Reset' to start the simulation from the beginning.

How it works

  1. Create a RouteTask using a local geodatabase.
  2. Generate default RouteParameters using createDefaultParameters.
  3. Set returnStops and returnDirections on the parameters to true.
  4. Add Stops to the parameters stops collection for each destination.
  5. Solve the route using to get a RouteResult.
  6. Create a RouteTracker using the route result, and the index of the desired route to take.
  7. Enable rerouting in the route tracker. Use ReroutingStrategy::toNextWaypoint to specify that in the case of a reroute the new route goes from present location to next waypoint or stop.
  8. Track the location of the device and update the route tracking status.
  9. Add a listener to capture and get the TrackingStatus and 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 a Polyline), or the remaining time (Double), amongst others.
  10. Add a NewVoiceGuidanceListener to get the VoiceGuidance whenever new instructions are available.
  11. You can also query the tracking status for the current DirectionManeuver index, retrieve that maneuver from the Route and get its direction text to display in the GUI.
  12. To establish whether the destination has been reached, get the DestinationStatus from the tracking status. If the destination status is REACHED, and the remainingDestinationCount is 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

NavigateARouteWithRerouting.cppNavigateARouteWithRerouting.cppNavigateARouteWithRerouting.hNavigateARouteWithRerouting.qml
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// [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

#include "NavigateARouteWithRerouting.h"

#include "DirectionManeuverListModel.h"
#include "GeometryEngine.h"
#include "GraphicsOverlay.h"
#include "Location.h"
#include "LocationDisplay.h"
#include "Map.h"
#include "MapQuickView.h"
#include "NavigationTypes.h"
#include "Point.h"
#include "ReroutingParameters.h"
#include "Route.h"
#include "RouteParameters.h"
#include "RouteResult.h"
#include "RouteTask.h"
#include "RouteTracker.h"
#include "RouteTrackerLocationDataSource.h"
#include "SimpleMarkerSymbol.h"
#include "SimulatedLocationDataSource.h"
#include "SimulationParameters.h"
#include "Stop.h"
#include "TrackingDistance.h"
#include "TrackingProgress.h"
#include "TrackingStatus.h"
#include "VoiceGuidance.h"

#include <memory>
#include <QDir>
#include <QList>
#include <QTextToSpeech>
#include <QTime>
#include <QUrl>


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_ANDROID
  dataPath = "/sdcard";
#elif defined Q_OS_IOS
  dataPath = QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation);
#else
  dataPath = QDir::homePath();
#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);
  connectRouteTaskSignals();

  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::connectRouteTaskSignals()
{
  connect(m_routeTask, &RouteTask::solveRouteCompleted, this, [this](QUuid, RouteResult routeResult)
  {
    if (routeResult.isEmpty())
      return;

    if (routeResult.routes().empty())
      return;

    m_routeResult = routeResult;
    m_route = qAsConst(m_routeResult).routes()[0];

    m_directionManeuvers = m_route.directionManeuvers(this)->directionManeuvers();

    // adjust viewpoint to enclose the route with a 100 DPI padding
    m_mapView->setViewpointGeometry(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();
  });

  connect(m_routeTask, &RouteTask::createDefaultParametersCompleted, this, [this](QUuid, 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->solveRoute(defaultParameters);
  });

  connect(m_routeTask, &RouteTask::doneLoading, this, [this](const Error& error)
  {
    if (error.isEmpty())
    {
      m_routeTask->createDefaultParameters();
    }
    else
    {
      qDebug() << error.message() << 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)
  {
    m_routeTracker->trackLocation(location);
  });

  // 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);

  m_routeTracker->enableRerouting(rerouteParameters);

  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(Polyline::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_routeTask, &RouteTask::solveRouteCompleted, this, [this](QUuid, RouteResult routeResult)
  {
    if (routeResult.isEmpty())
      return;

    if (routeResult.routes().empty())
      return;

    m_routeResult = routeResult;
    m_route = qAsConst(m_routeResult).routes()[0];
    m_directionManeuvers = m_route.directionManeuvers(this)->directionManeuvers();
  });

  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)
      {
        m_routeTracker->switchToNextDestination();
      }
      else
      {
        m_simulatedLocationDataSource->stop();
        m_navigationEnabled = true;
        emit navigationEnabledChanged();
      }
    }
    m_textString = textString;
    emit textStringChanged();
  });

  connect(m_routeTracker, &RouteTracker::trackLocationCompleted, this, [this](QUuid)
  {
    m_routeTracker->generateVoiceGuidance();
  });

  connect(m_routeTracker, &RouteTracker::rerouteCompleted, this, [this](TrackingStatus* rawTrackingStatus, Error error)
  {
    // 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);
}

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