Navigate a route with rerouting

// [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);
}

// [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]

#ifndef NAVIGATEAROUTEWITHREROUTING_H
#define NAVIGATEAROUTEWITHREROUTING_H

// ArcGIS Maps SDK headers
#include "DirectionManeuver.h"
#include "Route.h"
#include "RouteParameters.h"
#include "RouteResult.h"

// Qt headers
#include <QObject>

class QTextToSpeech;

namespace Esri
{
namespace ArcGISRuntime
{
class Graphic;
class GraphicsOverlay;
class Map;
class MapQuickView;
class RouteParameters;
class RouteTask;
class RouteTracker;
class SimulatedLocationDataSource;
}
}

Q_MOC_INCLUDE("MapQuickView.h")

class NavigateARouteWithRerouting : public QObject
{
  Q_OBJECT

  Q_PROPERTY(Esri::ArcGISRuntime::MapQuickView* mapView READ mapView WRITE setMapView NOTIFY mapViewChanged)
  Q_PROPERTY(bool navigationEnabled READ navigationEnabled NOTIFY navigationEnabledChanged)
  Q_PROPERTY(bool recenterEnabled READ recenterEnabled NOTIFY recenterEnabledChanged)
  Q_PROPERTY(QString textString READ textString NOTIFY textStringChanged)

public:
  explicit NavigateARouteWithRerouting(QObject* parent = nullptr);
  ~NavigateARouteWithRerouting();

  static void init();
  Q_INVOKABLE void startNavigation();
  Q_INVOKABLE void recenterMap();

signals:
  void mapViewChanged();
  void navigationEnabledChanged();
  void recenterEnabledChanged();
  void textStringChanged();

private:
  Esri::ArcGISRuntime::MapQuickView* mapView() const;
  void setMapView(Esri::ArcGISRuntime::MapQuickView* mapView);

  bool navigationEnabled() const;
  bool recenterEnabled() const;
  QString textString() const;
  void initializeRoute();
  void connectRouteTrackerSignals();

  Esri::ArcGISRuntime::Graphic* m_routeAheadGraphic = nullptr;
  Esri::ArcGISRuntime::Graphic* m_routeTraveledGraphic = nullptr;
  Esri::ArcGISRuntime::GraphicsOverlay* m_routeOverlay = nullptr;
  Esri::ArcGISRuntime::Map* m_map = nullptr;
  Esri::ArcGISRuntime::MapQuickView* m_mapView = nullptr;
  Esri::ArcGISRuntime::RouteTask* m_routeTask = nullptr;
  Esri::ArcGISRuntime::Route m_route;
  Esri::ArcGISRuntime::RouteResult m_routeResult;
  Esri::ArcGISRuntime::RouteTracker* m_routeTracker = nullptr;
  Esri::ArcGISRuntime::SimulatedLocationDataSource* m_simulatedLocationDataSource = nullptr;
  bool m_navigationEnabled = false;
  bool m_recenterEnabled = false;
  QString m_textString = "";
  Esri::ArcGISRuntime::RouteParameters m_routeParameters;
  QList<Esri::ArcGISRuntime::DirectionManeuver> m_directionManeuvers;
  QTextToSpeech* m_speaker = nullptr;
};

#endif // NAVIGATEAROUTEWITHREROUTING_H

// [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]

import QtQuick
import Esri.Samples
import QtQuick.Controls
import QtQuick.Layouts

Item {

    // add a mapView component
    MapView {
        id: view
        anchors.fill: parent

        Component.onCompleted: {
            // Set and keep the focus on MapView to enable keyboard navigation
            forceActiveFocus();
        }
        Rectangle {
            id: backBox
            anchors {
                top: parent.top
                left: parent.left
                margins: 20
            }
            z: 1
            width: buttonRow.width * 1.5
            height: 200
            color: "#FBFBFB"
            border.color: "black"

            RowLayout {
                id: buttonRow
                anchors {
                    top: parent.top
                    horizontalCenter: parent.horizontalCenter
                    margins: 5
                }
                Button {
                    text: "Navigate"
                    enabled: model.navigationEnabled
                    onClicked: {
                        model.startNavigation();
                    }
                }
                Button {
                    text: "Recenter"
                    enabled: model.recenterEnabled
                    onClicked: {
                        model.recenterMap();
                    }
                }
            }

            Rectangle {
                anchors {
                    top: buttonRow.bottom
                    left: parent.left
                    margins: 5
                }
                width: parent.width
                Text {
                    padding: 5
                    width: parent.width
                    wrapMode: Text.Wrap
                    text: model.textString
                }
            }
        }
    }

    // Declare the C++ instance which creates the map etc. and supply the view
    NavigateARouteWithReroutingSample {
        id: model
        mapView: view
    }
}

// [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]

// sample headers
#include "NavigateARouteWithRerouting.h"

// ArcGIS Maps SDK headers
#include "ArcGISRuntimeEnvironment.h"

// Qt headers
#include <QCommandLineParser>
#include <QDir>
#include <QGuiApplication>
#include <QQmlApplicationEngine>

// Platform specific headers
#ifdef Q_OS_WIN
#include <Windows.h>
#endif

int main(int argc, char *argv[])
{
  Esri::ArcGISRuntime::ArcGISRuntimeEnvironment::setUseLegacyAuthentication(false);
  QGuiApplication app(argc, argv);
  app.setApplicationName(QString("NavigateARouteWithRerouting"));

  // Use of ArcGIS location services, such as basemap styles, geocoding, and routing services,
  // requires an access token. For more information see
  // https://links.esri.com/arcgis-runtime-security-auth.

  // The following methods grant an access token:

  // 1. User authentication: Grants a temporary access token associated with a user's ArcGIS account.
  // To generate a token, a user logs in to the app with an ArcGIS account that is part of an
  // organization in ArcGIS Online or ArcGIS Enterprise.

  // 2. API key authentication: Get a long-lived access token that gives your application access to
  // ArcGIS location services. Go to the tutorial at https://links.esri.com/create-an-api-key.
  // Copy the API Key access token.

  const QString accessToken = QString("");

  if (accessToken.isEmpty())
  {
      qWarning() << "Use of ArcGIS location services, such as the basemap styles service, requires" <<
                    "you to authenticate with an ArcGIS account or set the API Key property.";
  }
  else
  {
      Esri::ArcGISRuntime::ArcGISRuntimeEnvironment::setApiKey(accessToken);
  }

  // Initialize the sample
  NavigateARouteWithRerouting::init();

  // Initialize application view
  QQmlApplicationEngine engine;
  // Add the import Path
  engine.addImportPath(QDir(QCoreApplication::applicationDirPath()).filePath("qml"));

#ifdef ARCGIS_RUNTIME_IMPORT_PATH_2
  engine.addImportPath(ARCGIS_RUNTIME_IMPORT_PATH_2);
#endif

  // Set the source
  engine.load(QUrl("qrc:/Samples/Routing/NavigateARouteWithRerouting/main.qml"));

  return app.exec();
}

// 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.

import QtQuick.Controls
import Esri.Samples

ApplicationWindow {
    visible: true
    width: 800
    height: 600

    NavigateARouteWithRerouting {
        anchors.fill: parent
    }
}