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add osrm to routing service (#86)

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This commit is contained in:
Asim Aslam
2021-04-26 11:42:08 +01:00
committed by GitHub
parent 7ae45b522e
commit d119807d1c
10 changed files with 345 additions and 135 deletions
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8
routing/README.md
View File

@@ -3,3 +3,11 @@ Point to point routing directions
# Routing Service
The routing service provides point to point directions
## Config
The following config must be set
- **routing.mode**: "google" or "osrm"
- **google.api.key**: google maps api key if using google
- **osrm.api.address"**: location of osrm api

21
routing/handler/handler.go → routing/handler/google.go
View File

@@ -4,7 +4,6 @@ import (
"context"
"fmt"
"google.golang.org/protobuf/types/known/wrapperspb"
"googlemaps.github.io/maps"
"github.com/micro/micro/v3/service/errors"
@@ -21,11 +20,11 @@ var (
ErrNoRoutes = errors.BadRequest("NO_ROUTES", "No routes found")
)
type Routing struct {
type Google struct {
Maps *maps.Client
}
func (r *Routing) Route(ctx context.Context, req *pb.RouteRequest, rsp *pb.RouteResponse) error {
func (r *Google) Route(ctx context.Context, req *pb.RouteRequest, rsp *pb.RouteResponse) error {
// validate the request
if req.Origin == nil {
return ErrMissingOrigin
@@ -60,26 +59,28 @@ func (r *Routing) Route(ctx context.Context, req *pb.RouteRequest, rsp *pb.Route
}
// return the result
rsp.Waypoints = make([]*pb.Point, len(points))
rsp.Waypoints = make([]*pb.Waypoint, len(points))
for i, p := range points {
rsp.Waypoints[i] = &pb.Point{
Latitude: &wrapperspb.DoubleValue{Value: p.Lat},
Longitude: &wrapperspb.DoubleValue{Value: p.Lng},
rsp.Waypoints[i] = &pb.Waypoint{
Location: &pb.Point{
Latitude: p.Lat,
Longitude: p.Lng,
},
}
}
return nil
}
func validatePoint(p *pb.Point) error {
if p.Latitude == nil {
if p.Latitude == 0.0 {
return ErrMissingLatitude
}
if p.Longitude == nil {
if p.Longitude == 0.0 {
return ErrMissingLongitude
}
return nil
}
func pointToString(p *pb.Point) string {
return fmt.Sprintf("%v,%v", p.Latitude.Value, p.Longitude.Value)
return fmt.Sprintf("%v,%v", p.Latitude, p.Longitude)
}

79
routing/handler/handler_test.go → routing/handler/google_test.go
View File

@@ -11,7 +11,6 @@ import (
"github.com/micro/services/routing/handler"
pb "github.com/micro/services/routing/proto"
"github.com/stretchr/testify/assert"
"google.golang.org/protobuf/types/known/wrapperspb"
"googlemaps.github.io/maps"
)
@@ -116,13 +115,13 @@ func TestRoute(t *testing.T) {
if err != nil {
t.Fatal(err)
}
h := &handler.Routing{Maps: m}
h := &handler.Google{Maps: m}
originLat := &wrapperspb.DoubleValue{Value: 33.8688}
originLng := &wrapperspb.DoubleValue{Value: 151.2093}
originLat := 33.8688
originLng := 151.2093
destinationLat := &wrapperspb.DoubleValue{Value: 33.8136}
destinationLng := &wrapperspb.DoubleValue{Value: 151.0034}
destinationLat := 33.8136
destinationLng := 151.0034
tt := []struct {
Name string
@@ -159,52 +158,52 @@ func TestRoute(t *testing.T) {
Destination: &pb.Point{Latitude: destinationLat, Longitude: destinationLng},
Result: []*pb.Point{
{
Latitude: &wrapperspb.DoubleValue{Value: -33.867490000000004},
Longitude: &wrapperspb.DoubleValue{Value: 151.20708000000002},
Latitude: -33.867490000000004,
Longitude: 151.20708000000002,
},
{
Latitude: &wrapperspb.DoubleValue{Value: -33.867610000000006},
Longitude: &wrapperspb.DoubleValue{Value: 151.20707000000002},
Latitude: -33.867610000000006,
Longitude: 151.20707000000002,
},
{
Latitude: &wrapperspb.DoubleValue{Value: -33.868080000000006},
Longitude: &wrapperspb.DoubleValue{Value: 151.20702},
Latitude: -33.868080000000006,
Longitude: 151.20702,
},
{
Latitude: &wrapperspb.DoubleValue{Value: -33.868390000000005},
Longitude: &wrapperspb.DoubleValue{Value: 151.20699000000002},
Latitude: -33.868390000000005,
Longitude: 151.20699000000002,
},
{
Latitude: &wrapperspb.DoubleValue{Value: -33.86874},
Longitude: &wrapperspb.DoubleValue{Value: 151.20697},
Latitude: -33.86874,
Longitude: 151.20697,
},
{
Latitude: &wrapperspb.DoubleValue{Value: -33.869400000000006},
Longitude: &wrapperspb.DoubleValue{Value: 151.20696},
Latitude: -33.869400000000006,
Longitude: 151.20696,
},
{
Latitude: &wrapperspb.DoubleValue{Value: -33.86941},
Longitude: &wrapperspb.DoubleValue{Value: 151.20696},
Latitude: -33.86941,
Longitude: 151.20696,
},
{
Latitude: &wrapperspb.DoubleValue{Value: -33.86957},
Longitude: &wrapperspb.DoubleValue{Value: 151.20695},
Latitude: -33.86957,
Longitude: 151.20695,
},
{
Latitude: &wrapperspb.DoubleValue{Value: -33.86965},
Longitude: &wrapperspb.DoubleValue{Value: 151.20695},
Latitude: -33.86965,
Longitude: 151.20695,
},
{
Latitude: &wrapperspb.DoubleValue{Value: -33.87059},
Longitude: &wrapperspb.DoubleValue{Value: 151.20694},
Latitude: -33.87059,
Longitude: 151.20694,
},
{
Latitude: &wrapperspb.DoubleValue{Value: -33.870740000000005},
Longitude: &wrapperspb.DoubleValue{Value: 151.20694},
Latitude: -33.870740000000005,
Longitude: 151.20694,
},
{
Latitude: &wrapperspb.DoubleValue{Value: -33.87078},
Longitude: &wrapperspb.DoubleValue{Value: 151.20693},
Latitude: -33.87078,
Longitude: 151.20693,
},
},
},
@@ -223,17 +222,17 @@ func TestRoute(t *testing.T) {
}
// check the right info was sent to google maps
if tc.Origin != nil && tc.Origin.Latitude != nil {
assert.Equal(t, fmt.Sprintf("%v", tc.Origin.Latitude.Value), oLat)
if tc.Origin != nil && tc.Origin.Latitude != 0.0 {
assert.Equal(t, fmt.Sprintf("%v", tc.Origin.Latitude), oLat)
}
if tc.Origin != nil && tc.Origin.Longitude != nil {
assert.Equal(t, fmt.Sprintf("%v", tc.Origin.Longitude.Value), oLng)
if tc.Origin != nil && tc.Origin.Longitude != 0.0 {
assert.Equal(t, fmt.Sprintf("%v", tc.Origin.Longitude), oLng)
}
if tc.Destination != nil && tc.Destination.Latitude != nil {
assert.Equal(t, fmt.Sprintf("%v", tc.Destination.Latitude.Value), dLat)
if tc.Destination != nil && tc.Destination.Latitude != 0.0 {
assert.Equal(t, fmt.Sprintf("%v", tc.Destination.Latitude), dLat)
}
if tc.Destination != nil && tc.Destination.Longitude != nil {
assert.Equal(t, fmt.Sprintf("%v", tc.Destination.Longitude.Value), dLng)
if tc.Destination != nil && tc.Destination.Longitude != 0.0 {
assert.Equal(t, fmt.Sprintf("%v", tc.Destination.Longitude), dLng)
}
// check the response is correct
@@ -242,8 +241,8 @@ func TestRoute(t *testing.T) {
}
for i, p := range tc.Result {
w := rsp.Waypoints[i]
assert.Equal(t, p.Latitude.Value, w.Latitude.Value)
assert.Equal(t, p.Longitude.Value, w.Longitude.Value)
assert.Equal(t, p.Latitude, w.Location.Latitude)
assert.Equal(t, p.Longitude, w.Location.Longitude)
}
})
}

77
routing/handler/osrm.go Normal file
View File

@@ -0,0 +1,77 @@
package handler
import (
"context"
"net/url"
"time"
"github.com/gojuno/go.osrm"
"github.com/micro/micro/v3/service/errors"
pb "github.com/micro/services/routing/proto"
"github.com/paulmach/go.geo"
)
type OSRM struct {
// api address
Address string
// osrm client
Client *osrm.OSRM
}
func (o *OSRM) Route(ctx context.Context, req *pb.RouteRequest, rsp *pb.RouteResponse) error {
// validate the request
if req.Origin == nil {
return ErrMissingOrigin
}
if req.Destination == nil {
return ErrMissingDestination
}
if err := validatePoint(req.Origin); err != nil {
return err
}
if err := validatePoint(req.Destination); err != nil {
return err
}
if o.Client == nil {
u, _ := url.Parse(o.Address)
if u.Scheme == "" {
u.Scheme = "http"
}
o.Client = osrm.NewFromURL(u.String())
}
ctx, cancelFn := context.WithTimeout(context.Background(), time.Second)
defer cancelFn()
orig := req.Origin
dest := req.Destination
resp, err := o.Client.Route(ctx, osrm.RouteRequest{
Profile: "car",
Coordinates: osrm.NewGeometryFromPointSet(geo.PointSet{
{orig.Longitude, orig.Latitude},
{dest.Longitude, dest.Latitude},
}),
Steps: osrm.StepsTrue,
Annotations: osrm.AnnotationsTrue,
Overview: osrm.OverviewFalse,
Geometries: osrm.GeometriesPolyline6,
})
if err != nil {
return errors.InternalServerError("routing.route", "failed to get route: %v", err.Error())
}
for _, waypoint := range resp.Waypoints {
rsp.Waypoints = append(rsp.Waypoints, &pb.Waypoint{
Name: waypoint.Name,
Distance: float64(waypoint.Distance),
Location: &pb.Point{
Latitude: waypoint.Location.Lat(),
Longitude: waypoint.Location.Lng(),
},
})
}
return nil
}

50
routing/main.go
View File

@@ -17,22 +17,48 @@ func main() {
service.Version("latest"),
)
// Setup google maps
c, err := config.Get("google.apikey")
// decide whether to use google or osrm
c, err := config.Get("routing.mode")
if err != nil {
logger.Fatalf("Error loading config: %v", err)
}
apiKey := c.String("")
if len(apiKey) == 0 {
logger.Fatalf("Missing required config: google.apikey")
}
m, err := maps.NewClient(maps.WithAPIKey(apiKey))
if err != nil {
logger.Fatalf("Error configuring google maps client: %v", err)
}
// defaults to google
mode := c.String("google")
// Register handler
pb.RegisterRoutingHandler(srv.Server(), &handler.Routing{m})
switch mode {
case "google":
// Setup google maps
c, err := config.Get("google.api.key")
if err != nil {
logger.Fatalf("Error loading config: %v", err)
}
apiKey := c.String("")
if len(apiKey) == 0 {
logger.Fatalf("Missing required config: google.apikey")
}
m, err := maps.NewClient(maps.WithAPIKey(apiKey))
if err != nil {
logger.Fatalf("Error configuring google maps client: %v", err)
}
// Register handler
pb.RegisterRoutingHandler(srv.Server(), &handler.Google{m})
case "osrm":
// todo
// Setup google maps
c, err := config.Get("routing.address")
if err != nil {
logger.Fatalf("Error loading config: %v", err)
}
apiAddr := c.String("http://router.project-osrm.org")
if len(apiAddr) == 0 {
logger.Fatalf("Missing required config: osrm.api.address")
}
// Register handler
pb.RegisterRoutingHandler(srv.Server(), &handler.OSRM{Address: apiAddr})
default:
logger.Fatalf("%s is an unsupported mode", mode)
}
// Run service
if err := srv.Run(); err != nil {

216
routing/proto/routing.pb.go
View File

@@ -1,16 +1,14 @@
// Code generated by protoc-gen-go. DO NOT EDIT.
// versions:
// protoc-gen-go v1.25.0
// protoc v3.15.5
// protoc-gen-go v1.26.0
// protoc v3.15.6
// source: proto/routing.proto
package routing
import (
proto "github.com/golang/protobuf/proto"
protoreflect "google.golang.org/protobuf/reflect/protoreflect"
protoimpl "google.golang.org/protobuf/runtime/protoimpl"
wrapperspb "google.golang.org/protobuf/types/known/wrapperspb"
reflect "reflect"
sync "sync"
)
@@ -22,17 +20,13 @@ const (
_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
)
// This is a compile-time assertion that a sufficiently up-to-date version
// of the legacy proto package is being used.
const _ = proto.ProtoPackageIsVersion4
type Point struct {
state protoimpl.MessageState
sizeCache protoimpl.SizeCache
unknownFields protoimpl.UnknownFields
Latitude *wrapperspb.DoubleValue `protobuf:"bytes,1,opt,name=latitude,proto3" json:"latitude,omitempty"`
Longitude *wrapperspb.DoubleValue `protobuf:"bytes,2,opt,name=longitude,proto3" json:"longitude,omitempty"`
Latitude float64 `protobuf:"fixed64,1,opt,name=latitude,proto3" json:"latitude,omitempty"`
Longitude float64 `protobuf:"fixed64,2,opt,name=longitude,proto3" json:"longitude,omitempty"`
}
func (x *Point) Reset() {
@@ -67,17 +61,80 @@ func (*Point) Descriptor() ([]byte, []int) {
return file_proto_routing_proto_rawDescGZIP(), []int{0}
}
func (x *Point) GetLatitude() *wrapperspb.DoubleValue {
func (x *Point) GetLatitude() float64 {
if x != nil {
return x.Latitude
}
return nil
return 0
}
func (x *Point) GetLongitude() *wrapperspb.DoubleValue {
func (x *Point) GetLongitude() float64 {
if x != nil {
return x.Longitude
}
return 0
}
type Waypoint struct {
state protoimpl.MessageState
sizeCache protoimpl.SizeCache
unknownFields protoimpl.UnknownFields
Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
Distance float64 `protobuf:"fixed64,2,opt,name=distance,proto3" json:"distance,omitempty"`
Location *Point `protobuf:"bytes,3,opt,name=location,proto3" json:"location,omitempty"`
}
func (x *Waypoint) Reset() {
*x = Waypoint{}
if protoimpl.UnsafeEnabled {
mi := &file_proto_routing_proto_msgTypes[1]
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
ms.StoreMessageInfo(mi)
}
}
func (x *Waypoint) String() string {
return protoimpl.X.MessageStringOf(x)
}
func (*Waypoint) ProtoMessage() {}
func (x *Waypoint) ProtoReflect() protoreflect.Message {
mi := &file_proto_routing_proto_msgTypes[1]
if protoimpl.UnsafeEnabled && x != nil {
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
if ms.LoadMessageInfo() == nil {
ms.StoreMessageInfo(mi)
}
return ms
}
return mi.MessageOf(x)
}
// Deprecated: Use Waypoint.ProtoReflect.Descriptor instead.
func (*Waypoint) Descriptor() ([]byte, []int) {
return file_proto_routing_proto_rawDescGZIP(), []int{1}
}
func (x *Waypoint) GetName() string {
if x != nil {
return x.Name
}
return ""
}
func (x *Waypoint) GetDistance() float64 {
if x != nil {
return x.Distance
}
return 0
}
func (x *Waypoint) GetLocation() *Point {
if x != nil {
return x.Location
}
return nil
}
@@ -86,14 +143,18 @@ type RouteRequest struct {
sizeCache protoimpl.SizeCache
unknownFields protoimpl.UnknownFields
Origin *Point `protobuf:"bytes,1,opt,name=origin,proto3" json:"origin,omitempty"`
// Point of origin for the trip
Origin *Point `protobuf:"bytes,1,opt,name=origin,proto3" json:"origin,omitempty"`
// Point of destination for the trip
Destination *Point `protobuf:"bytes,2,opt,name=destination,proto3" json:"destination,omitempty"`
// Mode of transport e.g driving, walking, cycling
Transport string `protobuf:"bytes,3,opt,name=transport,proto3" json:"transport,omitempty"`
}
func (x *RouteRequest) Reset() {
*x = RouteRequest{}
if protoimpl.UnsafeEnabled {
mi := &file_proto_routing_proto_msgTypes[1]
mi := &file_proto_routing_proto_msgTypes[2]
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
ms.StoreMessageInfo(mi)
}
@@ -106,7 +167,7 @@ func (x *RouteRequest) String() string {
func (*RouteRequest) ProtoMessage() {}
func (x *RouteRequest) ProtoReflect() protoreflect.Message {
mi := &file_proto_routing_proto_msgTypes[1]
mi := &file_proto_routing_proto_msgTypes[2]
if protoimpl.UnsafeEnabled && x != nil {
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
if ms.LoadMessageInfo() == nil {
@@ -119,7 +180,7 @@ func (x *RouteRequest) ProtoReflect() protoreflect.Message {
// Deprecated: Use RouteRequest.ProtoReflect.Descriptor instead.
func (*RouteRequest) Descriptor() ([]byte, []int) {
return file_proto_routing_proto_rawDescGZIP(), []int{1}
return file_proto_routing_proto_rawDescGZIP(), []int{2}
}
func (x *RouteRequest) GetOrigin() *Point {
@@ -136,18 +197,25 @@ func (x *RouteRequest) GetDestination() *Point {
return nil
}
func (x *RouteRequest) GetTransport() string {
if x != nil {
return x.Transport
}
return ""
}
type RouteResponse struct {
state protoimpl.MessageState
sizeCache protoimpl.SizeCache
unknownFields protoimpl.UnknownFields
Waypoints []*Point `protobuf:"bytes,1,rep,name=waypoints,proto3" json:"waypoints,omitempty"`
Waypoints []*Waypoint `protobuf:"bytes,1,rep,name=waypoints,proto3" json:"waypoints,omitempty"`
}
func (x *RouteResponse) Reset() {
*x = RouteResponse{}
if protoimpl.UnsafeEnabled {
mi := &file_proto_routing_proto_msgTypes[2]
mi := &file_proto_routing_proto_msgTypes[3]
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
ms.StoreMessageInfo(mi)
}
@@ -160,7 +228,7 @@ func (x *RouteResponse) String() string {
func (*RouteResponse) ProtoMessage() {}
func (x *RouteResponse) ProtoReflect() protoreflect.Message {
mi := &file_proto_routing_proto_msgTypes[2]
mi := &file_proto_routing_proto_msgTypes[3]
if protoimpl.UnsafeEnabled && x != nil {
ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
if ms.LoadMessageInfo() == nil {
@@ -173,10 +241,10 @@ func (x *RouteResponse) ProtoReflect() protoreflect.Message {
// Deprecated: Use RouteResponse.ProtoReflect.Descriptor instead.
func (*RouteResponse) Descriptor() ([]byte, []int) {
return file_proto_routing_proto_rawDescGZIP(), []int{2}
return file_proto_routing_proto_rawDescGZIP(), []int{3}
}
func (x *RouteResponse) GetWaypoints() []*Point {
func (x *RouteResponse) GetWaypoints() []*Waypoint {
if x != nil {
return x.Waypoints
}
@@ -187,32 +255,35 @@ var File_proto_routing_proto protoreflect.FileDescriptor
var file_proto_routing_proto_rawDesc = []byte{
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}
@@ -229,26 +300,25 @@ func file_proto_routing_proto_rawDescGZIP() []byte {
return file_proto_routing_proto_rawDescData
}
var file_proto_routing_proto_msgTypes = make([]protoimpl.MessageInfo, 3)
var file_proto_routing_proto_msgTypes = make([]protoimpl.MessageInfo, 4)
var file_proto_routing_proto_goTypes = []interface{}{
(*Point)(nil), // 0: routing.Point
(*RouteRequest)(nil), // 1: routing.RouteRequest
(*RouteResponse)(nil), // 2: routing.RouteResponse
(*wrapperspb.DoubleValue)(nil), // 3: google.protobuf.DoubleValue
(*Point)(nil), // 0: routing.Point
(*Waypoint)(nil), // 1: routing.Waypoint
(*RouteRequest)(nil), // 2: routing.RouteRequest
(*RouteResponse)(nil), // 3: routing.RouteResponse
}
var file_proto_routing_proto_depIdxs = []int32{
3, // 0: routing.Point.latitude:type_name -> google.protobuf.DoubleValue
3, // 1: routing.Point.longitude:type_name -> google.protobuf.DoubleValue
0, // 2: routing.RouteRequest.origin:type_name -> routing.Point
0, // 3: routing.RouteRequest.destination:type_name -> routing.Point
0, // 4: routing.RouteResponse.waypoints:type_name -> routing.Point
1, // 5: routing.Routing.Route:input_type -> routing.RouteRequest
2, // 6: routing.Routing.Route:output_type -> routing.RouteResponse
6, // [6:7] is the sub-list for method output_type
5, // [5:6] is the sub-list for method input_type
5, // [5:5] is the sub-list for extension type_name
5, // [5:5] is the sub-list for extension extendee
0, // [0:5] is the sub-list for field type_name
0, // 0: routing.Waypoint.location:type_name -> routing.Point
0, // 1: routing.RouteRequest.origin:type_name -> routing.Point
0, // 2: routing.RouteRequest.destination:type_name -> routing.Point
1, // 3: routing.RouteResponse.waypoints:type_name -> routing.Waypoint
2, // 4: routing.Routing.Route:input_type -> routing.RouteRequest
3, // 5: routing.Routing.Route:output_type -> routing.RouteResponse
5, // [5:6] is the sub-list for method output_type
4, // [4:5] is the sub-list for method input_type
4, // [4:4] is the sub-list for extension type_name
4, // [4:4] is the sub-list for extension extendee
0, // [0:4] is the sub-list for field type_name
}
func init() { file_proto_routing_proto_init() }
@@ -270,7 +340,7 @@ func file_proto_routing_proto_init() {
}
}
file_proto_routing_proto_msgTypes[1].Exporter = func(v interface{}, i int) interface{} {
switch v := v.(*RouteRequest); i {
switch v := v.(*Waypoint); i {
case 0:
return &v.state
case 1:
@@ -282,6 +352,18 @@ func file_proto_routing_proto_init() {
}
}
file_proto_routing_proto_msgTypes[2].Exporter = func(v interface{}, i int) interface{} {
switch v := v.(*RouteRequest); i {
case 0:
return &v.state
case 1:
return &v.sizeCache
case 2:
return &v.unknownFields
default:
return nil
}
}
file_proto_routing_proto_msgTypes[3].Exporter = func(v interface{}, i int) interface{} {
switch v := v.(*RouteResponse); i {
case 0:
return &v.state
@@ -300,7 +382,7 @@ func file_proto_routing_proto_init() {
GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
RawDescriptor: file_proto_routing_proto_rawDesc,
NumEnums: 0,
NumMessages: 3,
NumMessages: 4,
NumExtensions: 0,
NumServices: 1,
},

1
routing/proto/routing.pb.micro.go
View File

@@ -6,7 +6,6 @@ package routing
import (
fmt "fmt"
proto "github.com/golang/protobuf/proto"
_ "google.golang.org/protobuf/types/known/wrapperspb"
math "math"
)

18
routing/proto/routing.proto
View File

@@ -3,22 +3,30 @@ syntax = "proto3";
package routing;
option go_package = "./proto;routing";
import "google/protobuf/wrappers.proto";
service Routing {
rpc Route(RouteRequest) returns (RouteResponse) {}
}
message Point {
google.protobuf.DoubleValue latitude = 1;
google.protobuf.DoubleValue longitude = 2;
double latitude = 1;
double longitude = 2;
}
message Waypoint {
string name = 1;
double distance = 2;
Point location = 3;
}
message RouteRequest {
// Point of origin for the trip
Point origin = 1;
// Point of destination for the trip
Point destination = 2;
// Mode of transport e.g driving, walking, cycling
string transport = 3;
}
message RouteResponse {
repeated Point waypoints = 1;
repeated Waypoint waypoints = 1;
}