Respect heading while walking

CHANGELOG.md

@@ -24,6 +24,9 @@
 * Fixed an issue where route line blinks when style is changed during active navigation. ([#3613](https://github.com/mapbox/mapbox-navigation-ios/pull/3613))
 * Fixed an issue where route line missing traffic colors after refresh or rerouting. ([#3622](https://github.com/mapbox/mapbox-navigation-ios/pull/3622))
 * Fixed an issue when user goes offline and the route line grows back when `NavigationViewController.routeLineTracksTraversal` enabled. When the distance of user location to the route is larger than certain distance threshold, the vanishing effect of route line would stop until the new route line gets generated. ([#3385](https://github.com/mapbox/mapbox-navigation-ios/pull/3385))
+* If the user walks away from the route, they may be rerouted onto a route that initially travels in the opposite direction. This is only the case along steps that require walking on foot. ([#3620](https://github.com/mapbox/mapbox-navigation-ios/pull/3620))
+* Added `RouteControllerNotificationUserInfoKey.headingKey` to the user info dictionary of `Notification.Name.routeControllerWillReroute`, `Notification.Name.routeControllerDidReroute`, and `Notification.Name.routeControllerProgressDidChange` notifications. ([#3620](https://github.com/mapbox/mapbox-navigation-ios/pull/3620))
+* Added a `Router.heading` property that may contain a heading from the location manager. ([#3620](https://github.com/mapbox/mapbox-navigation-ios/pull/3620))
 
 ### Banners and guidance instructions
 
@@ -58,6 +61,7 @@
 ### Camera
 
 * Fixed an issue where on routes with large distances between current location and next manuever camera zoom level was too low. To control navigation camera zoom level use `IntersectionDensity.averageDistanceMultiplier` coefficient. ([#3616](https://github.com/mapbox/mapbox-navigation-ios/pull/3616))
+* While the user is walking, the map rotates according to the user’s heading instead of their course. ([#3620](https://github.com/mapbox/mapbox-navigation-ios/pull/3620))
 
 ### Other changes
 

Sources/MapboxCoreNavigation/CoreConstants.swift

@@ -158,7 +158,7 @@ public extension Notification.Name {
     /**
      Posted when `RouteController` receives a user location update representing movement along the expected route.
 
-     The user info dictionary contains the keys `RouteController.NotificationUserInfoKey.routeProgressKey`, `RouteController.NotificationUserInfoKey.locationKey`, and `RouteController.NotificationUserInfoKey.rawLocationKey`.
+     The user info dictionary contains the keys `RouteController.NotificationUserInfoKey.routeProgressKey`, `RouteController.NotificationUserInfoKey.locationKey`, and `RouteController.NotificationUserInfoKey.rawLocationKey`, and `RouteController.NotificationUserInfoKey.headingKey`.
 
      - seealso: `passiveLocationManagerDidUpdate`
      */
@@ -174,14 +174,14 @@ public extension Notification.Name {
     /**
      Posted after the user diverges from the expected route, just before `RouteController` attempts to calculate a new route.
 
-     The user info dictionary contains the key `RouteController.NotificationUserInfoKey.locationKey`.
+     The user info dictionary contains the keys `RouteController.NotificationUserInfoKey.locationKey` and `RouteController.NotificationUserInfoKey.headingKey`.
      */
     static let routeControllerWillReroute: Notification.Name = .init(rawValue: "RouteControllerWillReroute")
 
     /**
      Posted when `RouteController` obtains a new route in response to the user diverging from a previous route.
 
-     The user info dictionary contains the keys `RouteController.NotificationUserInfoKey.locationKey` and `RouteController.NotificationUserInfoKey.isProactiveKey`.
+     The user info dictionary contains the keys `RouteController.NotificationUserInfoKey.locationKey`, `RouteController.NotificationUserInfoKey.isProactiveKey`, and `RouteController.NotificationUserInfoKey.headingKey`.
      */
     static let routeControllerDidReroute: Notification.Name = .init(rawValue: "RouteControllerDidReroute")
 
@@ -274,6 +274,11 @@ extension RouteController {
          */
         public static let rawLocationKey: NotificationUserInfoKey = .init(rawValue: "rawLocation")
 
+        /**
+         A key in the user info dictionary of a `Notification.Name.routeControllerProgressDidChange` notification. The corresponding value is a `CLHeading` object representing the current user heading.
+         */
+        public static let headingKey: NotificationUserInfoKey = .init(rawValue: "heading")
+
         /**
          A key in the user info dictionary of a `Notification.Name.currentRoadNameDidChange` notification. The corresponding value is a `NSString` object representing the current road name.
          */

Sources/MapboxCoreNavigation/LegacyRouteController.swift

@@ -71,7 +71,7 @@ open class LegacyRouteController: NSObject, Router, InternalRouter, CLLocationMa
         return rawLocation?.snapped(to: routeProgress)
     }
 
-    var heading: CLHeading?
+    public var heading: CLHeading?
 
     /**
      The most recently received user location.

Sources/MapboxCoreNavigation/RouteController.swift

@@ -124,7 +124,10 @@ open class RouteController: NSObject {
      */
     public weak var delegate: RouterDelegate?
 
-    var heading: CLHeading?
+    /**
+     The route controller’s heading.
+     */
+    public var heading: CLHeading?
     var isFirstLocation: Bool = true
 
     /**
@@ -220,6 +223,10 @@ open class RouteController: NSObject {
         }
     }
 
+    public func locationManager(_ manager: CLLocationManager, didUpdateHeading newHeading: CLHeading) {
+        heading = newHeading
+    }
+
     /**
      Asynchronously updates NavNative navigator with the new `RouteProgress`.
 
@@ -464,11 +471,15 @@ open class RouteController: NSObject {
         delegate?.router(self, didUpdate: progress, with: location, rawLocation: rawLocation)
 
         //Fire the notification (for now)
-        NotificationCenter.default.post(name: .routeControllerProgressDidChange, object: self, userInfo: [
-            NotificationUserInfoKey.routeProgressKey: progress,
-            NotificationUserInfoKey.locationKey: location, //guaranteed value
-            NotificationUserInfoKey.rawLocationKey: rawLocation, //raw
-        ])
+
+        var userInfo: [RouteController.NotificationUserInfoKey: Any] = [
+            .routeProgressKey: progress,
+            .locationKey: location, // guaranteed value
+            .rawLocationKey: rawLocation, // raw
+        ]
+        userInfo[.headingKey] = heading
+
+        NotificationCenter.default.post(name: .routeControllerProgressDidChange, object: self, userInfo: userInfo)
     }
 
     private func announcePassage(of spokenInstructionPoint: SpokenInstruction, routeProgress: RouteProgress) {

Sources/MapboxCoreNavigation/RouteProgress.swift

@@ -25,12 +25,14 @@ open class RouteProgress: Codable {
         self.calculateLegsCongestion()
     }
 
-    func reroutingOptions(with current: CLLocation) -> RouteOptions {
+    func reroutingOptions(from location: CLLocation) -> RouteOptions {
         let oldOptions = routeOptions
-        let user = Waypoint(coordinate: current.coordinate)
+        let user = Waypoint(coordinate: location.coordinate)
 
-        if (current.course >= 0) {
-            user.heading = current.course
+        // A pedestrian can turn on a dime; there's no problem with a route that starts out by turning the pedestrian around.
+        let transportType = currentLegProgress.currentStep.transportType
+        if transportType != .walking && location.course >= 0 {
+            user.heading = location.course
             user.headingAccuracy = RouteProgress.reroutingAccuracy
         }
         let newWaypoints = [user] + remainingWaypointsForCalculatingRoute()

Sources/MapboxCoreNavigation/Router.swift

@@ -120,6 +120,11 @@ public protocol Router: CLLocationManagerDelegate {
      */
     var rawLocation: CLLocation? { get }
 
+    /**
+     The most recently received user heading, if any.
+     */
+    var heading: CLHeading? { get }
+
     /**
      If true, the `RouteController` attempts to calculate a more optimal route for the user on an interval defined by `RouteControllerProactiveReroutingInterval`. If `refreshesRoute` is enabled too, reroute attempt will be fired after route refreshing.
      */
@@ -329,7 +334,7 @@ extension InternalRouter where Self: Router {
      */
     func calculateRoutes(from origin: CLLocation, along progress: RouteProgress, completion: @escaping IndexedRouteCompletionHandler) {
         routeTask?.cancel()
-        let options = progress.reroutingOptions(with: origin)
+        let options = progress.reroutingOptions(from: origin)
 
         lastRerouteLocation = origin
 
@@ -350,16 +355,19 @@ extension InternalRouter where Self: Router {
 
     func announceImpendingReroute(at location: CLLocation) {
         delegate?.router(self, willRerouteFrom: location)
-        NotificationCenter.default.post(name: .routeControllerWillReroute, object: self, userInfo: [
-            RouteController.NotificationUserInfoKey.locationKey: location,
-        ])
+
+        var userInfo: [RouteController.NotificationUserInfoKey: Any] = [
+            .locationKey: location,
+        ]
+        userInfo[.headingKey] = heading
+
+        NotificationCenter.default.post(name: .routeControllerWillReroute, object: self, userInfo: userInfo)
     }
 
     func announce(reroute newRoute: Route, at location: CLLocation?, proactive: Bool) {
         var userInfo = [RouteController.NotificationUserInfoKey: Any]()
-        if let location = location {
-            userInfo[.locationKey] = location
-        }
+        userInfo[.locationKey] = location
+        userInfo[.headingKey] = heading
         userInfo[.isProactiveKey] = proactive
         NotificationCenter.default.post(name: .routeControllerDidReroute, object: self, userInfo: userInfo)
         delegate?.router(self, didRerouteAlong: routeProgress.route, at: location, proactive: proactive)

Sources/MapboxNavigation/NavigationMapView.swift

@@ -690,6 +690,7 @@ open class NavigationMapView: UIView {
         }
 
         let cameraOptions = CameraOptions(cameraState: mapView.cameraState)
+
         userCourseView.update(location: location,
                               pitch: cameraOptions.pitch!,
                               direction: cameraOptions.bearing!,

Sources/MapboxNavigation/NavigationViewportDataSource.swift

@@ -53,6 +53,8 @@ public class NavigationViewportDataSource: ViewportDataSource {
 
     var viewportDataSourceType: ViewportDataSourceType = .passive
 
+    var heading: CLHeading?
+
     // MARK: Initializer Methods
 
     /**
@@ -113,6 +115,8 @@ public class NavigationViewportDataSource: ViewportDataSource {
         let passiveLocation = notification.userInfo?[PassiveLocationManager.NotificationUserInfoKey.locationKey] as? CLLocation
         let activeLocation = notification.userInfo?[RouteController.NotificationUserInfoKey.locationKey] as? CLLocation
         let routeProgress = notification.userInfo?[RouteController.NotificationUserInfoKey.routeProgressKey] as? RouteProgress
+        heading = notification.userInfo?[RouteController.NotificationUserInfoKey.headingKey] as? CLHeading
+
         let cameraOptions = self.cameraOptions(passiveLocation: passiveLocation,
                                                activeLocation: activeLocation,
                                                routeProgress: routeProgress)
@@ -287,7 +291,19 @@ public class NavigationViewportDataSource: ViewportDataSource {
 
                 bearing = self.bearing(location.course, coordinatesToManeuver: coordinatesForIntersections)
 
-                followingMobileCamera.bearing = bearing
+                var headingDirection: CLLocationDirection?
+                let isWalking = routeProgress.currentLegProgress.currentStep.transportType == .walking
+                if isWalking {
+                    if let trueHeading = heading?.trueHeading, trueHeading >= 0 {
+                        headingDirection = trueHeading
+                    } else if let magneticHeading = heading?.magneticHeading, magneticHeading >= 0 {
+                        headingDirection = magneticHeading
+                    } else {
+                        headingDirection = bearing
+                    }
+                }
+
+                followingMobileCamera.bearing = !isWalking ? bearing : headingDirection
                 followingCarPlayCamera.bearing = bearing
             }
 
@@ -380,7 +396,19 @@ public class NavigationViewportDataSource: ViewportDataSource {
             // of bearing will be also ignored.
             let bearing = 0.0
 
-            overviewMobileCamera.bearing = bearing
+            var headingDirection: CLLocationDirection?
+            let isWalking = routeProgress.currentLegProgress.currentStep.transportType == .walking
+            if isWalking {
+                if let trueHeading = heading?.trueHeading, trueHeading >= 0 {
+                    headingDirection = trueHeading
+                } else if let magneticHeading = heading?.magneticHeading, magneticHeading >= 0 {
+                    headingDirection = magneticHeading
+                } else {
+                    headingDirection = bearing
+                }
+            }
+
+            overviewMobileCamera.bearing = !isWalking ? bearing : headingDirection
             overviewCarPlayCamera.bearing = bearing
         }