LifeRouter

LifeRouter is a Go service for dynamic indoor route planning in multi-floor digital-twin environments. It builds a traversability grid from map images, connects floors through configured portals, and exposes pathfinding operations through NATS and typed Go clients.

The service supports two main workflows:

• Agent pathfinding: adaptive route planning for tracked agents using dynamic environment data.
• Emergency guidance: flow-field based routing toward one or more emergency goals, including optional preferred route graphs.

Features

• Rasterized grid model for one or more floors.
• Portal links between floors with configurable traversal cost.
• Agent route planning, movement control, path watching, and path-cost queries.
• Emergency flow-field start, stop, and flow watching.
• NATS request/reply API with Go wrappers in pkg/pathfinding and pkg/emergency.
• Public raw-NATS subject constants under pkg/subjects.
• Embedded execution through the embedded package for tests, tools, or applications that want to run the dispatcher in process.
• Public configuration and domain types under pkg/config and pkg/domain.
• Map tuning helper under pkg/tuning.

Requirements

• Go 1.25.3 or compatible with the module version in go.mod.
• A reachable NATS server.
• Geotruth-style external services or injected dependencies that provide object positions, floor/region data, movement publishing, object traversal costs, and emergency signaling.
• Raster map images matching the configured grid dimensions.

Configuration

Runtime configuration is loaded from config/config.yaml by default. Missing values fall back to the defaults in internal/config.DefaultConfig. Internal tools, tests, benchmarks, or embedded callers can pass an explicit YAML path to internal/config.LoadConfig when they need a different configuration file, such as a scenario fixture under data/.

The main configuration groups are:

• app: NATS URL and logging output.
• grid: map layers, grid dimensions, meters-per-cell conversion, wall aura, and cross-floor portals.
• pathfinding: agent and emergency tuning parameters.

Settings can also be overridden with PTHFSERVICE_* environment variables. For example, grid.cellsizem maps to PTHFSERVICE_GRID_CELLSIZEM.

Run

Build the service:

make build

Run it from the repository root:

go run .

The executable loads config/config.yaml through LoadConfig(nil), initializes the rasterized world, connects to NATS, subscribes to the pathfinding subjects, and shuts down on SIGINT or SIGTERM.

Use From Go

The module path is:

github.com/Kentalives/LifeRouter

Agent pathfinding clients use an existing NATS connection:

pf := pathfinding.New(nc)

comm, err := pf.AgentFindPath(ctx, [3]float64{10, 4, 0}, "Agent_1", 2.0, 0)
if err != nil {
	return err
}

done, err := comm.BlockingWait()
if err != nil {
	return err
}
<-done

return comm.ExitError(ctx)

Emergency flow-field clients use the same pattern:

em := emergency.New(nc)

if err := em.Start(ctx, [][3]float64{{1, 1, 0}}, nil, 5); err != nil {
	return err
}
defer em.Stop(ctx)

flows, err := em.FlowSub(ctx)
if err != nil {
	return err
}

for snapshot := range flows {
	_ = snapshot
}

For in-process execution, use embedded.Run with a *config.Config and *config.Dependencies. The default embedded dependencies are useful for local debugging, but production embedders should provide their own external-system implementation.

Development

Run the test suite:

make test

Open the generated coverage report:

go tool cover -html=coverage.out

After dependency changes, refresh module files and vendored dependencies:

make deps

Documentation

The full project manuals are available under doc/:

• User manual: doc/user_manual.tex and doc/user_manual.pdf.
• Technical manual: doc/technical_manual.tex and doc/technical_manual.pdf.

This README is intended as a short practical entry point, not a replacement for those manuals.

License

This project is licensed under the Apache License, Version 2.0.

See LICENSE for details.

Author

Created by Kentalives as a final year academic project at University of Santiago de Compostela.

Citation

If you use this project in academic work, please cite it as:

Kentalives. LifeRouter. Final year academic project, University of Santiago de Compostela, 2026.