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I am in the process of creating an application which can tell people when a bus leaves from a certain stop and I would like to add route planning to it.

I need a way to plan routes from a stop to another in a couple of seconds. I'm getting my data from a GTFS file parsed to SQLite

I have looked at OpenTripPlanner and GraphServer, but I couldn't find an API which can plan routes and give those routes back in a JSON or some other format.

littlecat
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You may have overlooked in the OpenTripPlanner documentation that it does give you an option to give a JSON or XML response.

Have a look at this specific section: http://dev.opentripplanner.org/apidoc/0.20.0/json_Response.html