AStar/astar/Astar.cs

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using astar.PathingHelper;
using Microsoft.Extensions.Logging;
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using Graph.Utils;
using OSM_Graph.Enums;
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using OSM_Regions;
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namespace astar
{
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public static class Astar
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{
public static Route FindPath(float startLat, float startLon, float endLat, float endLon, float regionSize, bool car = true, PathMeasure pathing = PathMeasure.Distance, string? importFolderPath = null,
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ILogger? logger = null)
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{
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RegionLoader rl = new(regionSize, importFolderPath, logger: logger);
Graph graph = Spiral(rl, startLat, startLon, regionSize);
Graph endRegion = Spiral(rl, endLat, endLon, regionSize);
graph.ConcatGraph(endRegion);
KeyValuePair<ulong, Node> startNode = graph.ClosestNodeToCoordinates(startLat, startLon, car);
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startNode.Value.PreviousIsFromStart = true;
startNode.Value.PreviousNodeId = startNode.Key;
startNode.Value.Metric = 0f;
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KeyValuePair<ulong, Node> endNode = graph.ClosestNodeToCoordinates(endLat, endLon, car);
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endNode.Value.PreviousIsFromStart = false;
endNode.Value.PreviousNodeId = endNode.Key;
endNode.Value.Metric = 0f;
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double totalDistance = NodeUtils.DistanceBetween(startNode.Value, endNode.Value);
PriorityHelper priorityHelper = new(totalDistance, SpeedHelper.GetMaxSpeed(car));
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logger?.Log(LogLevel.Information,
"From {0:00.00000}#{1:000.00000} to {2:00.00000}#{3:000.00000} Great-Circle {4:00000.00}km",
startNode.Value.Lat, startNode.Value.Lon, endNode.Value.Lat, endNode.Value.Lon, totalDistance / 1000);
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PriorityQueue<ulong, int> toVisitStart = new();
toVisitStart.Enqueue(startNode.Key, 0);
PriorityQueue<ulong, int> toVisitEnd = new();
toVisitEnd.Enqueue(endNode.Key, 0);
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while (toVisitStart.Count > 0 && toVisitEnd.Count > 0)
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{
Route? route = null;
if (toVisitStart.Count >= toVisitEnd.Count && route is null)
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{
for(int i = 0; i < toVisitStart.Count / 10 && route is null; i++)
route = ExploreSide(true, graph, toVisitStart, rl, priorityHelper, endNode.Value, car, pathing, logger);
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}
if(route is null)
route = ExploreSide(true, graph, toVisitStart, rl, priorityHelper, endNode.Value, car, pathing, logger);
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if (toVisitEnd.Count >= toVisitStart.Count && route is null)
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{
for(int i = 0; i < toVisitEnd.Count / 10 && route is null; i++)
route = ExploreSide(false, graph, toVisitEnd, rl, priorityHelper, startNode.Value, car, pathing, logger);
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}
if(route is null)
route = ExploreSide(false, graph, toVisitEnd, rl, priorityHelper, startNode.Value, car, pathing, logger);
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if (route is not null)
return route;
logger?.LogDebug($"toVisit-Queues: {toVisitStart.Count} {toVisitStart.UnorderedItems.MinBy(i => i.Priority).Priority} {toVisitEnd.Count} {toVisitEnd.UnorderedItems.MinBy(i => i.Priority).Priority}");
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}
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return new Route(graph, Array.Empty<Step>().ToList(), false);
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}
private static Route? ExploreSide(bool fromStart, Graph graph, PriorityQueue<ulong, int> toVisit, RegionLoader rl, PriorityHelper priorityHelper, Node goalNode, bool car, PathMeasure pathing = PathMeasure.Distance, ILogger? logger = null)
{
ulong currentNodeId = toVisit.Dequeue();
Node currentNode = graph.Nodes[currentNodeId];
logger?.LogDebug($"Distance to goal {currentNode.DistanceTo(goalNode):00000.00}m");
foreach ((ulong neighborId, KeyValuePair<ulong, bool> wayId) in currentNode.Neighbors)
{
if (!graph.ContainsNode(neighborId))
graph.ConcatGraph(Graph.FromGraph(rl.LoadRegionFromNodeId(neighborId)));
if (!graph.ContainsWay(wayId.Key))
{
foreach (global::Graph.Graph? g in rl.LoadRegionsFromWayId(wayId.Key))
graph.ConcatGraph(Graph.FromGraph(g));
}
OSM_Graph.Way way = graph.Ways[wayId.Key];
byte speed = SpeedHelper.GetSpeed(way, car);
if(speed < 1)
continue;
if(wayId.Value && way.GetDirection() == (fromStart ? WayDirection.Forwards : WayDirection.Backwards) && car)
continue;
if(!wayId.Value && way.GetDirection() == (fromStart ? WayDirection.Backwards : WayDirection.Forwards) && car)
continue;
Node neighborNode = graph.Nodes[neighborId];
if (neighborNode.PreviousIsFromStart is not null && neighborNode.PreviousIsFromStart != fromStart)//Check if we found the opposite End
return fromStart ? PathFound(graph, currentNode, neighborNode, car, logger) : PathFound(graph, neighborNode, currentNode, car, logger);
float metric = (currentNode.Metric ?? float.MaxValue) + (pathing is PathMeasure.Distance
? (float)currentNode.DistanceTo(neighborNode)
: (float)currentNode.DistanceTo(neighborNode) / speed);
if (neighborNode.PreviousNodeId is null || neighborNode.Metric > metric)
{
neighborNode.PreviousNodeId = currentNodeId;
neighborNode.Metric = metric;
neighborNode.PreviousIsFromStart = fromStart;
toVisit.Enqueue(neighborId, priorityHelper.CalculatePriority(currentNode, neighborNode, goalNode, speed));
}
logger?.LogTrace($"Neighbor {neighborId} {neighborNode}");
}
return null;
}
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private static Route PathFound(Graph graph, Node fromStart, Node fromEnd, bool car = true, ILogger? logger = null)
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{
logger?.LogInformation("Path found!");
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List<Step> path = new();
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OSM_Graph.Way toNeighbor = graph.Ways[fromStart.Neighbors.First(n => graph.Nodes[n.Key] == fromEnd).Value.Key];
path.Add(new Step(fromStart, fromEnd, (float)fromStart.DistanceTo(fromEnd), SpeedHelper.GetSpeed(toNeighbor, car)));
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Node current = fromStart;
while (current.Metric != 0f)
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{
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Node previous = graph.Nodes[(ulong)current.PreviousNodeId!];
OSM_Graph.Way previousToCurrent = graph.Ways[previous.Neighbors.First(n => graph.Nodes[n.Key] == current).Value.Key];
Step step = new(previous, current, (float)previous.DistanceTo(current), SpeedHelper.GetSpeed(previousToCurrent, car));
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path.Add(step);
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current = previous;
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}
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path.Reverse();//Since we go from the middle backwards until here
current = fromEnd;
while (current.Metric != 0f)
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{
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Node next = graph.Nodes[(ulong)current.PreviousNodeId!];
OSM_Graph.Way currentToNext = graph.Ways[current.Neighbors.First(n => graph.Nodes[n.Key] == next).Value.Key];
Step step = new(current, next, (float)current.DistanceTo(next), SpeedHelper.GetSpeed(currentToNext, car));
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path.Add(step);
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current = next;
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}
Route r = new (graph, path, true);
logger?.LogInformation(r.ToString());
return r;
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}
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private static Graph Spiral(RegionLoader loader, float lat, float lon, float regionSize)
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{
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Graph? ret = Graph.FromGraph(loader.LoadRegionFromCoordinates(lat, lon));
int iteration = 1;
while (ret is null)
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{
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for (int x = -iteration; x <= iteration; x++)
{
Graph? g1 = Graph.FromGraph(loader.LoadRegionFromCoordinates(lat + x * regionSize, lon - iteration * regionSize));
Graph? g2 = Graph.FromGraph(loader.LoadRegionFromCoordinates(lat + x * regionSize, lon + iteration * regionSize));
if (ret is not null)
{
ret.ConcatGraph(g1);
ret.ConcatGraph(g2);
}
else if (ret is null && g1 is not null)
{
ret = g1;
ret.ConcatGraph(g2);
}else if (ret is null && g2 is not null)
ret = g2;
}
for (int y = -iteration + 1; y < iteration; y++)
{
Graph? g1 = Graph.FromGraph(loader.LoadRegionFromCoordinates(lat - iteration * regionSize, lon + y * regionSize));
Graph? g2 = Graph.FromGraph(loader.LoadRegionFromCoordinates(lat + iteration * regionSize, lon + y * regionSize));
if (ret is not null)
{
ret.ConcatGraph(g1);
ret.ConcatGraph(g2);
}
else if (ret is null && g1 is not null)
{
ret = g1;
ret.ConcatGraph(g2);
}else if (ret is null && g2 is not null)
ret = g2;
}
iteration++;
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}
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return ret;
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}
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}
}