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Null pointer fixes

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This commit is contained in:
C9Glax 2022-11-13 14:14:55 +01:00
parent a4ebf05d7a
commit 6d338018b5
1 changed files with 73 additions and 21 deletions
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94
astar/Astar.cs
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@ -6,9 +6,9 @@ namespace astar
{
public class Astar
{
Dictionary<Node, float> timeRequired = new();
Dictionary<Node, float> goalDistance = new();
Dictionary<Node, Node> previousNode = new();
private Dictionary<Node, float> timeRequired = new();
private Dictionary<Node, float> goalDistance = new();
private Dictionary<Node, Node> previousNode = new();
public Route FindPath(Graph.Graph graph, Node start, Node goal, Logger? logger)
{
@ -16,9 +16,9 @@ namespace astar
List<Node> toVisit = new();
toVisit.Add(start);
Node currentNode = start;
timeRequired.Add(start, 0);
goalDistance.Add(start, Convert.ToSingle(Utils.DistanceBetweenNodes(start, goal)));
while (toVisit.Count > 0 && timeRequired[toVisit[0]] < timeRequired[goal])
SetTimeRequiredToReach(start, 0);
SetDistanceToGoal(start, Convert.ToSingle(Utils.DistanceBetweenNodes(start, goal)));
while (toVisit.Count > 0 && GetTimeRequiredToReach(toVisit[0]) < GetTimeRequiredToReach(goal))
{
if(currentNode == goal)
{
@ -29,11 +29,11 @@ namespace astar
//Check all neighbors of current node
foreach (Edge e in currentNode.edges)
{
if (timeRequired[e.neighbor] > timeRequired[currentNode] + e.time)
if (GetTimeRequiredToReach(e.neighbor) > GetTimeRequiredToReach(currentNode) + e.time)
{
goalDistance[e.neighbor] = Convert.ToSingle(Utils.DistanceBetweenNodes(e.neighbor, goal));
timeRequired[e.neighbor] = timeRequired[currentNode] + e.time;
previousNode[e.neighbor] = currentNode;
SetDistanceToGoal(e.neighbor, Convert.ToSingle(Utils.DistanceBetweenNodes(e.neighbor, goal)));
SetTimeRequiredToReach(e.neighbor, GetTimeRequiredToReach(currentNode) + e.time);
SetPreviousNodeOf(e.neighbor, currentNode);
toVisit.Add(e.neighbor);
}
}
@ -42,7 +42,7 @@ namespace astar
toVisit.Sort(CompareDistance);
}
if(previousNode[goal] != null)
if(GetPreviousNodeOf(goal) != null)
{
logger?.Log(LogLevel.INFO, "Way found, shortest option.");
currentNode = goal;
@ -57,10 +57,10 @@ namespace astar
tempNodes.Add(goal);
while(currentNode != start)
{
#pragma warning disable CS8604 // Route was found, so has to have a previous node
tempNodes.Add(previousNode[currentNode]);
#pragma warning restore CS8604
currentNode = previousNode[currentNode];
#pragma warning disable CS8604, CS8600 // Route was found, so has to have a previous node
tempNodes.Add(GetPreviousNodeOf(currentNode));
currentNode = GetPreviousNodeOf(currentNode);
#pragma warning restore CS8604, CS8600
}
tempNodes.Reverse();
@ -71,12 +71,12 @@ namespace astar
{
#pragma warning disable CS8600, CS8604 // Route was found, so has to have an edge
Edge e = tempNodes[i].GetEdgeToNode(tempNodes[i + 1]);
steps.Add(new Step(tempNodes[i], e, timeRequired[tempNodes[i]], goalDistance[tempNodes[i]]));
steps.Add(new Step(tempNodes[i], e, GetTimeRequiredToReach(tempNodes[i]), GetDistanceToGoal(tempNodes[i])));
#pragma warning restore CS8600, CS8604
totalDistance += e.distance;
}
Route _route = new Route(steps, true, totalDistance, timeRequired[goal]);
Route _route = new Route(steps, true, totalDistance, GetTimeRequiredToReach(goal));
logger?.Log(LogLevel.INFO, "Path found");
@ -111,9 +111,9 @@ namespace astar
return 0;
else
{
if (goalDistance[n1] < goalDistance[n2])
if (GetDistanceToGoal(n1) < GetDistanceToGoal(n2))
return -1;
else if (goalDistance[n1] > goalDistance[n2])
else if (GetDistanceToGoal(n1) > GetDistanceToGoal(n2))
return 1;
else return 0;
}
@ -131,14 +131,66 @@ namespace astar
return 0;
else
{
if (timeRequired[n1] < timeRequired[n2])
if (GetTimeRequiredToReach(n1) < GetTimeRequiredToReach(n2))
return -1;
else if (timeRequired[n1] > timeRequired[n2])
else if (GetTimeRequiredToReach(n1) > GetTimeRequiredToReach(n2))
return 1;
else return 0;
}
}
private float GetTimeRequiredToReach(Node n)
{
if (timeRequired.TryGetValue(n, out float t))
{
return t;
}
else
{
return float.MaxValue;
}
}
private void SetTimeRequiredToReach(Node n, float t)
{
if (!timeRequired.TryAdd(n, t))
timeRequired[n] = t;
}
private float GetDistanceToGoal(Node n)
{
if (goalDistance.TryGetValue(n, out float t))
{
return t;
}
else
{
return float.MaxValue;
}
}
private void SetDistanceToGoal(Node n, float d)
{
if (!goalDistance.TryAdd(n, d))
goalDistance[n] = d;
}
private Node? GetPreviousNodeOf(Node n)
{
if(previousNode.TryGetValue(n, out Node? t))
{
return t;
}else
{
return null;
}
}
private void SetPreviousNodeOf(Node n, Node p)
{
if (!previousNode.TryAdd(n, p))
previousNode[n] = p;
}
}
}