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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 public class Astar
{ {
Dictionary<Node, float> timeRequired = new(); private Dictionary<Node, float> timeRequired = new();
Dictionary<Node, float> goalDistance = new(); private Dictionary<Node, float> goalDistance = new();
Dictionary<Node, Node> previousNode = new(); private Dictionary<Node, Node> previousNode = new();
public Route FindPath(Graph.Graph graph, Node start, Node goal, Logger? logger) public Route FindPath(Graph.Graph graph, Node start, Node goal, Logger? logger)
{ {
@ -16,9 +16,9 @@ namespace astar
List<Node> toVisit = new(); List<Node> toVisit = new();
toVisit.Add(start); toVisit.Add(start);
Node currentNode = start; Node currentNode = start;
timeRequired.Add(start, 0); SetTimeRequiredToReach(start, 0);
goalDistance.Add(start, Convert.ToSingle(Utils.DistanceBetweenNodes(start, goal))); SetDistanceToGoal(start, Convert.ToSingle(Utils.DistanceBetweenNodes(start, goal)));
while (toVisit.Count > 0 && timeRequired[toVisit[0]] < timeRequired[goal]) while (toVisit.Count > 0 && GetTimeRequiredToReach(toVisit[0]) < GetTimeRequiredToReach(goal))
{ {
if(currentNode == goal) if(currentNode == goal)
{ {
@ -29,11 +29,11 @@ namespace astar
//Check all neighbors of current node //Check all neighbors of current node
foreach (Edge e in currentNode.edges) 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)); SetDistanceToGoal(e.neighbor, Convert.ToSingle(Utils.DistanceBetweenNodes(e.neighbor, goal)));
timeRequired[e.neighbor] = timeRequired[currentNode] + e.time; SetTimeRequiredToReach(e.neighbor, GetTimeRequiredToReach(currentNode) + e.time);
previousNode[e.neighbor] = currentNode; SetPreviousNodeOf(e.neighbor, currentNode);
toVisit.Add(e.neighbor); toVisit.Add(e.neighbor);
} }
} }
@ -42,7 +42,7 @@ namespace astar
toVisit.Sort(CompareDistance); toVisit.Sort(CompareDistance);
} }
if(previousNode[goal] != null) if(GetPreviousNodeOf(goal) != null)
{ {
logger?.Log(LogLevel.INFO, "Way found, shortest option."); logger?.Log(LogLevel.INFO, "Way found, shortest option.");
currentNode = goal; currentNode = goal;
@ -57,10 +57,10 @@ namespace astar
tempNodes.Add(goal); tempNodes.Add(goal);
while(currentNode != start) while(currentNode != start)
{ {
#pragma warning disable CS8604 // Route was found, so has to have a previous node #pragma warning disable CS8604, CS8600 // Route was found, so has to have a previous node
tempNodes.Add(previousNode[currentNode]); tempNodes.Add(GetPreviousNodeOf(currentNode));
#pragma warning restore CS8604 currentNode = GetPreviousNodeOf(currentNode);
currentNode = previousNode[currentNode]; #pragma warning restore CS8604, CS8600
} }
tempNodes.Reverse(); tempNodes.Reverse();
@ -71,12 +71,12 @@ namespace astar
{ {
#pragma warning disable CS8600, CS8604 // Route was found, so has to have an edge #pragma warning disable CS8600, CS8604 // Route was found, so has to have an edge
Edge e = tempNodes[i].GetEdgeToNode(tempNodes[i + 1]); 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 #pragma warning restore CS8600, CS8604
totalDistance += e.distance; 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"); logger?.Log(LogLevel.INFO, "Path found");
@ -111,9 +111,9 @@ namespace astar
return 0; return 0;
else else
{ {
if (goalDistance[n1] < goalDistance[n2]) if (GetDistanceToGoal(n1) < GetDistanceToGoal(n2))
return -1; return -1;
else if (goalDistance[n1] > goalDistance[n2]) else if (GetDistanceToGoal(n1) > GetDistanceToGoal(n2))
return 1; return 1;
else return 0; else return 0;
} }
@ -131,14 +131,66 @@ namespace astar
return 0; return 0;
else else
{ {
if (timeRequired[n1] < timeRequired[n2]) if (GetTimeRequiredToReach(n1) < GetTimeRequiredToReach(n2))
return -1; return -1;
else if (timeRequired[n1] > timeRequired[n2]) else if (GetTimeRequiredToReach(n1) > GetTimeRequiredToReach(n2))
return 1; return 1;
else return 0; 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;
}
} }
} }