Fix Optimization new Routes.

astar/Astar.cs

@@ -6,16 +6,16 @@ using OSM_Regions;
 
 namespace astar
 {
-    public class Astar(ValueTuple<float, float, float, float>? priorityWeights = null, ValueTuple<float, float, float, float>? optimizingWeights = null, int? explorationDistance = null, int? explorationMultiplier = null)
+    public class Astar(ValueTuple<float, float, float, float>? priorityWeights = null, int? explorationMultiplier = null, float? nonPriorityRoadSpeedPenalty = null, RegionLoader? regionLoader = null)
     {
-        private readonly ValueTuple<float, float, float, float> DefaultPriorityWeights = priorityWeights ?? new(0.75f, 1f, 0.1f, 0);
-        private readonly ValueTuple<float, float, float, float> OptimizingWeights = optimizingWeights ?? new(0, 0.07f, 0, 0);
-        private int ExplorationDistanceFromRoute = explorationDistance ?? 1200;
-        private int ExplorationMultiplier = explorationMultiplier ?? 65;
+        private readonly ValueTuple<float, float, float, float> DefaultPriorityWeights = priorityWeights ?? new(0.6f, 1.05f, 0, 0);
+        private readonly int _explorationMultiplier = explorationMultiplier ?? 120;
+        private readonly float _nonPriorityRoadSpeedPenalty = nonPriorityRoadSpeedPenalty ?? 0.85f;
+        private RegionLoader? rl = regionLoader;
         
-        public Route FindPath(float startLat, float startLon, float endLat, float endLon, float regionSize, bool car = true, PathMeasure pathing = PathMeasure.Distance, float additionalExploration = 3, string? importFolderPath = null, ILogger? logger = null)
+        public Route FindPath(float startLat, float startLon, float endLat, float endLon, float regionSize, bool car = true, PathMeasure pathing = PathMeasure.Distance, string? importFolderPath = null, ILogger? logger = null)
         {
-            RegionLoader rl = new(regionSize, importFolderPath, logger: logger);
+            rl ??= new(regionSize, importFolderPath, logger: logger);
             Graph graph = Spiral(rl, startLat, startLon, regionSize);
             Graph endRegion = Spiral(rl, endLat, endLon, regionSize);
             graph.ConcatGraph(endRegion);
@@ -44,27 +44,19 @@ namespace astar
             ValueTuple<Node, Node>? meetingEnds = null;
             while (toVisitStart.Count > 0 && toVisitEnd.Count > 0)
             {
-                ulong closestEndNodeId = toVisitEnd.UnorderedItems
-                    .MinBy(n => graph.Nodes[n.Element].DistanceTo(startNode.Value)).Element;
-                Node closestEndNode = graph.Nodes[closestEndNodeId];
-                if (toVisitStart.Count >= toVisitEnd.Count && meetingEnds is null)
+                for (int i = 0; i < Math.Min(toVisitStart.Count * 0.5, 50) && meetingEnds is null; i++)
                 {
-                    for(int i = 0; i < Math.Min(toVisitStart.Count * 0.5, 50) && meetingEnds is null; i++)
-                        meetingEnds = ExploreSide(true, graph, toVisitStart, rl, priorityHelper, closestEndNode, car, DefaultPriorityWeights, pathing, logger);
+                    ulong closestEndNodeId = toVisitEnd.UnorderedItems.MinBy(node => graph.Nodes[node.Element].DistanceTo(graph.Nodes[toVisitStart.Peek()])).Element;
+                    Node closestEndNode = graph.Nodes[closestEndNodeId];
+                    meetingEnds = ExploreSide(true, graph, toVisitStart, priorityHelper, closestEndNode, car, DefaultPriorityWeights, pathing, logger);
                 }
-                if(meetingEnds is null)
-                    meetingEnds = ExploreSide(true, graph, toVisitStart, rl, priorityHelper, closestEndNode, car, DefaultPriorityWeights, pathing, logger);
                 
-                ulong closestStartNodeId = toVisitStart.UnorderedItems
-                    .MinBy(n => graph.Nodes[n.Element].DistanceTo(endNode.Value)).Element;
-                Node closestStartNode = graph.Nodes[closestStartNodeId];
-                if (toVisitEnd.Count >= toVisitStart.Count && meetingEnds is null)
+                for (int i = 0; i < Math.Min(toVisitEnd.Count * 0.5, 50) && meetingEnds is null; i++)
                 {
-                    for(int i = 0; i < Math.Min(toVisitEnd.Count * 0.5, 50) && meetingEnds is null; i++)
-                        meetingEnds = ExploreSide(false, graph, toVisitEnd, rl, priorityHelper, closestStartNode, car, DefaultPriorityWeights, pathing, logger);
+                    ulong closestStartNodeId = toVisitStart.UnorderedItems.MinBy(node => graph.Nodes[node.Element].DistanceTo(graph.Nodes[toVisitEnd.Peek()])).Element;
+                    Node closestStartNode = graph.Nodes[closestStartNodeId];
+                    meetingEnds = ExploreSide(false, graph, toVisitEnd, priorityHelper, closestStartNode, car, DefaultPriorityWeights, pathing, logger);
                 }
-                if(meetingEnds is null)
-                    meetingEnds = ExploreSide(false, graph, toVisitEnd, rl, priorityHelper, closestStartNode, car, DefaultPriorityWeights, pathing, logger);
 
                 if (meetingEnds is not null)
                     break;
@@ -73,52 +65,44 @@ namespace astar
             if(meetingEnds is null)
                 return new Route(graph, Array.Empty<Step>().ToList(), false);
 
-            List<Node> routeNodes = PathFound(graph, meetingEnds.Value.Item1, meetingEnds.Value.Item2, car).Steps.Select(s => s.Node1).ToList();
-            Dictionary<ulong, int> routeQueue = toVisitStart.UnorderedItems.Select(l => l.Element).Union(toVisitEnd.UnorderedItems.Select(l => l.Element)).Where(id =>
+            Queue<ulong> routeQueue = new();
+            toVisitStart.EnqueueRange(toVisitEnd.UnorderedItems);
+            while(toVisitStart.Count > 0)
             {
-                Node p = graph.Nodes[id];
-                return routeNodes.Any(route => route.DistanceTo(p) < ExplorationDistanceFromRoute);
-            }).ToDictionary(id => id, _ => int.MinValue);
-            PriorityQueue<ulong, int> combinedQueue = new();
-            foreach ((ulong key, int value) in routeQueue)
-                combinedQueue.Enqueue(key, value);
-            ValueTuple<Node, Node>? newMeetingEnds = Optimize(additionalExploration, graph, combinedQueue, car, rl, priorityHelper, pathing, startNode.Value, endNode.Value, logger);
-            meetingEnds = newMeetingEnds ?? meetingEnds;
+                routeQueue.Enqueue(toVisitStart.Dequeue());
+            }
+            int optimizeAfterFound = graph.Nodes.Count(n => n.Value.PreviousNodeId is not null) * _explorationMultiplier; //Check another x% of unexplored Paths.
+            List<ValueTuple<Node, Node>> newMeetingEnds = Optimize(graph, routeQueue, optimizeAfterFound, car, rl, pathing, logger);
+            List<Route> routes = newMeetingEnds.Select(end => PathFound(graph, end.Item1, end.Item2, car)).ToList();
+            routes.Add(PathFound(graph, meetingEnds.Value.Item1, meetingEnds.Value.Item2, car));
 
-            return PathFound(graph, meetingEnds!.Value.Item1, meetingEnds.Value.Item2, car, logger);
+            return routes.MinBy(route =>
+            {
+                if (pathing is PathMeasure.Distance)
+                    return route.Distance;
+                return route.Time.Ticks;
+            })!;
         }
 
-        private static ValueTuple<Node, Node>? ExploreSide(bool fromStart, Graph graph, PriorityQueue<ulong, int> toVisit, RegionLoader rl, PriorityHelper priorityHelper, Node goalNode, bool car, ValueTuple<float,float,float,float> ratingWeights, PathMeasure pathing = PathMeasure.Distance, ILogger? logger = null)
+        private ValueTuple<Node, Node>? ExploreSide(bool fromStart, Graph graph, PriorityQueue<ulong, int> toVisit, PriorityHelper priorityHelper, Node goalNode, bool car, ValueTuple<float,float,float,float> ratingWeights, PathMeasure pathing, 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));
-                }
+                LoadNeighbor(graph, neighborId, wayId.Key, rl!, logger);
                     
                 OSM_Graph.Way way = graph.Ways[wayId.Key];
                 byte speed = SpeedHelper.GetSpeed(way, car);
-                if(speed < 1)
-                    continue;
-                if(!way.AccessPermitted())
+                if(!IsNeighborReachable(speed, wayId.Value, fromStart, way, car))
                     continue;
+                if (car && !way.IsPriorityRoad())
+                    speed = (byte)(speed * _nonPriorityRoadSpeedPenalty);
                 
-                if(wayId.Value && way.GetDirection() == (fromStart ? WayDirection.Backwards : WayDirection.Forwards) && car)
-                    continue;
-                if(!wayId.Value && way.GetDirection() == (fromStart ? WayDirection.Forwards : WayDirection.Backwards) && car)
-                    continue;
-                    
                 Node neighborNode = graph.Nodes[neighborId];
 
-                if (neighborNode.PreviousIsFromStart is not null &&
-                    neighborNode.PreviousIsFromStart != fromStart) //Check if we found the opposite End
+                if (neighborNode.PreviousIsFromStart == !fromStart) //Check if we found the opposite End
                     return fromStart ? new(currentNode, neighborNode) : new(neighborNode, currentNode);
 
                 float metric = (currentNode.Metric ?? float.MaxValue) + (pathing is PathMeasure.Distance
@@ -132,25 +116,56 @@ namespace astar
                     toVisit.Enqueue(neighborId,
                         priorityHelper.CalculatePriority(currentNode, neighborNode, goalNode, speed, ratingWeights));
                 }
-                logger?.LogTrace($"Neighbor {neighborId} {neighborNode}");
             }
 
             return null;
         }
 
-        private ValueTuple<Node, Node>? Optimize(float additionalExploration, Graph graph, PriorityQueue<ulong, int> combinedQueue, bool car, RegionLoader rl, PriorityHelper priorityHelper, PathMeasure pathing, Node startNode, Node goalNode, ILogger? logger = null)
+        private List<ValueTuple<Node, Node>> Optimize(Graph graph, Queue<ulong> combinedQueue, int optimizeAfterFound, bool car, RegionLoader rl, PathMeasure pathing, ILogger? logger = null)
         {
             int currentPathLength = graph.Nodes.Values.Count(node => node.PreviousNodeId is not null);
-            int optimizeAfterFound = (int)(combinedQueue.Count * additionalExploration); //Check another x% of unexplored Paths.
             logger?.LogInformation($"Path found (explored {currentPathLength} Nodes). Optimizing route. (exploring {optimizeAfterFound} additional Nodes)");
-            ValueTuple<Node, Node>? newMeetingEnds = null;
+            List<ValueTuple<Node, Node>> newMeetingEnds = new();
             while (optimizeAfterFound-- > 0 && combinedQueue.Count > 0)
             {
-                ulong nodeId = combinedQueue.Peek();
-                Node node = graph.Nodes[nodeId];
-                bool fromStart = (bool)node.PreviousIsFromStart!;
-                newMeetingEnds = ExploreSide(fromStart, graph, combinedQueue, rl, priorityHelper, fromStart ? goalNode : startNode, car, OptimizingWeights, pathing, logger);
+                ulong currentNodeId = combinedQueue.Dequeue();
+                Node currentNode = graph.Nodes[currentNodeId];
+                bool fromStart = (bool)currentNode.PreviousIsFromStart!;
+                foreach ((ulong neighborId, KeyValuePair<ulong, bool> wayId) in currentNode.Neighbors)
+                {
+                    LoadNeighbor(graph, neighborId, wayId.Key, rl, logger);
+                    
+                    OSM_Graph.Way way = graph.Ways[wayId.Key];
+                    byte speed = SpeedHelper.GetSpeed(way, car);
+                    if(!IsNeighborReachable(speed, wayId.Value, fromStart, way, car))
+                        continue;
+                    if (car && !way.IsPriorityRoad())
+                        speed = (byte)(speed * _nonPriorityRoadSpeedPenalty);
+                    
+                    Node neighborNode = graph.Nodes[neighborId];
+
+                    if (neighborNode.PreviousIsFromStart is not null &&
+                        neighborNode.PreviousIsFromStart != fromStart) //Check if we found the opposite End
+                    {
+                        newMeetingEnds.Add(fromStart ? new(currentNode, neighborNode) : new(neighborNode, currentNode));
+                    }
+
+                    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.PreviousIsFromStart == fromStart && neighborNode.Metric > metric))
+                    {
+                        neighborNode.PreviousNodeId = currentNodeId;
+                        neighborNode.Metric = metric;
+                        neighborNode.PreviousIsFromStart = fromStart;
+                        combinedQueue.Enqueue(neighborId);
+                    }
+                    logger?.LogTrace($"Neighbor {neighborId} {neighborNode}");
+                    logger?.LogDebug($"Optimization Contingent: {optimizeAfterFound}/{combinedQueue.Count}");
+                }
             }
+            
+            logger?.LogDebug($"Nodes in Queue after Optimization: {combinedQueue.Count}");
 
             return newMeetingEnds;
         }
@@ -187,6 +202,32 @@ namespace astar
             return r;
         }
 
+        private static bool IsNeighborReachable(byte speed, bool wayDirection, bool fromStart, OSM_Graph.Way way, bool car)
+        {
+            if(speed < 1)
+                return false;
+            if(!way.AccessPermitted())
+                return false;
+            if(wayDirection && way.GetDirection() == (fromStart ? WayDirection.Backwards : WayDirection.Forwards) && car)
+                return false;
+            if(!wayDirection && way.GetDirection() == (fromStart ? WayDirection.Forwards : WayDirection.Backwards) && car)
+                return false;
+            return true;
+        }
+
+        private static void LoadNeighbor(Graph graph, ulong neighborId, ulong wayId, RegionLoader rl, ILogger? logger = null)
+        {
+            
+            if (!graph.ContainsNode(neighborId))
+                graph.ConcatGraph(Graph.FromGraph(rl.LoadRegionFromNodeId(neighborId)));
+            if (!graph.ContainsWay(wayId))
+            {
+                logger?.LogDebug("Loading way... This will be slow.");
+                foreach (global::Graph.Graph? g in rl.LoadRegionsFromWayId(wayId))
+                    graph.ConcatGraph(Graph.FromGraph(g));
+            }
+        }
+
         private static Graph Spiral(RegionLoader loader, float lat, float lon, float regionSize)
         {
             Graph? ret = Graph.FromGraph(loader.LoadRegionFromCoordinates(lat, lon));

astar/PathingHelper/PriorityHelper.cs

@@ -2,8 +2,6 @@
 
 public class PriorityHelper(double totalDistance, byte maxSpeed)
 {
-    private readonly double _totalDistance = totalDistance;
-    private readonly byte _maxSpeed = maxSpeed;
     public int CalculatePriority(Node current, Node neighbor, Node goal, byte speed, ValueTuple<float, float, float, float> ratingWeights)
     {
         double neighborDistanceToGoal = neighbor.DistanceTo(goal); //we want this to be small
@@ -16,10 +14,10 @@ public class PriorityHelper(double totalDistance, byte maxSpeed)
                     neighborDistanceToGoal * neighborDistanceToGoal) /
                           (2 * currentDistanceToGoal * currentDistanceToNeighbor)));
 
-        double speedRating = speed * 1.0 / _maxSpeed * 100;
+        double speedRating = speed * 1.0 / maxSpeed * 100;
         double angleRating = 100 - (angle < 180 ? angle / 180 : (360 - angle) / 180) * 100;
-        double distanceImprovedRating = 100 - (neighborDistanceToGoal - currentDistanceToGoal ) / _totalDistance * 100;
-        double distanceSpeedRating =  ((_totalDistance / _maxSpeed) / (neighborDistanceToGoal / speed)) * 100;
+        double distanceImprovedRating = 100 - (neighborDistanceToGoal - currentDistanceToGoal ) / totalDistance * 100;
+        double distanceSpeedRating =  ((totalDistance / maxSpeed) / (neighborDistanceToGoal / speed)) * 100;
 
         return (int)-(speedRating * ratingWeights.Item1 + angleRating * ratingWeights.Item2 + distanceImprovedRating * ratingWeights.Item3 + distanceSpeedRating * ratingWeights.Item4);
     }

astar/PathingHelper/SpeedHelper.cs

@@ -18,7 +18,7 @@ internal static class SpeedHelper
         return car ? SpeedCar.MaxBy(s => s.Value).Value : SpeedPedestrian.MaxBy(s => s.Value).Value;
     }
 
-    private static Dictionary<HighwayType, byte> SpeedPedestrian = new() {
+    private static readonly Dictionary<HighwayType, byte> SpeedPedestrian = new() {
         { HighwayType.NONE, 0 },
         { HighwayType.motorway, 0 },
         { HighwayType.trunk, 0 },
@@ -50,7 +50,7 @@ internal static class SpeedHelper
         { HighwayType.construction, 0 }
     };
 
-    private static Dictionary<HighwayType, byte> SpeedCar = new() {
+    private static readonly Dictionary<HighwayType, byte> SpeedCar = new() {
         { HighwayType.NONE, 0 },
         { HighwayType.motorway, 120 },
         { HighwayType.trunk, 80 },