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base: glax:master
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glax:master
glax:different-optimization-strategy
glax:Jump-from-Junction-to-Junction
glax:Let-ends-find-each-other
glax:KeepOtimizing
glax:ExploreBothSidesEqually
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compare: glax:different-optimization-strategy
Branches Tags
glax:master
glax:different-optimization-strategy
glax:Jump-from-Junction-to-Junction
glax:Let-ends-find-each-other
glax:KeepOtimizing
glax:ExploreBothSidesEqually

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1 changed files with 32 additions and 33 deletions
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astar/Astar.cs
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@ -6,16 +6,15 @@ using OSM_Regions;
namespace astar
{
public class Astar(ValueTuple<float, float, float, float>? priorityWeights = null, int? explorationMultiplier = null, float? nonPriorityRoadSpeedPenalty = null, RegionLoader? regionLoader = null)
public class Astar(ValueTuple<float, float, float, float>? priorityWeights = null, int? explorationMultiplier = null, float? nonPriorityRoadSpeedPenalty = null)
{
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;
private readonly ValueTuple<float, float, float, float> DefaultPriorityWeights = priorityWeights ?? new(0.7f, 1.08f, 0, 0);
private readonly int _explorationMultiplier = explorationMultiplier ?? 150;
private readonly float _nonPriorityRoadSpeedPenalty = nonPriorityRoadSpeedPenalty ?? 0.9f;
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)
{
rl ??= new(regionSize, importFolderPath, logger: logger);
RegionLoader rl = new(regionSize, importFolderPath, logger: logger);
Graph graph = Spiral(rl, startLat, startLon, regionSize);
Graph endRegion = Spiral(rl, endLat, endLon, regionSize);
graph.ConcatGraph(endRegion);
@ -44,18 +43,22 @@ namespace astar
ValueTuple<Node, Node>? meetingEnds = null;
while (toVisitStart.Count > 0 && toVisitEnd.Count > 0)
{
for (int i = 0; i < Math.Min(toVisitStart.Count * 0.5, 50) && meetingEnds is null; i++)
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)
{
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);
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);
}
for (int i = 0; i < Math.Min(toVisitEnd.Count * 0.5, 50) && meetingEnds is null; i++)
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)
{
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);
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);
}
if (meetingEnds is not null)
@ -66,32 +69,25 @@ namespace astar
return new Route(graph, Array.Empty<Step>().ToList(), false);
Queue<ulong> routeQueue = new();
toVisitStart.EnqueueRange(toVisitEnd.UnorderedItems);
while(toVisitStart.Count > 0)
foreach (ulong id in toVisitStart.UnorderedItems.Select(l => l.Element)
.Union(toVisitEnd.UnorderedItems.Select(l => l.Element)))
{
routeQueue.Enqueue(toVisitStart.Dequeue());
routeQueue.Enqueue(id);
}
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));
ValueTuple<Node, Node>? newMeetingEnds = Optimize(graph, routeQueue, car, rl, pathing, logger);
meetingEnds = newMeetingEnds ?? meetingEnds;
return routes.MinBy(route =>
{
if (pathing is PathMeasure.Distance)
return route.Distance;
return route.Time.Ticks;
})!;
return PathFound(graph, meetingEnds!.Value.Item1, meetingEnds.Value.Item2, car, logger);
}
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)
private 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, ILogger? logger = null)
{
ulong currentNodeId = toVisit.Dequeue();
Node currentNode = graph.Nodes[currentNodeId];
logger?.LogDebug($"Distance to goal {currentNode.DistanceTo(goalNode):00000.00}m");
foreach ((ulong neighborId, KeyValuePair<ulong, bool> wayId) in currentNode.Neighbors)
{
LoadNeighbor(graph, neighborId, wayId.Key, rl!, logger);
LoadNeighbor(graph, neighborId, wayId.Key, rl, logger);
OSM_Graph.Way way = graph.Ways[wayId.Key];
byte speed = SpeedHelper.GetSpeed(way, car);
@ -102,7 +98,8 @@ namespace astar
Node neighborNode = graph.Nodes[neighborId];
if (neighborNode.PreviousIsFromStart == !fromStart) //Check if we found the opposite End
if (neighborNode.PreviousIsFromStart is not null &&
neighborNode.PreviousIsFromStart != fromStart) //Check if we found the opposite End
return fromStart ? new(currentNode, neighborNode) : new(neighborNode, currentNode);
float metric = (currentNode.Metric ?? float.MaxValue) + (pathing is PathMeasure.Distance
@ -116,16 +113,18 @@ namespace astar
toVisit.Enqueue(neighborId,
priorityHelper.CalculatePriority(currentNode, neighborNode, goalNode, speed, ratingWeights));
}
logger?.LogTrace($"Neighbor {neighborId} {neighborNode}");
}
return null;
}
private List<ValueTuple<Node, Node>> Optimize(Graph graph, Queue<ulong> combinedQueue, int optimizeAfterFound, bool car, RegionLoader rl, PathMeasure pathing, ILogger? logger = null)
private ValueTuple<Node, Node>? Optimize(Graph graph, Queue<ulong> combinedQueue, 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 * _explorationMultiplier); //Check another x% of unexplored Paths.
logger?.LogInformation($"Path found (explored {currentPathLength} Nodes). Optimizing route. (exploring {optimizeAfterFound} additional Nodes)");
List<ValueTuple<Node, Node>> newMeetingEnds = new();
ValueTuple<Node, Node>? newMeetingEnds = null;
while (optimizeAfterFound-- > 0 && combinedQueue.Count > 0)
{
ulong currentNodeId = combinedQueue.Dequeue();
@ -147,7 +146,7 @@ namespace astar
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));
newMeetingEnds = fromStart ? new(currentNode, neighborNode) : new(neighborNode, currentNode);
}
float metric = (currentNode.Metric ?? float.MaxValue) + (pathing is PathMeasure.Distance