227 lines
13 KiB
C#
227 lines
13 KiB
C#
using astar.PathingHelper;
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using Microsoft.Extensions.Logging;
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using Graph.Utils;
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using OSM_Graph.Enums;
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using OSM_Regions;
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namespace astar
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{
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public class Astar(ValueTuple<float, float, float, float>? optimizingWeights = null, int? explorationDistance = null, int? explorationMultiplier = null)
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{
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private static readonly ValueTuple<float, float, float, float> DefaultPriorityWeights = new(1, 1.4f, 0, 0);
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private readonly ValueTuple<float, float, float, float> OptimizingWeights = optimizingWeights ?? new(0, 0.07f, 0, 0);
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private int ExplorationDistanceFromRoute = explorationDistance ?? 200;
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private int ExplorationMultiplier = explorationMultiplier ?? 65;
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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)
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{
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RegionLoader rl = new(regionSize, importFolderPath, logger: logger);
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Graph graph = Spiral(rl, startLat, startLon, regionSize);
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Graph endRegion = Spiral(rl, endLat, endLon, regionSize);
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graph.ConcatGraph(endRegion);
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KeyValuePair<ulong, Node> startNode = graph.ClosestNodeToCoordinates(startLat, startLon, car);
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startNode.Value.PreviousIsFromStart = true;
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startNode.Value.PreviousNodeId = startNode.Key;
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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;
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endNode.Value.PreviousNodeId = endNode.Key;
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endNode.Value.Metric = 0f;
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double totalDistance = NodeUtils.DistanceBetween(startNode.Value, endNode.Value);
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PriorityHelper priorityHelper = new(totalDistance, SpeedHelper.GetMaxSpeed(car));
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logger?.Log(LogLevel.Information,
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"From {0:00.00000}#{1:000.00000} to {2:00.00000}#{3:000.00000} Great-Circle {4:00000.00}km",
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startNode.Value.Lat, startNode.Value.Lon, endNode.Value.Lat, endNode.Value.Lon, totalDistance / 1000);
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PriorityQueue<ulong, int> toVisitStart = new();
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toVisitStart.Enqueue(startNode.Key, 0);
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PriorityQueue<ulong, int> toVisitEnd = new();
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toVisitEnd.Enqueue(endNode.Key, 0);
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ValueTuple<Node, Node>? meetingEnds = null;
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while (toVisitStart.Count > 0 && toVisitEnd.Count > 0)
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{
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if (toVisitStart.Count >= toVisitEnd.Count && meetingEnds is null)
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{
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for(int i = 0; i < toVisitStart.Count / 10 && meetingEnds is null; i++)
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meetingEnds = ExploreSide(true, graph, toVisitStart, rl, priorityHelper, endNode.Value, car, DefaultPriorityWeights, pathing, logger);
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}
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if(meetingEnds is null)
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meetingEnds = ExploreSide(true, graph, toVisitStart, rl, priorityHelper, endNode.Value, car, DefaultPriorityWeights, pathing, logger);
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if (toVisitEnd.Count >= toVisitStart.Count && meetingEnds is null)
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{
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for(int i = 0; i < toVisitEnd.Count / 10 && meetingEnds is null; i++)
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meetingEnds = ExploreSide(false, graph, toVisitEnd, rl, priorityHelper, startNode.Value, car, DefaultPriorityWeights, pathing, logger);
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}
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if(meetingEnds is null)
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meetingEnds = ExploreSide(false, graph, toVisitEnd, rl, priorityHelper, startNode.Value, car, DefaultPriorityWeights, pathing, logger);
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if (meetingEnds is not null)
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break;
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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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if(meetingEnds is null)
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return new Route(graph, Array.Empty<Step>().ToList(), false);
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List<Node> routeNodes = PathFound(graph, meetingEnds.Value.Item1, meetingEnds.Value.Item2, car).Steps.Select(s => s.Node1).ToList();
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Dictionary<ulong, int> routeQueue = toVisitStart.UnorderedItems.Select(l => l.Element).Union(toVisitEnd.UnorderedItems.Select(l => l.Element)).Where(id =>
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{
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Node p = graph.Nodes[id];
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return routeNodes.Any(route => route.DistanceTo(p) < ExplorationDistanceFromRoute);
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}).ToDictionary(id => id, _ => int.MinValue);
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PriorityQueue<ulong, int> combinedQueue = new();
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foreach ((ulong key, int value) in routeQueue)
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combinedQueue.Enqueue(key, value);
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ValueTuple<Node, Node>? newMeetingEnds = Optimize(additionalExploration, graph, combinedQueue, car, rl, priorityHelper, pathing, startNode.Value, endNode.Value, logger);
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meetingEnds = newMeetingEnds ?? meetingEnds;
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return PathFound(graph, meetingEnds!.Value.Item1, meetingEnds.Value.Item2, car, logger);
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}
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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)
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{
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ulong currentNodeId = toVisit.Dequeue();
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Node currentNode = graph.Nodes[currentNodeId];
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logger?.LogDebug($"Distance to goal {currentNode.DistanceTo(goalNode):00000.00}m");
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foreach ((ulong neighborId, KeyValuePair<ulong, bool> wayId) in currentNode.Neighbors)
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{
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if (!graph.ContainsNode(neighborId))
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graph.ConcatGraph(Graph.FromGraph(rl.LoadRegionFromNodeId(neighborId)));
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if (!graph.ContainsWay(wayId.Key))
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{
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foreach (global::Graph.Graph? g in rl.LoadRegionsFromWayId(wayId.Key))
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graph.ConcatGraph(Graph.FromGraph(g));
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}
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OSM_Graph.Way way = graph.Ways[wayId.Key];
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byte speed = SpeedHelper.GetSpeed(way, car);
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if(speed < 1)
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continue;
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if(!way.AccessPermitted())
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continue;
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if(wayId.Value && way.GetDirection() == (fromStart ? WayDirection.Backwards : WayDirection.Forwards) && car)
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continue;
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if(!wayId.Value && way.GetDirection() == (fromStart ? WayDirection.Forwards : WayDirection.Backwards) && car)
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continue;
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Node neighborNode = graph.Nodes[neighborId];
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if (neighborNode.PreviousIsFromStart is not null &&
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neighborNode.PreviousIsFromStart != fromStart) //Check if we found the opposite End
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return fromStart ? new(currentNode, neighborNode) : new(neighborNode, currentNode);
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float metric = (currentNode.Metric ?? float.MaxValue) + (pathing is PathMeasure.Distance
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? (float)currentNode.DistanceTo(neighborNode)
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: (float)currentNode.DistanceTo(neighborNode) / speed);
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if (neighborNode.PreviousNodeId is null || neighborNode.Metric > metric)
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{
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neighborNode.PreviousNodeId = currentNodeId;
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neighborNode.Metric = metric;
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neighborNode.PreviousIsFromStart = fromStart;
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toVisit.Enqueue(neighborId,
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priorityHelper.CalculatePriority(currentNode, neighborNode, goalNode, speed, ratingWeights));
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}
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logger?.LogTrace($"Neighbor {neighborId} {neighborNode}");
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}
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return null;
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}
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private ValueTuple<Node, Node>? Optimize(float additionalExploration, Graph graph, PriorityQueue<ulong, int> combinedQueue, bool car, RegionLoader rl, PriorityHelper priorityHelper, PathMeasure pathing, Node startNode, Node goalNode, ILogger? logger = null)
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{
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int currentPathLength = graph.Nodes.Values.Count(node => node.PreviousNodeId is not null);
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int optimizeAfterFound = (int)(combinedQueue.Count * additionalExploration); //Check another x% of unexplored Paths.
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logger?.LogInformation($"Path found (explored {currentPathLength} Nodes). Optimizing route. (exploring {optimizeAfterFound} additional Nodes)");
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ValueTuple<Node, Node>? newMeetingEnds = null;
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while (optimizeAfterFound-- > 0 && combinedQueue.Count > 0)
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{
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ulong nodeId = combinedQueue.Peek();
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Node node = graph.Nodes[nodeId];
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bool fromStart = (bool)node.PreviousIsFromStart!;
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newMeetingEnds = ExploreSide(fromStart, graph, combinedQueue, rl, priorityHelper, fromStart ? goalNode : startNode, car, OptimizingWeights, pathing, logger);
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}
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return newMeetingEnds;
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}
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private static Route PathFound(Graph graph, Node fromStart, Node fromEnd, bool car = true, ILogger? logger = null)
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{
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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];
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path.Add(new Step(fromStart, fromEnd, (float)fromStart.DistanceTo(fromEnd), SpeedHelper.GetSpeed(toNeighbor, car)));
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Node current = fromStart;
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while (current.Metric != 0f)
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{
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Node previous = graph.Nodes[(ulong)current.PreviousNodeId!];
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OSM_Graph.Way previousToCurrent = graph.Ways[previous.Neighbors.First(n => graph.Nodes[n.Key] == current).Value.Key];
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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
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current = fromEnd;
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while (current.Metric != 0f)
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{
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Node next = graph.Nodes[(ulong)current.PreviousNodeId!];
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OSM_Graph.Way currentToNext = graph.Ways[current.Neighbors.First(n => graph.Nodes[n.Key] == next).Value.Key];
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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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}
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Route r = new (graph, path, true);
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logger?.LogInformation(r.ToString());
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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));
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int iteration = 1;
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while (ret is null)
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{
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for (int x = -iteration; x <= iteration; x++)
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{
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Graph? g1 = Graph.FromGraph(loader.LoadRegionFromCoordinates(lat + x * regionSize, lon - iteration * regionSize));
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Graph? g2 = Graph.FromGraph(loader.LoadRegionFromCoordinates(lat + x * regionSize, lon + iteration * regionSize));
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if (ret is not null)
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{
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ret.ConcatGraph(g1);
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ret.ConcatGraph(g2);
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}
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else if (ret is null && g1 is not null)
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{
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ret = g1;
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ret.ConcatGraph(g2);
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}else if (ret is null && g2 is not null)
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ret = g2;
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}
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for (int y = -iteration + 1; y < iteration; y++)
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{
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Graph? g1 = Graph.FromGraph(loader.LoadRegionFromCoordinates(lat - iteration * regionSize, lon + y * regionSize));
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Graph? g2 = Graph.FromGraph(loader.LoadRegionFromCoordinates(lat + iteration * regionSize, lon + y * regionSize));
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if (ret is not null)
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{
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ret.ConcatGraph(g1);
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ret.ConcatGraph(g2);
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}
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else if (ret is null && g1 is not null)
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{
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ret = g1;
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ret.ConcatGraph(g2);
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}else if (ret is null && g2 is not null)
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ret = g2;
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}
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iteration++;
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}
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return ret;
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}
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}
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} |