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Save Pathfinding result to file.

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Load result for render.
This commit is contained in:
glax 2023-04-13 19:18:25 +02:00
parent 08ebc9a26b
commit 055a751c9d
8 changed files with 123 additions and 50 deletions
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24
API/Program.cs
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@ -16,23 +16,20 @@ var app = builder.Build();
app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lonEnd, Tag.SpeedType vehicle, double stayOnSameRoadPriority, double useHigherLevelRoadsPriority, double useRoadsWithLessJunctionsPriority) =>
{
DateTime startCalc = DateTime.Now;
List<PathNode> result = Pathfinder.AStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart),
PathResult result = Pathfinder.AStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart),
new Coordinates(latEnd, lonEnd), vehicle, useHigherLevelRoadsPriority, stayOnSameRoadPriority,
useRoadsWithLessJunctionsPriority);
PathResult pathResult = new PathResult(DateTime.Now - startCalc, result);
return pathResult;
return result;
}
);
app.MapGet("/getShortestRoute", (float latStart, float lonStart, float latEnd, float lonEnd) =>
{
DateTime startCalc = DateTime.Now;
List<PathNode> result = Pathfinder.AStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart),
PathResult result = Pathfinder.AStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart),
new Coordinates(latEnd, lonEnd), Tag.SpeedType.any, 0, 0,
0);
PathResult pathResult = new PathResult(DateTime.Now - startCalc, result);
return pathResult;
return result;
}
);
@ -57,14 +54,3 @@ app.MapControllers();
app.Run();
internal class PathResult
{
[JsonInclude]public TimeSpan calcTime;
[JsonInclude]public List<PathNode> pathNodes;
public PathResult(TimeSpan calcTime, List<PathNode> pathNodes)
{
this.calcTime = calcTime;
this.pathNodes = pathNodes;
}
}

7
Pathfinding/PathNode.cs
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@ -1,3 +1,4 @@
using System.Diagnostics.Tracing;
using System.Text.Json.Serialization;
using OSMDatastructure;
using OSMDatastructure.Graph;
@ -7,6 +8,12 @@ namespace Pathfinding;
public class PathNode : OsmNode
{
[JsonInclude]public Dictionary<string, string> tags = new();
[JsonConstructor]
public PathNode(ulong nodeId, Coordinates coordinates, Dictionary<string, string> tags) : base(nodeId, coordinates)
{
this.tags = tags;
}
public PathNode(ulong nodeId, float lat, float lon) : base(nodeId, lat, lon)
{

46
Pathfinding/PathResult.cs Normal file
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@ -0,0 +1,46 @@
using System.Text.Json.Serialization;
using OSMDatastructure.Graph;
namespace Pathfinding;
public class PathResult
{
[JsonInclude]public TimeSpan calcTime;
[JsonInclude]public List<PathNode> pathNodes;
[JsonInclude]public Dictionary<ulong, double>? gScore;
[JsonInclude]public HashSet<OsmNode>? nodes;
public string? name { get; set; }
[JsonConstructor]
public PathResult(TimeSpan calcTime, List<PathNode> pathNodes, Dictionary<ulong, double>? gScore, HashSet<OsmNode>? nodes)
{
this.calcTime = calcTime;
this.pathNodes = pathNodes;
this.gScore = gScore;
this.nodes = nodes;
}
public PathResult(TimeSpan calcTime, List<PathNode> pathNodes)
{
this.calcTime = calcTime;
this.pathNodes = pathNodes;
}
public PathResult(TimeSpan calcTime, List<PathNode> pathNodes, Dictionary<OsmNode, double> gScore)
{
this.calcTime = calcTime;
this.pathNodes = pathNodes;
AddGScores(gScore);
}
public void AddGScores(Dictionary<OsmNode, double> gScore)
{
this.gScore = new();
this.nodes = new();
foreach (KeyValuePair<OsmNode, double> kv in gScore)
{
this.gScore.Add(kv.Key.nodeId, kv.Value);
this.nodes.Add(kv.Key);
}
}
}

43
Pathfinding/Pathfinder.cs
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@ -1,6 +1,6 @@
using OSMDatastructure;
using System.Text.Json;
using OSMDatastructure;
using OSMDatastructure.Graph;
using RenderPath;
using static OSMDatastructure.Tag;
using WayType = OSMDatastructure.Tag.WayType;
@ -8,16 +8,17 @@ namespace Pathfinding;
public static class Pathfinder
{
public static List<PathNode> AStar(string workingDir, Coordinates startCoordinates, Coordinates goalCoordinates,
public static PathResult AStar(string workingDir, Coordinates startCoordinates, Coordinates goalCoordinates,
SpeedType vehicle, double heuristicRoadLevelPriority, double heuristicSameRoadPriority,
double heuristicFewJunctionsPriority)
{
DateTime startCalc = DateTime.Now;
RegionManager regionManager = new RegionManager(workingDir);
OsmNode? startNode = regionManager.ClosestNodeToCoordinates(startCoordinates, vehicle);
OsmNode? goalNode = regionManager.ClosestNodeToCoordinates(goalCoordinates, vehicle);
if (startNode is null || goalNode is null)
return new List<PathNode>();
return new PathResult(DateTime.Now - startCalc, new List<PathNode>());
PriorityQueue<OsmNode, double> openSetfScore = new();
openSetfScore.Enqueue(startNode, 0);
@ -31,13 +32,12 @@ public static class Pathfinder
if (currentNode.Equals(goalNode))
{
Console.WriteLine("Path found.");
List<PathNode> path = GetPath(cameFromDict, goalNode, regionManager);
Console.WriteLine("Rendering.");
List<Coordinates> coords = new();
foreach(PathNode pn in path)
coords.Add(pn.coordinates);
Renderer.DrawLoadedNodes(gScore, coords, workingDir);
Console.WriteLine("Done.");
PathResult path = GetPath(cameFromDict, goalNode, regionManager, DateTime.Now - startCalc);
path.AddGScores(gScore);
string fileName = $"{new DirectoryInfo(workingDir).Name}-{DateTime.Now.ToFileTime()}.result";
string outputFilepath = Path.Join(Directory.GetParent(workingDir)!.FullName, fileName);
path.name = outputFilepath;
SaveGraph(path, outputFilepath);
return path;
}
@ -46,7 +46,8 @@ public static class Pathfinder
OsmNode? neighbor = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
if (neighbor is not null)
{
double tentativeGScore = gScore[currentNode] + Weight(currentNode, neighbor, edge, vehicle, regionManager);
double tentativeGScore =
gScore[currentNode] + Weight(currentNode, neighbor, edge, vehicle, regionManager);
gScore.TryAdd(neighbor, double.MaxValue);
if (tentativeGScore < gScore[neighbor])
{
@ -62,16 +63,24 @@ public static class Pathfinder
heuristicRoadLevelPriority, heuristicFewJunctionsPriority, heuristicSameRoadPriority);
//Console.WriteLine($"Queue: {openSetfScore.Count:00000} Current Distance: {Utils.DistanceBetween(currentNode, goalNode):000000.00} Visited: {cameFromDict.Count:00000} Current heuristic: {h:00000.00}");
openSetfScore.Enqueue(neighbor, tentativeGScore + h);
}
}
}
}
return new List<PathNode>();
return new PathResult(DateTime.Now - startCalc, new List<PathNode>());
}
private static List<PathNode> GetPath(Dictionary<OsmNode, OsmNode> cameFromDict, OsmNode goalNode, RegionManager regionManager)
private static void SaveGraph(PathResult pathResult, string outputFilepath)
{
FileStream fs = new FileStream(outputFilepath, FileMode.CreateNew);
JsonSerializer.Serialize(fs, pathResult, JsonSerializerOptions.Default);
fs.Dispose();
Console.WriteLine($"Saved result to {outputFilepath}");
}
private static PathResult GetPath(Dictionary<OsmNode, OsmNode> cameFromDict, OsmNode goalNode, RegionManager regionManager, TimeSpan calcFinished)
{
List<PathNode> path = new List<PathNode>();
OsmNode currentNode = goalNode;
@ -88,7 +97,7 @@ public static class Pathfinder
path.Reverse();
return path;
return new PathResult(calcFinished, path);
}
private static double Weight(OsmNode fromNode, OsmNode neighborNode, OsmEdge edge, SpeedType vehicle, RegionManager regionManager)

5
Pathfinding/Pathfinding.csproj
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@ -8,7 +8,10 @@
<ItemGroup>
<ProjectReference Include="..\OSMDatastructure\OSMDatastructure.csproj" />
<ProjectReference Include="..\RenderPath\RenderPath.csproj" />
</ItemGroup>
<ItemGroup>
<PackageReference Include="System.Runtime.Serialization.Json" Version="4.3.0" />
</ItemGroup>
</Project>

2
RenderPath/RenderPath.csproj
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@ -8,10 +8,12 @@
<ItemGroup>
<PackageReference Include="System.Drawing.Common" Version="7.0.0" />
<PackageReference Include="System.Runtime.Serialization.Json" Version="4.3.0" />
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\OSMDatastructure\OSMDatastructure.csproj" />
<ProjectReference Include="..\Pathfinding\Pathfinding.csproj" />
</ItemGroup>
</Project>

36
RenderPath/Renderer.cs
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@ -1,20 +1,34 @@
using System.Diagnostics.CodeAnalysis;
using System.Drawing;
using System.Drawing.Imaging;
using System.Text.Json;
using OSMDatastructure.Graph;
using Pathfinding;
namespace RenderPath;
public class Renderer
{
[SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
public static void DrawLoadedNodes(Dictionary<OsmNode, double> gScoreDict, List<Coordinates> pathCoordinates, string workingDir)
public static void DrawGraph(string resultPath)
{
float minLat = gScoreDict.Min(kv => kv.Key.coordinates.latitude);
float minLon = gScoreDict.Min(kv => kv.Key.coordinates.longitude);
float maxLat = gScoreDict.Max(kv => kv.Key.coordinates.latitude);
float maxLon = gScoreDict.Max(kv => kv.Key.coordinates.longitude);
FileStream fs = new FileStream(resultPath, FileMode.Open);
PathResult graph = JsonSerializer.Deserialize<PathResult>(fs)!;
List<Coordinates> coords = new List<Coordinates>();
foreach (PathNode node in graph.pathNodes)
coords.Add(node.coordinates);
string workingDir = new DirectoryInfo(resultPath).FullName;
DrawLoadedNodes(graph.nodes!, graph.gScore!, coords, workingDir);
}
[SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
public static void DrawLoadedNodes(HashSet<OsmNode> nodes, Dictionary<ulong, double> gScoreDict, List<Coordinates> pathCoordinates, string workingDir)
{
float minLat = nodes.Min(node => node.coordinates.latitude);
float minLon = nodes.Min(node => node.coordinates.longitude);
float maxLat = nodes.Max(node => node.coordinates.latitude);
float maxLon = nodes.Max(node => node.coordinates.longitude);
double minWeight = gScoreDict.Min(kv => kv.Value);
double maxWeight = gScoreDict.Max(kv => kv.Value);
@ -36,12 +50,14 @@ public class Renderer
Color center = Color.FromArgb(255, 255, 0);
Color end = Color.FromArgb(0, 255, 0);
foreach (KeyValuePair<OsmNode, double> kv in gScoreDict)
foreach (KeyValuePair<ulong, double> kv in gScoreDict)
{
double percentage = (kv.Value - minWeight) / (maxWeight - minWeight);
Brush b = new SolidBrush(GradientPick(percentage, start, center, end));
float x = (kv.Key.coordinates.longitude - minLon) * scaleFactor;
float y = (maxLat - kv.Key.coordinates.latitude) * scaleFactor;
OsmNode node = nodes.First(node => node.nodeId.Equals(kv.Key));
float x = (node.coordinates.longitude - minLon) * scaleFactor;
float y = (maxLat - node.coordinates.latitude) * scaleFactor;
g.FillEllipse(b, x, y, 2, 2);
}
@ -56,7 +72,7 @@ public class Renderer
g.DrawLine(p, p1, p2);
}
ret.Save(Path.Join(Directory.GetParent(workingDir)!.FullName, "routing.png"), ImageFormat.Bmp);
ret.Save($"{workingDir}-routing.png", ImageFormat.Bmp);
}
/*

10
Server/Server.cs
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@ -1,6 +1,7 @@
using OSMDatastructure;
using OSMDatastructure.Graph;
using Pathfinding;
using RenderPath;
namespace Server;
@ -17,10 +18,13 @@ public class Server
//RegionConverter.ConvertXMLToRegions("D:/map.osm", "D:/map");
//RegionConverter.ConvertXMLToRegions("D:/germany-latest.osm", "D:/germany-latest");
Coordinates start = new Coordinates( 48.7933798f, 9.8275859f);
Coordinates finish = new Coordinates( 48.8407632f, 10.0676979f);
List<PathNode> result = Pathfinder.AStar("D:/stuttgart-regbez-latest", start,
finish, Tag.SpeedType.car, 20, 2,
Coordinates finish = new Coordinates( 48.795918f, 9.021618f);
PathResult result = Pathfinder.AStar("D:/stuttgart-regbez-latest", start,
finish, Tag.SpeedType.car, 0.1, 0.2,
0);
Renderer.DrawGraph(result.name);
}
}