Working. Weight calculation is still wonky, as well as heuristic needing tuning.
This commit is contained in:
parent
2131ac4afe
commit
308579279b
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@ -1,4 +1,3 @@
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using System.Text;
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using System.Text.Json.Serialization;
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using OSMDatastructure;
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using OSMDatastructure.Graph;
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@ -15,22 +14,37 @@ builder.Services.AddSwaggerGen();
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var app = builder.Build();
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app.MapGet("/getRouteDistance", (float latStart, float lonStart, float latEnd, float lonEnd) =>
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app.MapGet("/getRouteBeta", (float latStart, float lonStart, float latEnd, float lonEnd, Tag.SpeedType vehicle, double stayOnSameRoadPriority, double useHigherLevelRoadsPriority, double useRoadsWithLessJunctionsPriority) =>
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{
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DateTime startCalc = DateTime.Now;
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List<PathNode> result = Pathfinder.AStarDistance("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart), new Coordinates(latEnd, lonEnd));
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List<PathNode> result = Pathfinder.AStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart),
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new Coordinates(latEnd, lonEnd), vehicle, useHigherLevelRoadsPriority, stayOnSameRoadPriority,
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useRoadsWithLessJunctionsPriority);
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PathResult pathResult = new PathResult(DateTime.Now - startCalc, result);
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return RenderPath.Renderer.DrawFromPath(result);
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}
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);
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app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lonEnd, Tag.SpeedType vehicle, double stayOnSameRoadPriority, double useHigherLevelRoadsPriority, double useRoadsWithLessJunctionsPriority) =>
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{
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DateTime startCalc = DateTime.Now;
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List<PathNode> result = Pathfinder.AStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart),
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new Coordinates(latEnd, lonEnd), vehicle, useHigherLevelRoadsPriority, stayOnSameRoadPriority,
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useRoadsWithLessJunctionsPriority);
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PathResult pathResult = new PathResult(DateTime.Now - startCalc, result);
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return pathResult;
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}
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);
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app.MapGet("/getRouteTime", (float latStart, float lonStart, float latEnd, float lonEnd, Tag.SpeedType vehicle) =>
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app.MapGet("/getShortestRoute", (float latStart, float lonStart, float latEnd, float lonEnd) =>
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{
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DateTime startCalc = DateTime.Now;
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List<PathNode> result = Pathfinder.AStarTime("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart), new Coordinates(latEnd, lonEnd), vehicle);
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List<PathNode> result = Pathfinder.AStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart),
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new Coordinates(latEnd, lonEnd), Tag.SpeedType.any, 0, 0,
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0);
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PathResult pathResult = new PathResult(DateTime.Now - startCalc, result);
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return pathResult;
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}
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}
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);
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app.MapGet("/getClosestNode", (float lat, float lon) =>
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@ -57,18 +71,11 @@ app.Run();
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internal class PathResult
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{
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[JsonInclude]public TimeSpan calcTime;
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[JsonInclude] public double pathWeight = double.MaxValue;
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[JsonInclude] public double pathTravelDistance = double.MaxValue;
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[JsonInclude]public List<PathNode> pathNodes;
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public PathResult(TimeSpan calcTime, List<PathNode> pathNodes)
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{
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this.calcTime = calcTime;
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this.pathNodes = pathNodes;
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if (pathNodes.Count > 0)
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{
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this.pathWeight = pathNodes.Last().currentPathWeight;
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this.pathTravelDistance = pathNodes.First().currentPathLength;
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}
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}
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}
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@ -1,4 +1,3 @@
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using System.Runtime.Serialization;
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using System.Text.Json.Serialization;
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namespace OSMDatastructure.Graph;
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@ -8,21 +7,8 @@ public class OsmNode
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{
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public ulong nodeId { get; }
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public HashSet<OsmEdge> edges { get; set; }
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public Coordinates coordinates { get; }
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[JsonIgnore][NonSerialized]public OsmNode? previousPathNode = null;
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[JsonIgnore][NonSerialized]public double currentPathWeight = double.MaxValue;
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[JsonIgnore][NonSerialized]public double currentPathLength = double.MaxValue;
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[JsonIgnore][NonSerialized]public double directDistanceToGoal = double.MaxValue;
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public Coordinates coordinates { get; }
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[OnDeserialized]
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internal void SetDefaultValues(StreamingContext context)
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{
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currentPathWeight = double.MaxValue;
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currentPathLength = double.MaxValue;
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directDistanceToGoal = double.MaxValue;
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}
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public OsmNode(ulong nodeId, float lat, float lon)
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{
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this.nodeId = nodeId;
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@ -53,9 +39,6 @@ public class OsmNode
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public override string ToString()
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{
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if(previousPathNode is not null)
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return $"{nodeId} {coordinates} ec:{edges.Count} d:{directDistanceToGoal} w:{currentPathWeight} l:{currentPathLength} p:{previousPathNode.nodeId}";
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return
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$"{nodeId} {coordinates} ec:{edges.Count} d:{directDistanceToGoal} w:{currentPathWeight} l:{currentPathLength} null";
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return $"{nodeId} {coordinates} ec:{edges.Count}";
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}
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}
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@ -6,12 +6,6 @@ namespace Pathfinding;
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public class PathNode : OsmNode
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{
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[JsonInclude]public new double directDistanceToGoal = double.MaxValue;
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[JsonInclude]public double directDistanceDelta = double.MaxValue;
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[JsonInclude]public new double currentPathLength = double.MaxValue;
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[JsonInclude]public double pathDistanceDelta = double.MaxValue;
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[JsonInclude]public new double currentPathWeight = double.MaxValue;
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[JsonInclude]public double pathWeightDelta = double.MaxValue;
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[JsonInclude]public Dictionary<string, string> tags = new();
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public PathNode(ulong nodeId, float lat, float lon) : base(nodeId, lat, lon)
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@ -22,19 +16,11 @@ public class PathNode : OsmNode
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{
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}
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public static PathNode? FromOsmNode(OsmNode? node, HashSet<Tag>? tags, double pathDistanceDelta, double pathWeightDelta, double directDistanceDelta)
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public static PathNode? FromOsmNode(OsmNode? node, HashSet<Tag>? tags)
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{
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if (node is null)
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return null;
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PathNode retNode = new(node.nodeId, node.coordinates)
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{
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currentPathLength = node.currentPathLength,
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currentPathWeight = double.IsPositiveInfinity(node.currentPathWeight) ? double.MaxValue : node.currentPathWeight,
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directDistanceToGoal = node.directDistanceToGoal,
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directDistanceDelta = directDistanceDelta,
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pathDistanceDelta = pathDistanceDelta,
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pathWeightDelta = pathWeightDelta
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};
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PathNode retNode = new(node.nodeId, node.coordinates);
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if (tags != null)
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foreach (Tag tag in tags)
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{
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@ -5,93 +5,124 @@ using WayType = OSMDatastructure.Tag.WayType;
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namespace Pathfinding;
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public static partial class Pathfinder
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public static class Pathfinder
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{
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private static ValueTuple<OsmNode?, OsmNode?> SetupNodes(Coordinates startCoordinates, Coordinates goalCoordinates, RegionManager regionManager, SpeedType vehicle)
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public static List<PathNode> AStar(string workingDir, Coordinates startCoordinates, Coordinates goalCoordinates,
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SpeedType vehicle, double heuristicRoadLevelPriority, double heuristicSameRoadPriority,
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double heuristicFewJunctionsPriority)
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{
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ValueTuple<OsmNode?, OsmNode?> retTuple = new();
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retTuple.Item1 = regionManager.ClosestNodeToCoordinates(startCoordinates, vehicle);
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retTuple.Item2 = regionManager.ClosestNodeToCoordinates(goalCoordinates, vehicle);
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if (retTuple.Item1 is null || retTuple.Item2 is null)
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return retTuple;
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retTuple.Item1.currentPathWeight = 0;
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retTuple.Item1.currentPathLength = 0;
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retTuple.Item1.directDistanceToGoal = Utils.DistanceBetween(retTuple.Item1, retTuple.Item2);
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return retTuple;
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}
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RegionManager regionManager = new RegionManager(workingDir);
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OsmNode? startNode = regionManager.ClosestNodeToCoordinates(startCoordinates, vehicle);
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OsmNode? goalNode = regionManager.ClosestNodeToCoordinates(goalCoordinates, vehicle);
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if (startNode is null || goalNode is null)
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return new List<PathNode>();
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private static double EdgeWeight(OsmNode node1, OsmEdge edge, SpeedType vehicle, RegionManager regionManager)
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{
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OsmNode? node2 = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
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if (node2 is null)
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return double.MaxValue;
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double distance = Utils.DistanceBetween(node1, node2);
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byte speed = regionManager.GetSpeedForEdge(node1, edge.wayId, vehicle);
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return speed is 0 ? double.MaxValue : distance / speed;
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}
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PriorityQueue<OsmNode, double> openSetfScore = new();
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openSetfScore.Enqueue(startNode, 0);
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Dictionary<OsmNode, OsmNode> cameFromDict = new();
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Dictionary<OsmNode, double> gScore = new();
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gScore.Add(startNode, 0);
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private static double GetPriority(OsmNode currentNode, OsmNode? previousNode, OsmEdge currentEdge, SpeedType vehicle, RegionManager regionManager)
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{
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if (vehicle == SpeedType.any)
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return 1;
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const double roadPriorityFactor = 3.5;
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const double roadSpeedFactor = 1.4;
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const double roadNameChangeFactor = 1.4;
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const double distanceDeltaFactor = 0.17;
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Region r = regionManager.GetRegion(currentNode.coordinates)!;
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double distanceDelta = 0;
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if(previousNode is not null)
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distanceDelta = (previousNode.directDistanceToGoal - currentNode.directDistanceToGoal) * distanceDeltaFactor;
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double roadPriority = GetPriorityVehicleRoad(currentEdge, vehicle, r) * roadPriorityFactor;
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double roadSpeed = regionManager.GetSpeedForEdge(currentNode, currentEdge.wayId, vehicle) * 0.1 * roadSpeedFactor;
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if (vehicle == SpeedType.pedestrian)
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return currentNode.directDistanceToGoal / (roadPriority + roadSpeed + distanceDelta);
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double wayChange = 0;
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if (previousNode is not null && previousNode.edges.Count > 0)
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while (openSetfScore.Count > 0)
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{
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OsmEdge? pEdge = previousNode.edges.FirstOrDefault(e => e.neighborId.Equals(currentNode.nodeId));
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if (pEdge is not null)
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OsmNode currentNode = openSetfScore.Dequeue();
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if (currentNode.Equals(goalNode))
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return GetPath(cameFromDict, goalNode, regionManager);
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foreach (OsmEdge edge in currentNode.edges)
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{
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TagManager? prevTags = regionManager.GetRegion(previousNode.coordinates)?.tagManager;
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if (prevTags is not null)
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OsmNode? neighbor = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
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if (neighbor is not null)
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{
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TagManager curTags = r.tagManager;
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bool sameName = false;
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string? curName = (string?)curTags.GetTag(currentEdge.wayId, TagType.name);
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if (curName is not null && (string?)prevTags.GetTag(pEdge.wayId, TagType.name) == curName)
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sameName = true;
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double tentativeGScore = gScore[currentNode] + Weight(currentNode, neighbor, edge, vehicle, regionManager);
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gScore.TryAdd(neighbor, double.MaxValue);
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if (tentativeGScore < gScore[neighbor])
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{
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if (cameFromDict.ContainsKey(neighbor))
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cameFromDict[neighbor] = currentNode;
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else
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cameFromDict.Add(neighbor, currentNode);
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if (gScore.ContainsKey(neighbor))
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gScore[neighbor] = tentativeGScore;
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else
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gScore.Add(neighbor, tentativeGScore);
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double h = Heuristic(currentNode, neighbor, goalNode, edge, vehicle, regionManager,
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heuristicRoadLevelPriority, heuristicFewJunctionsPriority, heuristicSameRoadPriority);
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//Console.WriteLine($"Queue: {openSetfScore.Count:00000} Current Distance: {Utils.DistanceBetween(currentNode, goalNode):000000.00} Visited: {cameFromDict.Count:00000} Current heuristic: {h:00000.00}");
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openSetfScore.Enqueue(neighbor, tentativeGScore + h);
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bool sameRef = false;
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string? curRef = (string?)curTags.GetTag(currentEdge.wayId, TagType.tagref);
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if (curRef is not null && (string?)prevTags.GetTag(pEdge.wayId, TagType.tagref) == curRef)
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sameRef = true;
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wayChange = (sameRef || sameName ? 1 : 0) * roadNameChangeFactor;
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}
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}
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}
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}
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double div = (roadPriority + wayChange + roadSpeed + (distanceDelta > 0 ? distanceDelta : 0)) + 1;
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double prio = currentNode.directDistanceToGoal / div;
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Console.WriteLine($"{currentNode.directDistanceToGoal:000000.00}/{div:+00.00;-00.00;000.00}={prio:+00000.00;-00000.00;000000.00} Type{roadPriority:00.00} name{wayChange:00.00} speed{roadSpeed:00.00} distance{distanceDelta:+00.00;-00.00;0}");
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if (vehicle == SpeedType.car)
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return prio;
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return double.MaxValue;
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return new List<PathNode>();
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}
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private static List<PathNode> GetPath(Dictionary<OsmNode, OsmNode> cameFromDict, OsmNode goalNode, RegionManager regionManager)
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{
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List<PathNode> path = new List<PathNode>();
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OsmNode currentNode = goalNode;
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while (cameFromDict.ContainsKey(cameFromDict[currentNode]))
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{
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OsmEdge? currentEdge = cameFromDict[currentNode].edges.First(edge => edge.neighborId == currentNode.nodeId);
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HashSet<Tag>? tags =
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regionManager.GetRegion(currentNode.coordinates)!.tagManager.GetTagsForWayId(currentEdge.wayId);
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PathNode? newNode = PathNode.FromOsmNode(currentNode, tags);
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if(newNode is not null)
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path.Add(newNode);
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currentNode = cameFromDict[currentNode];
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}
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path.Reverse();
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return path;
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}
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private static double Weight(OsmNode fromNode, OsmNode neighborNode, OsmEdge edge, SpeedType vehicle, RegionManager regionManager)
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{
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double distance = Utils.DistanceBetween(fromNode, neighborNode);
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double speed = regionManager.GetSpeedForEdge(fromNode, edge.wayId, vehicle);
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double prio = GetPriorityVehicleRoad(edge, vehicle, regionManager.GetRegion(fromNode.coordinates)!);
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return distance / (speed + (prio * 10));
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}
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private static double Heuristic(OsmNode fromNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, SpeedType vehicle, RegionManager regionManager, double roadPriorityFactor, double junctionFactor, double sameRoadFactor)
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{
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double roadPriority = GetPriorityVehicleRoad(edge, vehicle, regionManager.GetRegion(fromNode.coordinates)!) * roadPriorityFactor;
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TagManager curTags = regionManager.GetRegion(fromNode.coordinates)!.tagManager;
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TagManager nextTags = regionManager.GetRegion(neighborNode.coordinates)!.tagManager;
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bool sameName = false;
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string? curName = (string?)curTags.GetTag(edge.wayId, TagType.name);
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bool sameRef = false;
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string? curRef = (string?)curTags.GetTag(edge.wayId, TagType.tagref);
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if(curName is not null)
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foreach (OsmEdge pEdge in neighborNode.edges)
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{
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if ((string?)nextTags.GetTag(pEdge.wayId, TagType.name) == curName)
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sameName = true;
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if ((string?)nextTags.GetTag(pEdge.wayId, TagType.tagref) == curRef)
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sameRef = true;
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}
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double sameRoadName = (sameRef || sameName ? 1 : 0) * sameRoadFactor;
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double junctionCount = (neighborNode.edges.Count > 2 ? 0 : 1) * junctionFactor;
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//Console.WriteLine($"{roadPriority:000.00} {sameRoadName:000.00} {junctionCount:000.00} {distanceImprovement:+000.00;-000.00;0000.00}");
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return Utils.DistanceBetween(neighborNode, goalNode) - (roadPriority + sameRoadName + junctionCount) * 100;
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}
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private static double GetPriorityVehicleRoad(OsmEdge edge, SpeedType vehicle, Region region)
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{
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if (vehicle == SpeedType.any)
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return 1;
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WayType? wayType = (WayType?)region.tagManager.GetTag(edge.wayId, TagType.highway);
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if(wayType is null)
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return double.MaxValue;
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return 0;
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if (vehicle == SpeedType.car)
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{
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switch (wayType)
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@ -106,6 +137,7 @@ public static partial class Pathfinder
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return 8;
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case WayType.secondary:
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case WayType.secondary_link:
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return 6;
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case WayType.tertiary:
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case WayType.tertiary_link:
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return 5;
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@ -113,12 +145,10 @@ public static partial class Pathfinder
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case WayType.residential:
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case WayType.road:
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case WayType.living_street:
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return 3;
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return 2;
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case WayType.service:
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case WayType.track:
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return 0.01;
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default:
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return 1;
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}
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}
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if (vehicle == SpeedType.pedestrian)
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@ -144,42 +174,9 @@ public static partial class Pathfinder
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case WayType.tertiary_link:
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case WayType.escape:
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return 2;
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default:
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return 1;
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}
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}
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return 0.01;
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}
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private static List<PathNode> GetRouteFromCalc(OsmNode goalNode, RegionManager regionManager)
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{
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List<PathNode> path = new();
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OsmNode? currentNode = goalNode;
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while (currentNode is not null)
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{
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HashSet<Tag>? tags = null;
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double pathDistanceDelta = 0;
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double pathWeightDelta = 0;
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double directDistanceDelta = 0;
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if (currentNode.previousPathNode is not null)
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{
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OsmEdge edge = currentNode.previousPathNode!.edges.First(e => e.neighborId.Equals(currentNode.nodeId));
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tags = regionManager.GetRegion(currentNode.coordinates)!.tagManager.GetTagsForWayId(edge.wayId);
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pathDistanceDelta = currentNode.currentPathLength - currentNode.previousPathNode.currentPathLength;
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pathWeightDelta = currentNode.currentPathWeight - currentNode.previousPathNode.currentPathWeight;
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directDistanceDelta =
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currentNode.directDistanceToGoal - currentNode.previousPathNode.directDistanceToGoal;
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}
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PathNode? pn = PathNode.FromOsmNode(currentNode, tags, pathDistanceDelta, pathWeightDelta, directDistanceDelta);
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if(pn is not null)
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path.Add(pn!);
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currentNode = currentNode.previousPathNode;
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}
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path.Reverse();
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return path;
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}
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}
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@ -1,50 +0,0 @@
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using OSMDatastructure;
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using OSMDatastructure.Graph;
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namespace Pathfinding;
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public static partial class Pathfinder
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{
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public static List<PathNode> AStarDistance(string workingDir, Coordinates start,
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Coordinates goal)
|
||||
{
|
||||
RegionManager regionManager = new (workingDir);
|
||||
ValueTuple<OsmNode?, OsmNode?> startAndEndNode = SetupNodes(start, goal, regionManager, Tag.SpeedType.any);
|
||||
if (startAndEndNode.Item1 is null || startAndEndNode.Item2 is null)
|
||||
return new List<PathNode>();
|
||||
OsmNode goalNode = startAndEndNode.Item2!;
|
||||
|
||||
PriorityQueue<OsmNode, double> toVisit = new();
|
||||
toVisit.Enqueue(startAndEndNode.Item1, 0);
|
||||
bool stop = false;
|
||||
|
||||
while (toVisit.Count > 0)
|
||||
{
|
||||
OsmNode currentNode = toVisit.Dequeue();
|
||||
|
||||
foreach (OsmEdge edge in currentNode.edges)
|
||||
{
|
||||
OsmNode? neighbor = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
|
||||
if (neighbor is not null)
|
||||
{
|
||||
if (Math.Abs(neighbor.directDistanceToGoal - double.MaxValue) < 1)
|
||||
neighbor.directDistanceToGoal = Utils.DistanceBetween(neighbor, goalNode);
|
||||
double newPotentialLength = currentNode.currentPathLength + Utils.DistanceBetween(currentNode, neighbor);
|
||||
if (newPotentialLength < neighbor.currentPathLength)
|
||||
{
|
||||
neighbor.previousPathNode = currentNode;
|
||||
neighbor.currentPathLength = newPotentialLength;
|
||||
|
||||
if(neighbor.Equals(goalNode))
|
||||
return GetRouteFromCalc(goalNode, regionManager);
|
||||
if (!toVisit.UnorderedItems.Any(item => item.Element.Equals(neighbor)) && !stop)
|
||||
{
|
||||
toVisit.Enqueue(neighbor, neighbor.directDistanceToGoal);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return GetRouteFromCalc(goalNode, regionManager);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,63 +0,0 @@
|
|||
using OSMDatastructure;
|
||||
using OSMDatastructure.Graph;
|
||||
using Utils = OSMDatastructure.Utils;
|
||||
|
||||
namespace Pathfinding;
|
||||
|
||||
public static partial class Pathfinder
|
||||
{
|
||||
public static List<PathNode> AStarTime(string workingDir, Coordinates start,
|
||||
Coordinates goal, Tag.SpeedType vehicle)
|
||||
{
|
||||
RegionManager regionManager = new (workingDir);
|
||||
ValueTuple<OsmNode?, OsmNode?> startAndEndNode = SetupNodes(start, goal, regionManager, vehicle);
|
||||
if (startAndEndNode.Item1 is null || startAndEndNode.Item2 is null)
|
||||
return new List<PathNode>();
|
||||
OsmNode goalNode = startAndEndNode.Item2!;
|
||||
|
||||
PriorityQueue<OsmNode, double> toVisit = new();
|
||||
toVisit.Enqueue(startAndEndNode.Item1, 0);
|
||||
|
||||
while (toVisit.Count > 0)
|
||||
{
|
||||
OsmNode currentNode = toVisit.Dequeue();
|
||||
|
||||
foreach (OsmEdge edge in currentNode.edges.Where(
|
||||
edge => regionManager.TestValidConnectionForType(currentNode, edge, vehicle)))
|
||||
{
|
||||
OsmNode? neighbor = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
|
||||
if (neighbor is not null)
|
||||
{
|
||||
if (Math.Abs(neighbor.directDistanceToGoal - double.MaxValue) < 1)
|
||||
neighbor.directDistanceToGoal = Utils.DistanceBetween(neighbor, goalNode);
|
||||
|
||||
double newPotentialWeight = currentNode.currentPathWeight +
|
||||
EdgeWeight(currentNode, edge, vehicle, regionManager);
|
||||
|
||||
if (newPotentialWeight < neighbor.currentPathWeight)
|
||||
{
|
||||
neighbor.previousPathNode = currentNode;
|
||||
neighbor.currentPathWeight = newPotentialWeight;
|
||||
|
||||
if (neighbor.Equals(goalNode))
|
||||
{
|
||||
currentNode = neighbor;
|
||||
currentNode.currentPathLength = 0;
|
||||
while (!currentNode.Equals(startAndEndNode.Item1) && currentNode.previousPathNode is not null)
|
||||
{
|
||||
currentNode.previousPathNode.currentPathLength = currentNode.currentPathLength +
|
||||
Utils.DistanceBetween(currentNode, currentNode.previousPathNode);
|
||||
currentNode = currentNode.previousPathNode;
|
||||
}
|
||||
|
||||
return GetRouteFromCalc(goalNode, regionManager);
|
||||
}
|
||||
|
||||
toVisit.Enqueue(neighbor, GetPriority(currentNode, currentNode.previousPathNode, edge, vehicle, regionManager));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return GetRouteFromCalc(goalNode, regionManager);
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user