Created seperate PathNode class for Json Serialization
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72b5511c26
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@ -1,4 +1,5 @@
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using OSMDatastructure.Graph;
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using OSMDatastructure.Graph;
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using Pathfinding;
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var builder = WebApplication.CreateBuilder(args);
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var builder = WebApplication.CreateBuilder(args);
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@ -15,7 +16,7 @@ var app = builder.Build();
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app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lonEnd) =>
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app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lonEnd) =>
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{
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{
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List<OsmNode> path = Pathfinding.Pathfinder.CustomAStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart), new Coordinates(latEnd, lonEnd),
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List<PathNode> path = Pathfinder.CustomAStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart), new Coordinates(latEnd, lonEnd),
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Tag.SpeedType.car);
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Tag.SpeedType.car);
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return path;
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return path;
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}
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}
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@ -12,8 +12,8 @@ public class OsmNode
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public Coordinates coordinates { get; }
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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 OsmNode? previousPathNode = null;
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[JsonInclude][NonSerialized]public double currentPathWeight = double.MaxValue;
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[JsonIgnore][NonSerialized]public double currentPathWeight = double.MaxValue;
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[JsonInclude][NonSerialized]public double currentPathLength = 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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[JsonIgnore][NonSerialized]public double directDistanceToGoal = double.MaxValue;
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[OnDeserialized]
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[OnDeserialized]
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32
Pathfinding/PathNode.cs
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32
Pathfinding/PathNode.cs
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@ -0,0 +1,32 @@
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using System.Text.Json.Serialization;
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using OSMDatastructure.Graph;
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namespace Pathfinding;
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public class PathNode : OsmNode
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{
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[JsonInclude]public new double currentPathWeight = double.MaxValue;
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[JsonInclude]public new double currentPathLength = double.MaxValue;
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[JsonInclude]public new double directDistanceToGoal = double.MaxValue;
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public PathNode(ulong nodeId, float lat, float lon) : base(nodeId, lat, lon)
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{
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}
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public PathNode(ulong nodeId, Coordinates coordinates) : base(nodeId, coordinates)
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{
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}
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public static PathNode? FromOsmNode(OsmNode? node)
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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 PathNode(node.nodeId, node.coordinates)
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{
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currentPathLength = node.currentPathLength,
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currentPathWeight = node.currentPathWeight,
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directDistanceToGoal = node.directDistanceToGoal
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};
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return retNode;
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}
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}
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@ -6,30 +6,29 @@ namespace Pathfinding;
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public static class Pathfinder
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public static class Pathfinder
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{
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{
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public static List<OsmNode> CustomAStar(string workingDir, Coordinates start, Coordinates goal, Tag.SpeedType vehicle)
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public static List<PathNode> CustomAStar(string workingDir, Coordinates start, Coordinates goal, Tag.SpeedType vehicle)
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{
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{
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RegionManager regionManager = new RegionManager(workingDir);
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RegionManager regionManager = new RegionManager(workingDir);
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Region? startRegion = regionManager.GetRegion(start);
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Region? startRegion = regionManager.GetRegion(start);
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Region? goalRegion = regionManager.GetRegion(goal);
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Region? goalRegion = regionManager.GetRegion(goal);
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if (startRegion is null || goalRegion is null)
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if (startRegion is null || goalRegion is null)
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return new List<OsmNode>();
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return new List<PathNode>();
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OsmNode? startNode = ClosestNodeToCoordinates(start, startRegion, vehicle, ref regionManager);
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OsmNode? startNode = ClosestNodeToCoordinates(start, startRegion, vehicle, ref regionManager);
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OsmNode? goalNode = ClosestNodeToCoordinates(goal, goalRegion, vehicle, ref regionManager);
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OsmNode? goalNode = ClosestNodeToCoordinates(goal, goalRegion, vehicle, ref regionManager);
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if (startNode == null || goalNode == null)
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if (startNode == null || goalNode == null)
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return new List<OsmNode>();
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return new List<PathNode>();
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PriorityQueue<OsmNode, double> toVisit = new();
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PriorityQueue<OsmNode, double> toVisit = new();
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toVisit.Enqueue(startNode, 0);
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toVisit.Enqueue(startNode, 0);
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startNode.currentPathWeight = 0;
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startNode.currentPathWeight = 0;
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startNode.currentPathLength = 0;
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startNode.currentPathLength = 0;
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startNode.directDistanceToGoal = Utils.DistanceBetween(startNode, goalNode);
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startNode.directDistanceToGoal = Utils.DistanceBetween(startNode, goalNode);
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OsmNode closestNodeToGoal = startNode;
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bool stop = false;
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bool stop = false;
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while (toVisit.Count > 0)
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while (toVisit.Count > 0)
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{
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{
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closestNodeToGoal = toVisit.Dequeue();
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OsmNode closestNodeToGoal = toVisit.Dequeue();
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Console.WriteLine($"{toVisit.Count:000} {closestNodeToGoal.directDistanceToGoal:#.00} current:{closestNodeToGoal}");
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Console.WriteLine($"{toVisit.Count:000} {closestNodeToGoal.directDistanceToGoal:#.00} current:{closestNodeToGoal}");
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foreach (OsmEdge edge in closestNodeToGoal.edges)
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foreach (OsmEdge edge in closestNodeToGoal.edges)
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@ -44,6 +43,7 @@ public static class Pathfinder
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neighbor.previousPathNode = closestNodeToGoal;
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neighbor.previousPathNode = closestNodeToGoal;
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neighbor.currentPathWeight = newPotentialWeight;
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neighbor.currentPathWeight = newPotentialWeight;
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neighbor.currentPathLength = closestNodeToGoal.currentPathLength + Utils.DistanceBetween(closestNodeToGoal, neighbor);
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neighbor.currentPathLength = closestNodeToGoal.currentPathLength + Utils.DistanceBetween(closestNodeToGoal, neighbor);
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neighbor.directDistanceToGoal = Utils.DistanceBetween(neighbor, goalNode);
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if (neighbor.Equals(goalNode) || closestNodeToGoal.directDistanceToGoal < 10)
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if (neighbor.Equals(goalNode) || closestNodeToGoal.directDistanceToGoal < 10)
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{
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{
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@ -52,7 +52,6 @@ public static class Pathfinder
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}
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}
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else if(!stop)
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else if(!stop)
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{
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{
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neighbor.directDistanceToGoal = Utils.DistanceBetween(neighbor, goalNode);
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toVisit.Enqueue(neighbor, neighbor.directDistanceToGoal);
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toVisit.Enqueue(neighbor, neighbor.directDistanceToGoal);
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}
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}
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}
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}
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@ -60,14 +59,13 @@ public static class Pathfinder
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}
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}
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}
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}
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List<OsmNode> path = new();
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List<PathNode> path = new();
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OsmNode? currentNode = goalNode;
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OsmNode? currentNode = goalNode;
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while (currentNode != null && !currentNode.Equals(startNode))
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while (currentNode is not null)
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{
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{
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path.Add(currentNode);
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path.Add(PathNode.FromOsmNode(currentNode)!);
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currentNode = currentNode.previousPathNode;
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currentNode = currentNode.previousPathNode;
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}
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}
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path.Add(startNode);
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path.Reverse();
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path.Reverse();
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return path;
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return path;
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