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CustomAStar now returns ValueTuple with calctime and path as result

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glax
2023-04-06 14:46:08 +02:00
parent 9c53c67763
commit dfc9ffeb2c
2 changed files with 32 additions and 8 deletions
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16
Pathfinding/Pathfinder.cs
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@ -6,13 +6,18 @@ namespace Pathfinding;
public static class Pathfinder
{
public static List<PathNode> CustomAStar(string workingDir, Coordinates start, Coordinates goal, Tag.SpeedType vehicle)
public static ValueTuple<TimeSpan, List<PathNode>> CustomAStar(string workingDir, Coordinates start, Coordinates goal, Tag.SpeedType vehicle)
{
DateTime startTime = DateTime.Now;
TimeSpan calcTime;
RegionManager regionManager = new (workingDir);
OsmNode? startNode = ClosestNodeToCoordinates(start, vehicle, ref regionManager);
OsmNode? goalNode = ClosestNodeToCoordinates(goal, vehicle, ref regionManager);
if (startNode == null || goalNode == null)
return new List<PathNode>();
{
calcTime = DateTime.Now - startTime;
return new ValueTuple<TimeSpan, List<PathNode>>(calcTime, new List<PathNode>());
}
PriorityQueue<OsmNode, double> toVisit = new();
toVisit.Enqueue(startNode, 0);
@ -24,7 +29,7 @@ public static class Pathfinder
while (toVisit.Count > 0)
{
OsmNode closestNodeToGoal = toVisit.Dequeue();
Console.WriteLine($"{toVisit.Count:000} {closestNodeToGoal.directDistanceToGoal:#.00} current:{closestNodeToGoal}");
//Console.WriteLine($"{toVisit.Count:000} {closestNodeToGoal.directDistanceToGoal:#.00} current:{closestNodeToGoal}");
foreach (OsmEdge edge in closestNodeToGoal.edges)
{
@ -62,8 +67,9 @@ public static class Pathfinder
currentNode = currentNode.previousPathNode;
}
path.Reverse();
return path;
calcTime = DateTime.Now - startTime;
return new ValueTuple<TimeSpan, List<PathNode>>(calcTime, path);
}
public static OsmNode? ClosestNodeToCoordinates(Coordinates coordinates, Tag.SpeedType vehicle, ref RegionManager regionManager)