Adjusted to new Functions and return values.

Now renders complete result with path and all loaded regions.

Pathfinding/PathResult.cs

@@ -8,16 +8,17 @@ public class PathResult
     [JsonInclude]public TimeSpan calcTime;
     [JsonInclude]public List<PathNode> pathNodes;
     [JsonInclude]public Dictionary<ulong, double>? gScore;
-    [JsonInclude]public HashSet<OsmNode>? nodes;
+    [JsonInclude]public HashSet<OsmNode>? gScoreNodes;
+    [JsonIgnore] public RegionManager? regionManager { get; set; }
     public string? name { get; set; }
 
     [JsonConstructor]
-    public PathResult(TimeSpan calcTime, List<PathNode> pathNodes, Dictionary<ulong, double>? gScore, HashSet<OsmNode>? nodes)
+    public PathResult(TimeSpan calcTime, List<PathNode> pathNodes, Dictionary<ulong, double>? gScore, HashSet<OsmNode>? gScoreNodes)
     {
         this.calcTime = calcTime;
         this.pathNodes = pathNodes;
         this.gScore = gScore;
-        this.nodes = nodes;
+        this.gScoreNodes = gScoreNodes;
     }
     
     public PathResult(TimeSpan calcTime, List<PathNode> pathNodes)
@@ -36,11 +37,11 @@ public class PathResult
     public void AddGScores(Dictionary<OsmNode, double> gScore)
     {
         this.gScore = new();
-        this.nodes = new();
+        this.gScoreNodes = new();
         foreach (KeyValuePair<OsmNode, double> kv in gScore)
         {
             this.gScore.Add(kv.Key.nodeId, kv.Value);
-            this.nodes.Add(kv.Key);
+            this.gScoreNodes.Add(kv.Key);
         }
     }
 }

Pathfinding/Pathfinder.cs

@@ -33,11 +33,12 @@ public static class Pathfinder
             {
                 Console.WriteLine("Path found.");
                 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;
+                path.AddGScores(gScore);
                 SaveGraph(path, outputFilepath);
+                path.regionManager = regionManager;
                 return path;
             }
 
@@ -63,7 +64,6 @@ 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);
-
                     }
                 }
             }
@@ -105,7 +105,7 @@ public static class Pathfinder
         double distance = Utils.DistanceBetween(fromNode, neighborNode);
         double speed = regionManager.GetSpeedForEdge(fromNode, edge.wayId, vehicle);
         double prio = GetPriorityVehicleRoad(edge, vehicle, regionManager.GetRegion(fromNode.coordinates)!);
-        return distance / (speed + prio * 50);
+        return distance / speed;
     }
 
     private static double Heuristic(OsmNode fromNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, SpeedType vehicle, RegionManager regionManager, double roadPriorityFactor, double junctionFactor, double sameRoadFactor)
@@ -131,9 +131,7 @@ public static class Pathfinder
 
         double junctionCount = (neighborNode.edges.Count > 2 ? 0 : 1) * junctionFactor;
         
-        //Console.WriteLine($"{roadPriority:000.00} {sameRoadName:000.00} {junctionCount:000.00} {distanceImprovement:+000.00;-000.00;0000.00}");
-
-        return Utils.DistanceBetween(neighborNode, goalNode) - (roadPriority + sameRoadName + junctionCount) * 20;
+        return Utils.DistanceBetween(neighborNode, goalNode) / (1 + roadPriority + sameRoadName + junctionCount);
     }
     
     private static double GetPriorityVehicleRoad(OsmEdge edge, SpeedType vehicle, Region region)
@@ -154,10 +152,10 @@ public static class Pathfinder
                 case WayType.trunk_link:
                 case WayType.primary:
                 case WayType.primary_link:
-                    return 8;
+                    return 10;
                 case WayType.secondary:
                 case WayType.secondary_link:
-                    return 6;
+                    return 7;
                 case WayType.tertiary:
                 case WayType.tertiary_link:
                     return 5;
@@ -168,7 +166,7 @@ public static class Pathfinder
                     return 2;
                 case WayType.service:
                 case WayType.track:
-                    return 0.01;
+                    return 0.0001;
             }
         }
         if (vehicle == SpeedType.pedestrian)

RenderPath/Renderer.cs

@@ -7,10 +7,26 @@ using Pathfinding;
 
 namespace RenderPath;
 
-public class Renderer
+public static class Renderer
 {
+    private const int ImageMaxSize = 20000;
+    private const float PenThickness = 4;
 
-    public static void DrawGraph(string resultPath)
+    public class Bounds
+    {
+        public readonly float minLat, maxLat, minLon, maxLon;
+
+        public Bounds(float minLat, float minLon, float maxLat, float maxLon)
+        {
+            this.minLon = minLon;
+            this.maxLat = maxLat;
+            this.maxLon = maxLon;
+            this.minLat = minLat;
+        }
+    }
+
+    [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
+    public static void DrawGraph(string resultPath, Image? area = null, Bounds? bounds = null)
     {
         FileStream fs = new FileStream(resultPath, FileMode.Open);
         PathResult graph = JsonSerializer.Deserialize<PathResult>(fs)!;
@@ -19,32 +35,92 @@ public class Renderer
             coords.Add(node.coordinates);
         string workingDir = new DirectoryInfo(resultPath).FullName;
 
-        DrawLoadedNodes(graph.nodes!, graph.gScore!, coords, workingDir);
+        Image renderedImage = DrawLoadedNodes(graph.gScoreNodes!, graph.gScore!, coords, area, bounds);
+        renderedImage.Save($"{workingDir}-routing.png");
     }
 
     [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
-    public static void DrawLoadedNodes(HashSet<OsmNode> nodes, Dictionary<ulong, double> gScoreDict, List<Coordinates> pathCoordinates, string workingDir)
+    public static ValueTuple<Image, Bounds> DrawArea(RegionManager rm)
     {
+        HashSet<OsmNode> nodes = new HashSet<OsmNode>();
+        foreach (OSMDatastructure.Region r in rm.GetAllRegions())
+            nodes = nodes.Concat(r.nodes).ToHashSet();
+
         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);
 
+        float latDiff = maxLat - minLat;
+        float lonDiff = maxLon - minLon;
+
+        float scaleFactor = latDiff > lonDiff ? ImageMaxSize / latDiff : ImageMaxSize / lonDiff;
+
+        int pixelsX = (int)(lonDiff * scaleFactor);
+        int pixelsY = (int)(latDiff * scaleFactor);
+        
+        Image ret = new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppRgb);
+        Graphics g = Graphics.FromImage(ret);
+        g.Clear(Color.White);
+
+        Color start = Color.FromArgb(255, 25, 25, 25);
+        Color center = Color.FromArgb(255, 0, 0, 0);
+        Color end = Color.FromArgb(255, 0, 255, 0);
+
+        foreach (OsmNode node in nodes)
+        {
+            foreach (OsmEdge edge in node.edges)
+            {
+                Coordinates c1 = node.coordinates;
+                OsmNode nNode = rm.GetNode(edge.neighborId, edge.neighborRegion)!;
+                Coordinates c2 = nNode.coordinates;
+
+                Pen p = new Pen(GradientPick(0, start, center, end), PenThickness);
+                float x1 = (c1.longitude - minLon) * scaleFactor;
+                float y1 = (maxLat - c1.latitude) * scaleFactor;
+                float x2 = (c2.longitude - minLon) * scaleFactor;
+                float y2 = (maxLat - c2.latitude) * scaleFactor;
+                
+                g.DrawLine(p, x1, y1, x2, y2);
+            }
+        }
+
+        return new ValueTuple<Image, Bounds>(ret, new Bounds(minLat,minLon,maxLat,maxLon));
+    }
+
+    [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
+    public static Image DrawLoadedNodes(HashSet<OsmNode> nodes, Dictionary<ulong, double> gScoreDict,
+        List<Coordinates> pathCoordinates,  Image? renderOver = null, Bounds? bounds = null)
+    {
+        float minLat = bounds?.minLat ?? nodes.Min(node => node.coordinates.latitude);
+        float minLon = bounds?.minLon ?? nodes.Min(node => node.coordinates.longitude);
+        float maxLat = bounds?.maxLat ?? nodes.Max(node => node.coordinates.latitude);
+        float maxLon = bounds?.maxLon ?? nodes.Max(node => node.coordinates.longitude);
+
         double minWeight = gScoreDict.Min(kv => kv.Value);
         double maxWeight = gScoreDict.Max(kv => kv.Value);
         
         float latDiff = maxLat - minLat;
         float lonDiff = maxLon - minLon;
 
-        const int imageMaxSize = 10000;
-        float scaleFactor = latDiff > lonDiff ? imageMaxSize / latDiff : imageMaxSize / lonDiff;
+        float scaleFactor = latDiff > lonDiff ? ImageMaxSize / latDiff : ImageMaxSize / lonDiff;
 
         int pixelsX = (int)(lonDiff * scaleFactor);
         int pixelsY = (int)(latDiff * scaleFactor);
 
-        Bitmap ret = new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppRgb);
-        Graphics g = Graphics.FromImage(ret);
+        Image ret;
+        Graphics g;
+        if (renderOver is null)
+        {
+            ret = new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppRgb);
+            g = Graphics.FromImage(ret);
             g.Clear(Color.White);
+        }
+        else
+        {
+            ret = renderOver;
+            g = Graphics.FromImage(ret);
+        }
 
         Color start = Color.FromArgb(0, 0, 255);
         Color center = Color.FromArgb(255, 255, 0);
@@ -58,21 +134,26 @@ public class Renderer
             
             float x = (node.coordinates.longitude - minLon) * scaleFactor;
             float y = (maxLat - node.coordinates.latitude) * scaleFactor;
-            g.FillEllipse(b, x, y, 2, 2);
+
+            x -= (PenThickness * 1.5f) / 2;
+            y -= (PenThickness * 1.5f) / 2;
+            g.FillEllipse(b, x, y, PenThickness * 1.5f, PenThickness * 1.5f);
         }
         
-        Pen p = new Pen(Color.Red, 2);
+        Pen p = new Pen(Color.Red, PenThickness);
 
         for (int i = 0; i < pathCoordinates.Count - 1; i++)
         {
             Coordinates c1 = pathCoordinates[i];
             Coordinates c2 = pathCoordinates[i + 1];
-            Point p1 = new(Convert.ToInt32((c1.longitude - minLon) * scaleFactor), Convert.ToInt32((maxLat - c1.latitude) * scaleFactor));
-            Point p2 = new(Convert.ToInt32((c2.longitude - minLon) * scaleFactor), Convert.ToInt32((maxLat - c2.latitude) * scaleFactor));
+            Point p1 = new(Convert.ToInt32((c1.longitude - minLon) * scaleFactor),
+                Convert.ToInt32((maxLat - c1.latitude) * scaleFactor));
+            Point p2 = new(Convert.ToInt32((c2.longitude - minLon) * scaleFactor),
+                Convert.ToInt32((maxLat - c2.latitude) * scaleFactor));
             g.DrawLine(p, p1, p2);
         }
 
-        ret.Save($"{workingDir}-routing.png", ImageFormat.Bmp);
+        return ret;
     }
     
     /*

Server/Server.cs

@@ -1,3 +1,4 @@
+using System.Drawing;
 using OSMDatastructure;
 using OSMDatastructure.Graph;
 using Pathfinding;
@@ -22,9 +23,13 @@ public class Server
         Coordinates start = new Coordinates(48.7933798f, 9.8275859f);
         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,
+            finish, Tag.SpeedType.car, 0.01, 0.0001,
             0);
         
-        Renderer.DrawGraph(result.name);
+        Console.WriteLine("Drawing area");
+        ValueTuple<Image, Renderer.Bounds> area = Renderer.DrawArea(result.regionManager);
+            
+        Console.WriteLine("Drawing route");
+        Renderer.DrawGraph(result.name, area.Item1, area.Item2);
     }
 }

Server/Server.csproj

@@ -13,6 +13,7 @@
     </ItemGroup>
 
     <ItemGroup>
+      <PackageReference Include="System.Drawing.Common" Version="7.0.0" />
       <PackageReference Include="System.Runtime.Serialization.Json" Version="4.3.0" />
     </ItemGroup>