unnecessary type-conversion.

This way standardized rendering methods can be implemented.

API/API.csproj

@@ -17,6 +17,7 @@
 
     <ItemGroup>
       <ProjectReference Include="..\Pathfinding\Pathfinding.csproj" />
+      <ProjectReference Include="..\RenderPath\RenderPath.csproj" />
     </ItemGroup>
 
 </Project>

API/Program.cs

@@ -1,4 +1,3 @@
-using System.Text.Json.Serialization;
 using OSMDatastructure;
 using OSMDatastructure.Graph;
 using Pathfinding;
@@ -14,23 +13,19 @@ builder.Services.AddSwaggerGen();
 
 var app = builder.Build();
 
-
-
-app.MapGet("/getRouteDistance", (float latStart, float lonStart, float latEnd, float lonEnd) =>
+app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lonEnd, Tag.SpeedType vehicle, double useHigherLevelRoadsPriority, double maxTurnAngle) =>
     {
-        DateTime startCalc = DateTime.Now;
-        List<PathNode> result = Pathfinder.AStarDistance("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart), new Coordinates(latEnd, lonEnd));
-        PathResult pathResult = new PathResult(DateTime.Now - startCalc, result);
-        return pathResult;
+        Pathfinder result = new Pathfinder("D:/stuttgart-regbez-latest", useHigherLevelRoadsPriority,  maxTurnAngle).AStar(new Coordinates(latStart, lonStart),
+            new Coordinates(latEnd, lonEnd), vehicle, 3);
+        return result.pathResult;
     } 
 );
 
-app.MapGet("/getRouteTime", (float latStart, float lonStart, float latEnd, float lonEnd, Tag.SpeedType vehicle) =>
+app.MapGet("/getShortestRoute", (float latStart, float lonStart, float latEnd, float lonEnd) =>
     {
-        DateTime startCalc = DateTime.Now;
-        List<PathNode> result = Pathfinder.AStarTime("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart), new Coordinates(latEnd, lonEnd), vehicle);
-        PathResult pathResult = new PathResult(DateTime.Now - startCalc, result);
-        return pathResult;
+        Pathfinder result = new Pathfinder("D:/stuttgart-regbez-latest", 0, 30).AStar(new Coordinates(latStart, lonStart),
+            new Coordinates(latEnd, lonEnd), Tag.SpeedType.any, 3);
+        return result.pathResult;
     }
 );
 
@@ -55,21 +50,3 @@ app.MapControllers();
 
 app.Run();
 
-internal class PathResult
-{
-    [JsonInclude]public TimeSpan calcTime;
-    [JsonInclude] public double pathWeight = double.MaxValue;
-    [JsonInclude] public double pathTravelDistance = double.MaxValue;
-    [JsonInclude]public List<PathNode> pathNodes;
-
-    public PathResult(TimeSpan calcTime, List<PathNode> pathNodes)
-    {
-        this.calcTime = calcTime;
-        this.pathNodes = pathNodes;
-        if (pathNodes.Count > 0)
-        {
-            this.pathWeight = pathNodes.Last().currentPathWeight;
-            this.pathTravelDistance = pathNodes.Last().currentPathLength;
-        }
-    }
-}

OSMDatastructure/Graph/Coordinates.cs

@@ -21,8 +21,7 @@ public class Coordinates
         if (obj == null || obj.GetType() != this.GetType())
             return false;
         Coordinates convObj = (Coordinates)obj;
-        // ReSharper disable twice CompareOfFloatsByEqualityOperator static values
-        return convObj.latitude == this.latitude && convObj.longitude == this.longitude;
+        return convObj.latitude.Equals(this.latitude) && convObj.longitude.Equals(longitude);
     }
 
     public static ulong GetRegionHashCode(float latitude, float longitude)
@@ -49,6 +48,6 @@ public class Coordinates
     public override string ToString()
     {
         return
-            $"lat:{latitude.ToString(NumberFormatInfo.InvariantInfo)} lon:{longitude.ToString(CultureInfo.InvariantCulture)}";
+            $"Coordinates lat:{latitude.ToString(NumberFormatInfo.InvariantInfo)} lon:{longitude.ToString(CultureInfo.InvariantCulture)}";
     }
 }

OSMDatastructure/Graph/OsmEdge.cs

@@ -22,6 +22,6 @@ public class OsmEdge
 
     public override string ToString()
     {
-        return $"w:{wayId} n1:{startId} n2:{neighborId} in r:{neighborRegion}";
+        return $"Edge wayId:{wayId} n1:{startId} n2:{neighborId} in regionId:{neighborRegion}";
     }
 }

OSMDatastructure/Graph/OsmNode.cs

@@ -0,0 +1,45 @@
+using System.Text.Json.Serialization;
+
+namespace OSMDatastructure.Graph;
+
+[Serializable]
+public class OsmNode
+{
+    public ulong nodeId { get; }
+    public HashSet<OsmEdge> edges { get; set; }
+    public Coordinates coordinates { get; }
+
+    public OsmNode(ulong nodeId, float lat, float lon)
+    {
+        this.nodeId = nodeId;
+        edges = new();
+        coordinates = new Coordinates(lat, lon);
+    }
+
+    [JsonConstructor]
+    public OsmNode(ulong nodeId, Coordinates coordinates)
+    {
+        this.nodeId = nodeId;
+        edges = new();
+        this.coordinates = coordinates;
+    }
+    
+    public OsmEdge? GetEdgeToNode(OsmNode n)
+    {
+        HashSet<OsmEdge> e = edges.Where(edge => edge.neighborId == n.nodeId).ToHashSet();
+        if (e.Count > 0)
+            return e.First();
+        
+        return null;
+    }
+
+    public override bool Equals(object? obj)
+    {
+        return obj != null && obj.GetType() == this.GetType() && ((OsmNode)obj).nodeId == this.nodeId;
+    }
+
+    public override string ToString()
+    {
+        return $"Node id:{nodeId} coordinates:{coordinates} edges-count:{edges.Count}";
+    }
+}

OSMDatastructure/OsmNode.cs

@@ -1,61 +0,0 @@
-using System.Runtime.Serialization;
-using System.Text.Json.Serialization;
-
-namespace OSMDatastructure.Graph;
-
-[Serializable]
-public class OsmNode
-{
-    public ulong nodeId { get; }
-    public HashSet<OsmEdge> edges { get; set; }
-    public Coordinates coordinates { get; } 
-    
-    [JsonIgnore][NonSerialized]public OsmNode? previousPathNode = null;
-    [JsonIgnore][NonSerialized]public double currentPathWeight = double.MaxValue;
-    [JsonIgnore][NonSerialized]public double currentPathLength = double.MaxValue;
-    [JsonIgnore][NonSerialized]public double directDistanceToGoal = double.MaxValue;
-
-    [OnDeserialized]
-    internal void SetDefaultValues(StreamingContext context)
-    {
-        currentPathWeight = double.MaxValue;
-        currentPathLength = double.MaxValue;
-        directDistanceToGoal = double.MaxValue;
-    }
-    
-    public OsmNode(ulong nodeId, float lat, float lon)
-    {
-        this.nodeId = nodeId;
-        this.edges = new();
-        this.coordinates = new Coordinates(lat, lon);
-    }
-
-    [JsonConstructor]
-    public OsmNode(ulong nodeId, Coordinates coordinates)
-    {
-        this.nodeId = nodeId;
-        this.edges = new();
-        this.coordinates = coordinates;
-    }
-    
-    public OsmEdge? GetEdgeToNode(OsmNode n)
-    {
-        HashSet<OsmEdge> e = edges.Where(edge => edge.neighborId == n.nodeId).ToHashSet();
-        if (e.Count > 0)
-            return e.First();
-        else return null;
-    }
-
-    public override bool Equals(object? obj)
-    {
-        return obj != null && obj.GetType() == this.GetType() && ((OsmNode)obj).nodeId == this.nodeId;
-    }
-
-    public override string ToString()
-    {
-        if(previousPathNode is not null)
-            return $"{nodeId} {coordinates} ec:{edges.Count} d:{directDistanceToGoal} w:{currentPathWeight} l:{currentPathLength} p:{previousPathNode.nodeId}";
-        return
-            $"{nodeId} {coordinates} ec:{edges.Count} d:{directDistanceToGoal} w:{currentPathWeight} l:{currentPathLength} null";
-    }
-}

OSMDatastructure/Region.cs

@@ -47,16 +47,12 @@ public class Region
 
     public OsmNode? GetNode(ulong id)
     {
-        if (ContainsNode(id))
-            return nodes.First(node => node.nodeId == id);
-        else return null;
+        return ContainsNode(id) ? nodes.First(node => node.nodeId == id) : null;
     }
 
     public OsmNode? GetNode(Coordinates coordinates)
     {
-        if (ContainsNode(coordinates))
-            return nodes.First(node => node.coordinates.Equals(coordinates));
-        else return null;
+        return ContainsNode(coordinates) ? nodes.First(node => node.coordinates.Equals(coordinates)) : null;
     }
 
 }

OSMDatastructure/Tag.cs

@@ -18,7 +18,7 @@ public class Tag
             switch (key)
             {
                 case TagType.highway:
-                    this.value = (WayType)value.GetByte();
+                    this.value = value.GetByte();
                     break;
                 case TagType.maxspeed:
                     this.value = value.GetByte();
@@ -30,6 +30,10 @@ public class Tag
                 case TagType.id:
                     this.value = value.GetUInt64();
                     break;
+                case TagType.name:
+                case TagType.tagref:
+                    this.value = value.GetString();
+                    break;
                 default:
                     this.value = value;
                     break;
@@ -41,49 +45,59 @@ public class Tag
         }
     }
     
-    public static Tag? ConvertToTag(string key, string value)
+    public static HashSet<Tag> ConvertToTags(string key, string value)
     {
+        HashSet<Tag> ret = new HashSet<Tag>();
         switch (key)
         {
             case "highway":
                 try
                 {
-                    return new Tag(TagType.highway, (WayType)Enum.Parse(typeof(WayType), value, true));
+                    ret.Add(new Tag(TagType.highway, (WayType)Enum.Parse(typeof(WayType), value, true)));
                 }
                 catch (ArgumentException)
                 {
-                    return new Tag(TagType.highway, WayType.unclassified);
+                    ret.Add(new Tag(TagType.highway, WayType.unclassified));
                 }
+                break;
             case "maxspeed":
+            case "maxspeed:max":
                 try
                 {
                     byte speed = Convert.ToByte(value);
-                    if (speed == 255)
-                        return new Tag(TagType.highway, false);
-                    else
-                        return new Tag(TagType.maxspeed, speed);
+                    if (speed != 255)
+                        ret.Add(new Tag(TagType.maxspeed, speed));
                 }
                 catch (Exception)
                 {
-                    //Console.WriteLine(e);
-                    //Console.WriteLine("Continuing...");
-                    return new Tag(TagType.maxspeed, byte.MaxValue);
+                    ret.Add(new Tag(TagType.maxspeed, byte.MinValue));
                 }
+                break;
             case "oneway":
                 switch (value)
                 {
                     case "yes":
-                        return new Tag(TagType.oneway, true);
+                        ret.Add(new Tag(TagType.oneway, true));
+                        break;
                     case "-1":
-                        return new Tag(TagType.forward, false);
+                        ret.Add(new Tag(TagType.forward, false));
+                        ret.Add(new Tag(TagType.oneway, true));
+                        break;
                     case "no":
-                        return new Tag(TagType.oneway, false);
-                }
-
+                        ret.Add(new Tag(TagType.oneway, false));
                         break;
                 }
 
-        return null;
+                break;
+            case "name":
+                ret.Add(new Tag(TagType.name, value));
+                break;
+            case "ref":
+                ret.Add(new Tag(TagType.tagref, value));
+                break;
+        }
+
+        return ret;
     }
 
     public override string ToString()
@@ -93,27 +107,28 @@ public class Tag
 
     public enum TagType : byte
     {
-        highway, oneway, footway, sidewalk, cycleway, busway, forward, maxspeed, name, surface, lanes, access, tracktype, id
+        highway, oneway, footway, sidewalk, cycleway, busway, forward, maxspeed, name, surface, lanes, access, tracktype, id, tagref
     }
 
     public static readonly Dictionary<WayType, byte> defaultSpeedCar = new() {
         { WayType.NONE, 0 },
-        { WayType.motorway, 110 },
-        { WayType.trunk, 100 },
-        { WayType.primary, 80 },
-        { WayType.secondary, 80 },
-        { WayType.tertiary, 70 },
-        { WayType.unclassified, 20 },
-        { WayType.residential, 10 },
-        { WayType.motorway_link, 50 },
+        { WayType.motorway, 130 },
+        { WayType.motorroad, 100 },
+        { WayType.trunk, 85 },
+        { WayType.primary, 65 },
+        { WayType.secondary, 60 },
+        { WayType.tertiary, 50 },
+        { WayType.unclassified, 30 },
+        { WayType.residential, 20 },
+        { WayType.motorway_link, 60 },
         { WayType.trunk_link, 50 },
-        { WayType.primary_link, 30 },
-        { WayType.secondary_link, 25 },
-        { WayType.tertiary_link, 25 },
-        { WayType.living_street, 5 },
-        { WayType.service, 1 },
+        { WayType.primary_link, 50 },
+        { WayType.secondary_link, 50 },
+        { WayType.tertiary_link, 30 },
+        { WayType.living_street, 10 },
+        { WayType.service, 0 },
         { WayType.pedestrian, 0 },
-        { WayType.track, 15 },
+        { WayType.track, 0 },
         { WayType.bus_guideway, 0 },
         { WayType.escape, 0 },
         { WayType.raceway, 0 },
@@ -160,7 +175,7 @@ public class Tag
         { WayType.construction, 0 }
     };
     // ReSharper disable InconsistentNaming
-    public enum WayType : byte { NONE, motorway, trunk, primary, secondary, tertiary, unclassified, residential, motorway_link, trunk_link, primary_link, secondary_link, tertiary_link, living_street, service, pedestrian, track, bus_guideway, escape, raceway, road, busway, footway, bridleway, steps, corridor, path, cycleway, construction }
+    public enum WayType : byte { NONE, motorway, motorroad, trunk, primary, secondary, tertiary, unclassified, residential, motorway_link, trunk_link, primary_link, secondary_link, tertiary_link, living_street, service, pedestrian, track, bus_guideway, escape, raceway, road, busway, footway, bridleway, steps, corridor, path, cycleway, construction }
     // ReSharper restore InconsistentNaming
 
     public enum SpeedType { pedestrian, car, any }

OSMDatastructure/TagManager.cs

@@ -1,5 +1,4 @@
 using System.Text.Json.Serialization;
-using OSMDatastructure.Graph;
 
 namespace OSMDatastructure;
 
@@ -25,9 +24,10 @@ public class TagManager
     
     public void AddTag(ulong wayId, string key, string value)
     {
-        Tag? tag = Tag.ConvertToTag(key, value);
-        if(tag is not null)
-            AddTag(wayId, tag);
+        HashSet<Tag> pTags = Tag.ConvertToTags(key, value);
+        if(pTags.Count > 0)
+            foreach (Tag pTag in pTags)
+                AddTag(wayId, pTag);
     }
 
     public void AddTag(ulong wayId, Tag tag)

OSMDatastructure/Utils.cs

@@ -65,12 +65,12 @@ namespace OSMDatastructure
             return d;
         }
 
-        private static double DegreesToRadians(double deg)
+        public static double DegreesToRadians(double deg)
         {
             return deg * Math.PI / 180.0;
         }
 
-        private static double RadiansToDegrees(double rad)
+        public static double RadiansToDegrees(double rad)
         {
             return rad * 180.0 / Math.PI;
         }

OSMServer.sln

@@ -8,6 +8,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Pathfinding", "Pathfinding\
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "API", "API\API.csproj", "{1D364F40-1681-4D36-A625-83B324F6AC89}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RenderPath", "RenderPath\RenderPath.csproj", "{54CAC127-4EB6-4E06-A5C8-35343C5FF76A}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -30,5 +32,9 @@ Global
 		{1D364F40-1681-4D36-A625-83B324F6AC89}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{1D364F40-1681-4D36-A625-83B324F6AC89}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{1D364F40-1681-4D36-A625-83B324F6AC89}.Release|Any CPU.Build.0 = Release|Any CPU
+		{54CAC127-4EB6-4E06-A5C8-35343C5FF76A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{54CAC127-4EB6-4E06-A5C8-35343C5FF76A}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{54CAC127-4EB6-4E06-A5C8-35343C5FF76A}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{54CAC127-4EB6-4E06-A5C8-35343C5FF76A}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 EndGlobal

Pathfinding/PathNode.cs

@@ -6,14 +6,14 @@ namespace Pathfinding;
 
 public class PathNode : OsmNode
 {
-    [JsonInclude]public new double directDistanceToGoal = double.MaxValue;
-    [JsonInclude]public double directDistanceDelta = double.MaxValue;
-    [JsonInclude]public new double currentPathLength = double.MaxValue;
-    [JsonInclude]public double pathDistanceDelta = double.MaxValue;
-    [JsonInclude]public new double currentPathWeight = double.MaxValue;
-    [JsonInclude]public double pathWeightDelta = double.MaxValue;
     [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)
     {
     }
@@ -22,19 +22,11 @@ public class PathNode : OsmNode
     {
     }
 
-    public static PathNode? FromOsmNode(OsmNode? node, HashSet<Tag>? tags, double pathDistanceDelta, double pathWeightDelta, double directDistanceDelta)
+    public static PathNode? FromOsmNode(OsmNode? node, HashSet<Tag>? tags)
     {
         if (node is null)
             return null;
-        PathNode retNode = new(node.nodeId, node.coordinates)
-        {
-            currentPathLength = node.currentPathLength,
-            currentPathWeight = double.IsPositiveInfinity(node.currentPathWeight) ? double.MaxValue : node.currentPathWeight,
-            directDistanceToGoal = node.directDistanceToGoal,
-            directDistanceDelta = directDistanceDelta,
-            pathDistanceDelta = pathDistanceDelta,
-            pathWeightDelta = pathWeightDelta
-        };
+        PathNode retNode = new(node.nodeId, node.coordinates);
         if (tags != null)
             foreach (Tag tag in tags)
             {

Pathfinding/PathResult.cs

@@ -0,0 +1,27 @@
+using System.Text.Json;
+using System.Text.Json.Serialization;
+
+namespace Pathfinding;
+
+public class PathResult
+{
+    [JsonInclude]public double distance;
+    [JsonInclude]public double weight;
+    [JsonInclude]public TimeSpan calcTime;
+    [JsonInclude]public List<PathNode> pathNodes;
+    
+    [JsonConstructor]
+    public PathResult(TimeSpan calcTime, List<PathNode> pathNodes, double distance, double weight)
+    {
+        this.calcTime = calcTime;
+        this.pathNodes = pathNodes;
+        this.distance = distance;
+        this.weight = weight;
+    }
+
+    public static PathResult PathresultFromFile(string filePath)
+    {
+        return JsonSerializer.Deserialize<PathResult>(new FileStream(filePath, FileMode.Open, FileAccess.Read,
+            FileShare.Read))!;
+    }
+}

Pathfinding/Pathfinder.cs

@@ -1,63 +1,228 @@
-using OSMDatastructure;
+using System.Text.Json;
+using OSMDatastructure;
 using OSMDatastructure.Graph;
+using static OSMDatastructure.Tag;
 
 namespace Pathfinding;
 
-public static partial class Pathfinder
+public class Pathfinder
 {
 
-    private static ValueTuple<OsmNode?, OsmNode?> SetupNodes(Coordinates startCoordinates, Coordinates goalCoordinates, RegionManager regionManager )
+    public RegionManager regionManager;
+    public PathResult? pathResult;
+    public Dictionary<OsmNode, double>? gScore;
+    private Dictionary<OsmNode, OsmNode>? _cameFromDict;
+    private SpeedType _speedType;
+    private double roadPriorityFactor, turnAngle;
+
+    public Pathfinder(string workingDirectory, double roadPriorityFactor, double turnAngle)
     {
-        ValueTuple<OsmNode?, OsmNode?> retTuple = new();
-        retTuple.Item1 = regionManager.ClosestNodeToCoordinates(startCoordinates, Tag.SpeedType.any);
-        retTuple.Item2 = regionManager.ClosestNodeToCoordinates(goalCoordinates, Tag.SpeedType.any);
-        if (retTuple.Item1 is null || retTuple.Item2 is null)
-            return retTuple;
-        retTuple.Item1.currentPathWeight = 0;
-        retTuple.Item1.currentPathLength = 0;
-        retTuple.Item1.directDistanceToGoal =  Utils.DistanceBetween(retTuple.Item1, retTuple.Item2);
-        return retTuple;
+        if (!Path.Exists(workingDirectory))
+            throw new DirectoryNotFoundException(workingDirectory);
+        regionManager = new(workingDirectory);
+        this.roadPriorityFactor = roadPriorityFactor;
+        this.turnAngle = turnAngle;
     }
 
-    private static double EdgeWeight(OsmNode node1, OsmEdge edge, Tag.SpeedType vehicle, RegionManager regionManager)
+    public Pathfinder(RegionManager regionManager, double roadPriorityFactor, double turnAngle)
     {
-        OsmNode? node2 = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
-        if (node2 is null)
-            return double.MaxValue;
-        double distance = Utils.DistanceBetween(node1, node2);
-        double speed = regionManager.GetSpeedForEdge(node1, edge.wayId, vehicle);
-        if (speed is 0)
-            return double.MaxValue;
-        return distance / speed;
+        this.regionManager = regionManager;
+        this.roadPriorityFactor = roadPriorityFactor;
+        this.turnAngle = turnAngle;
     }
 
-    private static List<PathNode> GetRouteFromCalc(OsmNode goalNode, RegionManager regionManager)
+    public Pathfinder AStar(Coordinates startCoordinates, Coordinates goalCoordinates, SpeedType vehicle, double extraTime)
+    {
+        DateTime startCalc = DateTime.Now;
+        _speedType = vehicle;
+        OsmNode? startNode = regionManager.ClosestNodeToCoordinates(startCoordinates, _speedType);
+        OsmNode? goalNode = regionManager.ClosestNodeToCoordinates(goalCoordinates, _speedType);
+        if (startNode is null || goalNode is null)
+        {
+            pathResult = new(DateTime.Now - startCalc, new List<PathNode>(),0 ,0);
+            return this;
+        }
+
+        RPriorityQueue<OsmNode, double> openSetfScore = new();
+        openSetfScore.Enqueue(startNode, 0);
+        gScore = new() { { startNode, 0 } };
+        _cameFromDict = new();
+
+        bool found = false;
+        bool stop = false;
+        TimeSpan firstFound = TimeSpan.MaxValue;
+        double maxGscore = double.MaxValue;
+
+        while (openSetfScore.Count > 0 && !stop)
+        {
+            OsmNode currentNode = openSetfScore.Dequeue()!;
+            if (currentNode.Equals(goalNode))
+            {
+                if (!found)
+                {
+                    firstFound = DateTime.Now - startCalc;
+                    found = true;
+                    Console.WriteLine($"First: {firstFound} Multiplied by {extraTime}: {firstFound.Multiply(extraTime)}");
+                }
+                maxGscore = gScore[goalNode];
+            }
+
+            if (found && DateTime.Now - startCalc > firstFound.Multiply(extraTime))
+                stop = true;
+
+            foreach (OsmEdge edge in currentNode.edges)
+            {
+                OsmNode? neighbor = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
+                if (neighbor is not null)
+                {
+                    double tentativeGScore = gScore[currentNode] + Weight(currentNode, neighbor, edge);
+                    gScore.TryAdd(neighbor, double.MaxValue);
+                    if ((!found || (found && tentativeGScore < maxGscore)) && tentativeGScore < gScore[neighbor])
+                    {
+                        if(!_cameFromDict.TryAdd(neighbor, currentNode))
+                            _cameFromDict[neighbor] = currentNode;
+                        gScore[neighbor] = tentativeGScore;
+                        double h = Heuristic(currentNode, neighbor, goalNode, edge);
+                        openSetfScore.Enqueue(neighbor, tentativeGScore + h);
+                    }
+                }
+            }
+        }
+        
+        TimeSpan calcTime = DateTime.Now - startCalc;
+        if (!found)
+        {
+            pathResult = new(DateTime.Now - startCalc, new List<PathNode>(),0 ,0);
+            Console.Write("No path found.");
+            return this;
+        }
+        else
+        {
+            pathResult = GetPath(goalNode, calcTime);
+        }
+        Console.WriteLine($"Path found. {calcTime} PathLength {pathResult.pathNodes.Count} VisitedNodes {gScore.Count} Distance {pathResult.distance} Duration {pathResult.weight}");
+        return this;
+    }
+    
+    private double Weight(OsmNode currentNode, OsmNode neighborNode, OsmEdge edge)
+    {
+        double distance = Utils.DistanceBetween(currentNode, neighborNode);
+        double speed = regionManager.GetSpeedForEdge(currentNode, edge.wayId, _speedType);
+
+        double angle = 1;
+        if (_cameFromDict!.ContainsKey(currentNode))
+        {
+            OsmNode previousNode = _cameFromDict[currentNode];
+            Vector v1 = new(currentNode, previousNode);
+            Vector v2 = new(currentNode, neighborNode);
+            double nodeAngle = v1.Angle(v2);
+            if (nodeAngle < turnAngle)
+                angle = 0;
+            else
+                angle = nodeAngle / 180;
+        }
+        double prio = regionManager.GetPriorityForVehicle(_speedType,edge, currentNode) * roadPriorityFactor;
+
+        return distance / (speed * angle + prio + 1);
+    }
+
+    private double Heuristic(OsmNode currentNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge)
+    {
+        if (neighborNode.Equals(goalNode)) return 0;
+        double priority = regionManager.GetPriorityForVehicle(_speedType, edge, currentNode);
+        if (priority == 0)
+            return double.MaxValue;
+
+        double distance = Utils.DistanceBetween(neighborNode, goalNode);
+        
+        double speed = regionManager.GetSpeedForEdge(currentNode, edge.wayId, _speedType);
+        
+        double roadPriority = priority * roadPriorityFactor;
+        
+        double angle = 0;
+        if (_cameFromDict!.ContainsKey(currentNode))
+        {
+            OsmNode previousNode = _cameFromDict[currentNode];
+            Vector v1 = new(currentNode, previousNode);
+            Vector v2 = new(currentNode, neighborNode);
+            double nodeAngle = v1.Angle(v2);
+            if (nodeAngle < turnAngle)
+                angle = 0;
+            else
+                angle = nodeAngle / 180;
+        }
+
+        return distance / (speed * angle + roadPriority + 1);
+    }
+
+    public void SaveResult(string path)
+    {
+        if(File.Exists(path))
+            File.Delete(path);
+        FileStream fs = new (path, FileMode.CreateNew);
+        JsonSerializer.Serialize(fs, pathResult, JsonSerializerOptions.Default);
+        fs.Dispose();
+        Console.WriteLine($"Saved result to {path}");
+    }
+
+    private PathResult GetPath(OsmNode goalNode, TimeSpan calcFinished)
     {
         List<PathNode> path = new();
-        OsmNode? currentNode = goalNode;
-        while (currentNode is not null)
+        OsmNode currentNode = goalNode;
+        double retDistance = 0;
+        double weight = 0;
+        while (_cameFromDict!.ContainsKey(_cameFromDict[currentNode]))
         {
-            HashSet<Tag>? tags = null;
-            double pathDistanceDelta = 0;
-            double pathWeightDelta = 0;
-            double directDistanceDelta = 0;
-            if (currentNode.previousPathNode is not null)
-            {
-                OsmEdge edge = currentNode.previousPathNode!.edges.First(e => e.neighborId.Equals(currentNode.nodeId));
-                tags = regionManager.GetRegion(currentNode.coordinates)!.tagManager.GetTagsForWayId(edge.wayId);
-                pathDistanceDelta = currentNode.currentPathLength - currentNode.previousPathNode.currentPathLength;
-                pathWeightDelta = currentNode.currentPathWeight - currentNode.previousPathNode.currentPathWeight;
-                directDistanceDelta =
-                    currentNode.directDistanceToGoal - currentNode.previousPathNode.directDistanceToGoal;
-            }
+            OsmEdge? currentEdge = _cameFromDict[currentNode].edges.FirstOrDefault(edge => edge.neighborId == currentNode.nodeId);
+            HashSet<Tag>? tags =
+                regionManager.GetRegion(currentNode.coordinates)!.tagManager.GetTagsForWayId(currentEdge!.wayId);
+            PathNode? newNode = PathNode.FromOsmNode(currentNode, tags);
+            if(newNode is not null)
+                path.Add(newNode);
 
-            PathNode? pn = PathNode.FromOsmNode(currentNode, tags, pathDistanceDelta, pathWeightDelta, directDistanceDelta);
-            if(pn is not null)
-                path.Add(pn!);
-            currentNode = currentNode.previousPathNode;
+            double distance = Utils.DistanceBetween(currentNode, _cameFromDict[currentNode]);
+            retDistance += distance;
+            weight += regionManager.GetSpeedForEdge(_cameFromDict[currentNode], currentEdge.wayId, _speedType);
+            
+            currentNode = _cameFromDict[currentNode];
         }
 
         path.Reverse();
-        return path;
+
+        return new PathResult(calcFinished, path, retDistance, retDistance / (weight / path.Count));
+    }
+
+    private class Vector
+    {
+        public readonly float x, y;
+
+        public Vector(float x, float y)
+        {
+            this.x = x;
+            this.y = y;
+        }
+
+        public Vector(OsmNode n1, OsmNode n2)
+        {
+            this.x = n1.coordinates.longitude - n2.coordinates.longitude;
+            this.y = n1.coordinates.latitude - n2.coordinates.latitude;
+        }
+
+        public double Angle(Vector v2)
+        {
+            return Angle(this, v2);
+        }
+
+        public static double Angle(Vector v1, Vector v2)
+        {
+            double dotProd = v1.x * v2.x + v1.y * v2.y;
+            double v1L = Math.Sqrt(v1.x * v1.x + v1.y * v1.y);
+            double v2L = Math.Sqrt(v2.x * v2.x + v2.y * v2.y);
+            double ang = Math.Acos(dotProd / (v1L * v2L));
+            if (ang.Equals(double.NaN))
+                return 0;
+            double angle = Utils.RadiansToDegrees(ang);
+            return angle;
+        }
     }
 }

Pathfinding/Pathfinder_Distance.cs

@@ -1,51 +0,0 @@
-using OSMDatastructure;
-using OSMDatastructure.Graph;
-
-namespace Pathfinding;
-
-public static partial class Pathfinder
-{
-    public static List<PathNode> AStarDistance(string workingDir, Coordinates start,
-        Coordinates goal)
-    {
-        RegionManager regionManager = new (workingDir);
-        ValueTuple<OsmNode?, OsmNode?> startAndEndNode = SetupNodes(start, goal, regionManager);
-        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 closestNodeToGoal = toVisit.Dequeue();
-
-            foreach (OsmEdge edge in closestNodeToGoal.edges)
-            {
-                OsmNode? neighbor = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
-                if (neighbor is not null)
-                {
-                    double newPotentialLength = closestNodeToGoal.currentPathLength + Utils.DistanceBetween(closestNodeToGoal, neighbor);
-                    if (newPotentialLength < neighbor.currentPathLength)
-                    {
-                        neighbor.previousPathNode = closestNodeToGoal;
-                        neighbor.currentPathLength = newPotentialLength;
-                        neighbor.directDistanceToGoal = Utils.DistanceBetween(neighbor, goalNode);
-
-                        if (neighbor.Equals(goalNode))
-                        {
-                            stop = true;
-                        }
-                        else if(!stop)
-                        {
-                            toVisit.Enqueue(neighbor, neighbor.directDistanceToGoal);
-                        }
-                    }
-                }
-            }
-        }
-        return GetRouteFromCalc(goalNode, regionManager);
-    }
-}

Pathfinding/Pathfinder_Time.cs

@@ -1,55 +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);
-        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 closestNodeToGoal = toVisit.Dequeue();
-
-            foreach (OsmEdge edge in closestNodeToGoal.edges.Where(
-                         edge => regionManager.TestValidConnectionForType(closestNodeToGoal, edge, vehicle)))
-            {
-                OsmNode? neighbor = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
-                if (neighbor is not null)
-                {
-                    double newPotentialWeight = closestNodeToGoal.currentPathWeight +
-                                                EdgeWeight(closestNodeToGoal, edge, vehicle, regionManager);
-                    if (newPotentialWeight < neighbor.currentPathWeight)
-                    {
-                        neighbor.previousPathNode = closestNodeToGoal;
-                        neighbor.currentPathLength = closestNodeToGoal.currentPathLength + Utils.DistanceBetween(closestNodeToGoal, neighbor);
-                        neighbor.currentPathWeight = newPotentialWeight;
-                        neighbor.directDistanceToGoal = Utils.DistanceBetween(neighbor, goalNode);
-
-                        if (neighbor.Equals(goalNode))
-                        {
-                            stop = true;
-                        }
-                        else if(!stop)
-                        {
-                            toVisit.Enqueue(neighbor, neighbor.directDistanceToGoal);
-                        }
-                    }
-                }
-            }
-        }
-        return GetRouteFromCalc(goalNode, regionManager);
-    }
-}

Pathfinding/Pathfinding.csproj

@@ -10,4 +10,8 @@
       <ProjectReference Include="..\OSMDatastructure\OSMDatastructure.csproj" />
     </ItemGroup>
 
+    <ItemGroup>
+      <PackageReference Include="System.Runtime.Serialization.Json" Version="4.3.0" />
+    </ItemGroup>
+
 </Project>

Pathfinding/RPriorityQueue.cs

@@ -0,0 +1,47 @@
+namespace Pathfinding;
+
+public class RPriorityQueue<TKey, TPriority> where TKey : notnull
+{
+    public Dictionary<TKey, TPriority> queue;
+    public int Count => queue.Count;
+
+    public RPriorityQueue()
+    {
+        queue = new();
+    }
+
+    public void Enqueue(TKey key, TPriority priority)
+    {
+        if (!queue.TryAdd(key, priority))
+            queue[key] = priority;
+    }
+
+    public TKey Dequeue()
+    {
+        TKey retKey = queue.MinBy(item => item.Value).Key;
+        queue.Remove(retKey);
+        return retKey;
+    }
+
+    public int Remove(IEnumerable<TKey> elements)
+    {
+        int before = Count;
+        queue = queue.Where(queueitem => !elements.Contains(queueitem.Key))
+            .ToDictionary(item => item.Key, item => item.Value);
+        return before - Count;
+    }
+
+    public int RemoveExcept(IEnumerable<TKey> exceptKeys)
+    {
+        int before = Count;
+        queue = queue.IntersectBy(exceptKeys, item => item.Key).ToDictionary(item => item.Key, item => item.Value);
+        return before - Count;
+    }
+
+    public int Clear()
+    {
+        int before = Count;
+        queue.Clear();
+        return before;
+    }
+}

Pathfinding/RegionManager.cs

@@ -1,6 +1,8 @@
 using System.Text.Json;
 using OSMDatastructure;
 using OSMDatastructure.Graph;
+using SpeedType = OSMDatastructure.Tag.SpeedType;
+using WayType = OSMDatastructure.Tag.WayType;
 
 namespace Pathfinding
 {
@@ -21,31 +23,32 @@ namespace Pathfinding
 
         public Region? GetRegion(ulong id)
         {
-            if(_regions.TryGetValue(id, out Region? value))
-                return value;
-            else
+            if (!_regions.ContainsKey(id))
             {
                 Region? loadedRegion = RegionFromId(id);
                 if (loadedRegion is not null)
-                    _regions.Add(loadedRegion!.regionHash, value: loadedRegion);
-                return loadedRegion;
+                    _regions.TryAdd(loadedRegion.regionHash, loadedRegion);
+                return _regions[id]; //return from _regions instead of loadedRegion for multithreading/pointers
             }
+            return _regions[id];
         }
 
         public Region[] GetAllRegions()
         {
-            return this._regions.Values.ToArray();
+            return _regions.Values.ToArray();
         }
 
-        private Region? RegionFromFile(string filePath)
+        private static Region? RegionFromFile(string filePath)
         {
-            Region? retRegion = null;
-            if (File.Exists(filePath))
+            if (!File.Exists(filePath))
             {
-                FileStream regionFile = new FileStream(filePath, FileMode.Open);
-                retRegion = JsonSerializer.Deserialize<Region>(regionFile, Region.serializerOptions)!;
-                regionFile.Dispose();
+                //throw new FileNotFoundException(filePath);
+                return null;
             }
+
+            FileStream regionFile = new (filePath, FileMode.Open, FileAccess.Read, FileShare.Read, (int)new FileInfo(filePath).Length, FileOptions.SequentialScan);
+            Region retRegion = JsonSerializer.Deserialize<Region>(regionFile, Region.serializerOptions)!;
+            regionFile.Dispose();
             return retRegion;
         }
 
@@ -61,28 +64,25 @@ namespace Pathfinding
             return r?.GetNode(nodeId);
         }
 
-        public bool TestValidConnectionForType(OsmNode node1, OsmNode node2, Tag.SpeedType type)
+        public bool TestValidConnectionForType(OsmNode node1, OsmNode node2, SpeedType type)
         {
-            foreach (OsmEdge edge in node1.edges)
+            foreach (OsmEdge edge in node1.edges.Where(edge => edge.neighborId.Equals(node2.nodeId)))
             {
-                if (edge.neighborId.Equals(node2.nodeId))
                 return TestValidConnectionForType(node1, edge, type);
             }
 
             return false;
         }
 
-        public bool TestValidConnectionForType(OsmNode node1, OsmEdge edge, Tag.SpeedType type)
+        public bool TestValidConnectionForType(OsmNode node1, OsmEdge edge, SpeedType type)
         {
-            if (type == Tag.SpeedType.any)
+            if (type == SpeedType.any)
                 return true;
-            double speed = GetSpeedForEdge(node1, edge.wayId, type);
-            if (speed != 0)
-                return true;
-            return false;
+            byte speed = GetSpeedForEdge(node1, edge.wayId, type);
+            return (speed is not 0);
         }
         
-        public OsmNode? ClosestNodeToCoordinates(Coordinates coordinates, Tag.SpeedType vehicle)
+        public OsmNode? ClosestNodeToCoordinates(Coordinates coordinates, SpeedType vehicle)
         {
             OsmNode? closest = null;
             double distance = double.MaxValue;
@@ -92,19 +92,18 @@ namespace Pathfinding
             foreach (OsmNode node in region.nodes)
             {
                 bool hasConnectionUsingVehicle = true;
-                if (vehicle is not Tag.SpeedType.any)
+                if (vehicle is not SpeedType.any)
                 {
                     hasConnectionUsingVehicle = false;
                     foreach (OsmEdge edge in node.edges)
                     {
-                        double speed = GetSpeedForEdge(node, edge.wayId, vehicle);
-                        if (speed != 0)
+                        if (TestValidConnectionForType(node, edge, vehicle))
                             hasConnectionUsingVehicle = true;
                     }
                 }
                 
                 double nodeDistance = Utils.DistanceBetween(node, coordinates);
-                if (nodeDistance < distance && hasConnectionUsingVehicle)
+                if (hasConnectionUsingVehicle && nodeDistance < distance)
                 {
                     closest = node;
                     distance = nodeDistance;
@@ -114,30 +113,88 @@ namespace Pathfinding
             return closest;
         }
         
-        public double GetSpeedForEdge(OsmNode node1, ulong wayId, Tag.SpeedType vehicle)
+        public byte GetSpeedForEdge(OsmNode node1, ulong wayId, SpeedType vehicle)
         {
             TagManager tags = GetRegion(node1.coordinates)!.tagManager;
-            Tag.WayType wayType = (Tag.WayType)tags.GetTag(wayId, Tag.TagType.highway)!;
+            WayType wayType = (WayType)tags.GetTag(wayId, Tag.TagType.highway)!;
+            byte speed = 0;
             switch (vehicle)
             {
-                case Tag.SpeedType.pedestrian:
-                    byte speed = Tag.defaultSpeedPedestrian[wayType];
-                    if (speed is not 0)
+                case SpeedType.pedestrian:
+                    speed = Tag.defaultSpeedPedestrian[wayType];
                     return speed;
-                    return 0;
-                case Tag.SpeedType.car: 
+                case SpeedType.car: 
                     byte? maxSpeed = (byte?)tags.GetTag(wayId, Tag.TagType.maxspeed);
-                    if (maxSpeed is not null)
-                        return (double)maxSpeed;
-                    maxSpeed = Tag.defaultSpeedCar[wayType];
-                    if(maxSpeed is not 0)
-                        return (byte)maxSpeed;
-                    return 0;
-                case Tag.SpeedType.any:
+                    speed = Tag.defaultSpeedCar[wayType];
+                    return maxSpeed < speed ? (byte)maxSpeed : speed;
+                case SpeedType.any:
                     return 1;
                 default:
                     return 0;
             }
         }
+        
+        public double GetPriorityForVehicle(SpeedType speedType, OsmEdge edge, OsmNode node)
+        {
+            if (speedType == SpeedType.any)
+                return 1;
+            Region region = GetRegion(node.coordinates)!;
+            WayType? wayType = (WayType?)region.tagManager.GetTag(edge.wayId, Tag.TagType.highway);
+            if(wayType is null)
+                return 0;
+            if (speedType == SpeedType.car)
+            {
+                switch (wayType)
+                {
+                    case WayType.motorway:
+                    case WayType.motorway_link:
+                    case WayType.motorroad:
+                        return 20;
+                    case WayType.trunk:
+                    case WayType.trunk_link:
+                    case WayType.primary:
+                    case WayType.primary_link:
+                        return 10;
+                    case WayType.secondary:
+                    case WayType.secondary_link:
+                    case WayType.tertiary:
+                    case WayType.tertiary_link:
+                        return 6;
+                    case WayType.unclassified:
+                    case WayType.residential:
+                    case WayType.road:
+                    case WayType.living_street:
+                        return 2;
+                }
+            }
+        
+            if (speedType == SpeedType.pedestrian)
+            {
+                switch (wayType)
+                {
+                    case WayType.pedestrian:
+                    case WayType.corridor:
+                    case WayType.footway:
+                    case WayType.path:
+                    case WayType.steps:
+                    case WayType.residential: 
+                    case WayType.living_street:
+                        return 10;
+                    case WayType.service:
+                    case WayType.cycleway:
+                    case WayType.bridleway:
+                    case WayType.road:
+                    case WayType.track:
+                    case WayType.unclassified:
+                        return 5;
+                    case WayType.tertiary:
+                    case WayType.tertiary_link:
+                    case WayType.escape:
+                        return 2;
+                }
+            }
+
+            return 0;
+        }
     }
 }

RenderPath/Bounds.cs

@@ -0,0 +1,33 @@
+using System.Text.Json.Serialization;
+using OSMDatastructure.Graph;
+
+namespace RenderPath;
+
+public class Bounds
+{
+    [JsonInclude]public float minLat, maxLat, minLon, maxLon;
+
+    [JsonConstructor]
+    public Bounds(float minLat, float minLon, float maxLat, float maxLon)
+    {
+        this.minLon = minLon;
+        this.maxLat = maxLat;
+        this.maxLon = maxLon;
+        this.minLat = minLat;
+    }
+
+    public static Bounds FromCoords(float lat1, float lon1, float lat2, float lon2)
+    {
+        float minLat = lat1 < lat2 ? lat1 : lat2;
+        float minLon = lon1 < lon2 ? lon1 : lon2;
+        float maxLat = lat1 > lat2 ? lat1 : lat2;
+        float maxLon = lon1 > lon2 ? lon1 : lon2;
+
+        return new Bounds(minLat, minLon, maxLat, maxLon);
+    }
+
+    public static Bounds FromCoords(Coordinates c1, Coordinates c2)
+    {
+        return FromCoords(c1.latitude, c1.longitude, c2.latitude, c2.longitude);
+    }
+}

RenderPath/PNGRenderer.cs

@@ -0,0 +1,44 @@
+using System.Drawing;
+using System.Drawing.Imaging;
+
+namespace RenderPath;
+
+#pragma warning disable CA1416
+public class PNGRenderer : Renderer
+{
+    private readonly Image _image;
+    private readonly Graphics _graphics;
+
+    public PNGRenderer(int width, int height)
+    {
+        _image = new Bitmap(width, height, PixelFormat.Format32bppPArgb);
+        _graphics = Graphics.FromImage(_image);
+        _graphics.Clear(Color.White);
+    }
+
+    public PNGRenderer(Image renderOver)
+    {
+        _image = renderOver;
+        _graphics = Graphics.FromImage(renderOver);
+    }
+
+    public override void DrawLine(float x1, float y1, float x2, float y2, int width, Color color)
+    {
+        Pen p = new Pen(color, width);
+        _graphics.DrawLine(p, x1, y1, x2, y2);
+    }
+
+    public override void DrawDot(float x, float y, int radius, Color color)
+    {
+        Brush b = new SolidBrush(color);
+        x -= radius / 2f;
+        y -= radius / 2f;
+        _graphics.FillEllipse(b, x, y, radius, radius);
+    }
+
+    public override void Save(string path)
+    {
+        _image.Save($"{path}.png", ImageFormat.Png);
+    }
+}
+#pragma warning restore CA1416

RenderPath/RenderPath.csproj

@@ -0,0 +1,19 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+    <PropertyGroup>
+        <TargetFramework>net7.0</TargetFramework>
+        <ImplicitUsings>enable</ImplicitUsings>
+        <Nullable>enable</Nullable>
+    </PropertyGroup>
+
+    <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>

RenderPath/Renderer.cs

@@ -0,0 +1,194 @@
+using System.Drawing;
+using OSMDatastructure;
+using OSMDatastructure.Graph;
+using Pathfinding;
+
+namespace RenderPath;
+
+public abstract class Renderer
+{
+    private const int ImageMaxSize = 20000;
+    private const int PenThickness = 2;
+    private static readonly Color RouteColor = Color.Red;
+    private static readonly Color WeightStartColor = Color.FromArgb(127, 0, 100, 255);
+    private static readonly Color WeightEndColor = Color.FromArgb(255, 0, 255, 0);
+    private static readonly Color RoadPrioStart = Color.FromArgb(200, 100, 100, 100);
+    private static readonly Color RoadPrioEnd = Color.FromArgb(255, 255, 180, 0);
+
+    public Bounds? bounds;
+
+    public enum RenderType { png, svg}
+    
+    public abstract void DrawLine(float x1, float y1, float x2, float y2, int width, Color color);
+    public abstract void DrawDot(float x, float y, int r, Color color);
+    public abstract void Save(string path);
+    
+    public static Renderer DrawArea(RegionManager rm, RenderType renderType)
+    {
+        HashSet<OsmNode> nodes = new();
+        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);
+
+        Renderer renderer;
+        switch (renderType)
+        {
+            case RenderType.svg:
+                renderer = new SVGRenderer(pixelsX, pixelsY);
+                break;
+            default:
+                renderer = new PNGRenderer(pixelsX, pixelsY);
+                break;
+        }
+
+        foreach (OsmNode node in nodes)
+        {
+            foreach (OsmEdge edge in node.edges)
+            {
+                double priority = rm.GetPriorityForVehicle(Tag.SpeedType.car, edge, node) / 20;
+                Coordinates c1 = node.coordinates;
+                OsmNode nNode = rm.GetNode(edge.neighborId, edge.neighborRegion)!;
+                Coordinates c2 = nNode.coordinates;
+
+                float x1 = (c1.longitude - minLon) * scaleFactor;
+                float y1 = (maxLat - c1.latitude) * scaleFactor;
+                float x2 = (c2.longitude - minLon) * scaleFactor;
+                float y2 = (maxLat - c2.latitude) * scaleFactor;
+                
+                renderer.DrawLine(x1, y1, x2, y2, PenThickness, ColorInterp(RoadPrioStart, RoadPrioEnd, priority));
+            }
+        }
+
+        renderer.bounds = new Bounds(minLat,minLon,maxLat,maxLon);
+        return renderer;
+    }
+    
+    public static Renderer DrawPath(PathResult pathResult, RenderType renderType, Renderer? drawOver)
+    {
+        List<Coordinates> coordinates = new();
+        foreach(PathNode node in pathResult.pathNodes)
+            coordinates.Add(node.coordinates);
+        
+        float minLat = drawOver?.bounds!.minLat ?? coordinates.Min(coords => coords.latitude);
+        float minLon = drawOver?.bounds!.minLon ?? coordinates.Min(coords => coords.longitude);
+        float maxLat = drawOver?.bounds!.maxLat ?? coordinates.Max(coords => coords.latitude);
+        float maxLon = drawOver?.bounds!.maxLon ?? coordinates.Max(coords => coords.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);
+        
+        Renderer renderer;
+        if(drawOver is null)
+            switch (renderType)
+            {
+                case RenderType.svg:
+                    renderer = new SVGRenderer(pixelsX, pixelsY);
+                    break;
+                default:
+                    renderer = new PNGRenderer(pixelsX, pixelsY);
+                    break;
+            }
+        else
+            renderer = drawOver;
+
+        for (int i = 0; i < coordinates.Count - 1; i++)
+        {
+            Coordinates c1 = coordinates[i];
+            Coordinates c2 = coordinates[i + 1];
+            float x1 = (c1.longitude - minLon) * scaleFactor;
+            float y1 = (maxLat - c1.latitude) * scaleFactor;
+            float x2 = (c2.longitude - minLon) * scaleFactor;
+            float y2 = (maxLat - c2.latitude) * scaleFactor;
+            
+            renderer.DrawLine(x1, y1, x2, y2, PenThickness, RouteColor);
+        }
+
+        renderer.bounds = new Bounds(minLat, minLon, maxLat, maxLon);
+        return renderer;
+    }
+    
+    public static Renderer DrawGScores(Dictionary<OsmNode, double> gScore, RenderType renderType, Renderer? drawOver)
+    {
+        
+        float minLat = drawOver?.bounds!.minLat ?? gScore.Min(kv => kv.Key.coordinates.latitude);
+        float minLon = drawOver?.bounds!.minLon ?? gScore.Min(kv => kv.Key.coordinates.longitude);
+        float maxLat = drawOver?.bounds!.maxLat ?? gScore.Max(kv => kv.Key.coordinates.latitude);
+        float maxLon = drawOver?.bounds!.maxLon ?? gScore.Max(kv => kv.Key.coordinates.longitude);
+
+        double minWeight = gScore.Min(kv => kv.Value);
+        double maxWeight = gScore.Max(kv => kv.Value);
+        
+        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);
+        
+        Renderer renderer;
+        if(drawOver is null)
+            switch (renderType)
+            {
+                case RenderType.svg:
+                    renderer = new SVGRenderer(pixelsX, pixelsY);
+                    break;
+                default:
+                    renderer = new PNGRenderer(pixelsX, pixelsY);
+                    break;
+            }
+        else
+            renderer = drawOver;
+
+        foreach (KeyValuePair<OsmNode, double> kv in gScore)
+        {
+            double percentage = (kv.Value - minWeight) / (maxWeight - minWeight);
+            float x = (kv.Key.coordinates.longitude - minLon) * scaleFactor;
+            float y = (maxLat - kv.Key.coordinates.latitude) * scaleFactor;
+            
+            renderer.DrawDot(x, y, PenThickness, ColorInterp(WeightStartColor, WeightEndColor, percentage));
+        }
+
+        renderer.bounds = new Bounds(minLat,minLon,maxLat,maxLon);
+        return renderer;
+    }
+    
+    public static Renderer DrawPathfinder(Pathfinder pathfinder, RenderType renderType)
+    {
+        Console.WriteLine("Rendering loaded Regions");
+        Renderer areaRender = DrawArea(pathfinder.regionManager, renderType);
+        Console.WriteLine("Rendering gScores (Weights)");
+        Renderer areaGScoreRender = DrawGScores(pathfinder.gScore!, renderType, areaRender);
+        Console.WriteLine("Rendering path");
+        Renderer areaGScorePathRender = DrawPath(pathfinder.pathResult!, renderType, areaGScoreRender);
+
+        return areaGScorePathRender;
+    }
+    
+    /*
+     * https://stackoverflow.com/questions/55601338/get-a-color-value-within-a-gradient-based-on-a-value
+     */
+    private static int LinearInterp(int start, int end, double percentage) => start + (int)Math.Round(percentage * (end - start));
+    private static Color ColorInterp(Color start, Color end, double percentage) =>
+        Color.FromArgb(LinearInterp(start.A, end.A, percentage),
+            LinearInterp(start.R, end.R, percentage),
+            LinearInterp(start.G, end.G, percentage),
+            LinearInterp(start.B, end.B, percentage));
+}

RenderPath/SVGRenderer.cs

@@ -0,0 +1,92 @@
+using System.Drawing;
+
+namespace RenderPath;
+using System.Xml;
+
+public class SVGRenderer : Renderer
+{
+    private readonly XmlDocument _image;
+    private XmlElement _document;
+    
+    public SVGRenderer(int width, int height)
+    {
+        _image = new XmlDocument();
+        CreateTree(width, height);
+    }
+
+    public SVGRenderer(XmlDocument renderOver)
+    {
+        _image = renderOver;
+        _document = _image.GetElementById("svg")!;
+    }
+
+    private void CreateTree(int width, int height)
+    {
+        XmlDeclaration xmlDeclaration = _image.CreateXmlDeclaration( "1.0", "UTF-8", null );
+        _image.InsertBefore(xmlDeclaration, _image.DocumentElement);
+        XmlElement pElement = _image.CreateElement("svg");
+        XmlAttribute xmlns = _image.CreateAttribute("xmlns");
+        xmlns.Value = "http://www.w3.org/2000/svg";
+        pElement.Attributes.Append(xmlns);
+        XmlAttribute aWidth = _image.CreateAttribute("width");
+        aWidth.Value = width.ToString();
+        pElement.Attributes.Append(aWidth);
+        XmlAttribute aHeight = _image.CreateAttribute("height");
+        aHeight.Value = height.ToString();
+        pElement.Attributes.Append(aHeight);
+        _image.AppendChild(pElement);
+        _document = pElement;
+    }
+
+    public override void DrawLine(float x1, float y1, float x2, float y2, int width, Color color)
+    {
+        XmlElement newLine = _image.CreateElement("line");
+        XmlAttribute aX1 = _image.CreateAttribute("x1");
+        aX1.Value = Math.Floor(x1).ToString("0");
+        newLine.Attributes.Append(aX1);
+        XmlAttribute aY1 = _image.CreateAttribute("y1");
+        aY1.Value = Math.Floor(y1).ToString("0");
+        newLine.Attributes.Append(aY1);
+        XmlAttribute aX2 = _image.CreateAttribute("x2");
+        aX2.Value = Math.Floor(x2).ToString("0");
+        newLine.Attributes.Append(aX2);
+        XmlAttribute aY2 = _image.CreateAttribute("y2");
+        aY2.Value = Math.Floor(y2).ToString("0");
+        newLine.Attributes.Append(aY2);
+        XmlAttribute stroke = _image.CreateAttribute("stroke-width");
+        stroke.Value = width.ToString();
+        newLine.Attributes.Append(stroke);
+        XmlAttribute aColor = _image.CreateAttribute("stroke");
+        aColor.Value = HexFromColor(color);
+        newLine.Attributes.Append(aColor);
+        _document.AppendChild(newLine);
+    }
+
+    public override void DrawDot(float x, float y, int radius, Color color)
+    {
+        XmlElement newCircle = _image.CreateElement("circle");
+        XmlAttribute aX = _image.CreateAttribute("cx");
+        aX.Value = Math.Floor(x).ToString("0");
+        newCircle.Attributes.Append(aX);
+        XmlAttribute aY = _image.CreateAttribute("cy");
+        aY.Value = Math.Floor(y).ToString("0");
+        newCircle.Attributes.Append(aY);
+        XmlAttribute aR = _image.CreateAttribute("r");
+        aR.Value = radius.ToString();
+        newCircle.Attributes.Append(aR);
+        XmlAttribute fill = _image.CreateAttribute("fill");
+        fill.Value = HexFromColor(color);
+        newCircle.Attributes.Append(fill);
+        _document.AppendChild(newCircle);
+    }
+
+    public override void Save(string path)
+    {
+        _image.Save($"{path}.svg");
+    }
+
+    private static string HexFromColor(Color color)
+    {
+        return $"#{color.R:X2}{color.G:X2}{color.B:X2}";
+    }
+}

Server/ConsoleWriter.cs

@@ -1,4 +1,3 @@
-using System.Globalization;
 using System.Text;
 
 namespace Server;

Server/RegionConverter.cs

@@ -129,9 +129,10 @@ public class RegionConverter
                 currentTags.TryAdd(Tag.TagType.id, Convert.ToUInt64(wayReader.GetAttribute("id")!));
                 if (wayReader.Name == "tag")
                 {
-                    Tag? wayTag = Tag.ConvertToTag(wayReader.GetAttribute("k")!, wayReader.GetAttribute("v")!);
-                    if(wayTag is not null)
-                        currentTags.TryAdd(wayTag.key, wayTag.value);
+                    HashSet<Tag> pTags = Tag.ConvertToTags(wayReader.GetAttribute("k")!, wayReader.GetAttribute("v")!);
+                    if(pTags.Count > 0)
+                        foreach (Tag pTag in pTags)
+                            currentTags.TryAdd(pTag.key, pTag.value);
                 }
                 else if (wayReader.Name == "nd")
                 {
@@ -146,30 +147,41 @@ public class RegionConverter
                 {
                     ulong node1Id = currentNodeIds[i];
                     ulong node2Id = currentNodeIds[i+1];
-                    if (currentTags.ContainsKey(Tag.TagType.oneway) && (bool)currentTags[Tag.TagType.oneway] && nodeRegions.ContainsKey(node1Id) && nodeRegions.ContainsKey(node2Id))
+                    if (nodeRegions.ContainsKey(node1Id) && nodeRegions.ContainsKey(node2Id))
+                    {
+                        if (currentTags.ContainsKey(Tag.TagType.oneway) && (bool)currentTags[Tag.TagType.oneway])
                         {
                             if (currentTags.ContainsKey(Tag.TagType.forward) && !(bool)currentTags[Tag.TagType.forward])
                             {
-                            OsmEdge n21e = new OsmEdge(currentTags[Tag.TagType.id], node2Id, node1Id, nodeRegions[node2Id]);
+                                OsmEdge n21e = new OsmEdge(currentTags[Tag.TagType.id], node2Id, node1Id,
+                                    nodeRegions[node1Id]);
                                 WriteWay(ref regionWaysFileStreams, nodeRegions[node2Id], n21e, outputPath);
-                            WriteTags(ref regionTagsFileStreams, ref writtenWayTagsInRegion, nodeRegions[node2Id], currentTags, outputPath);
+                                WriteTags(ref regionTagsFileStreams, ref writtenWayTagsInRegion, nodeRegions[node2Id],
+                                    currentTags, outputPath);
                             }
                             else
                             {
-                            OsmEdge n12e = new OsmEdge(currentTags[Tag.TagType.id], node1Id, node2Id, nodeRegions[node2Id]);
+                                OsmEdge n12e = new OsmEdge(currentTags[Tag.TagType.id], node1Id, node2Id,
+                                    nodeRegions[node2Id]);
                                 WriteWay(ref regionWaysFileStreams, nodeRegions[node1Id], n12e, outputPath);
-                            WriteTags(ref regionTagsFileStreams, ref writtenWayTagsInRegion, nodeRegions[node1Id], currentTags, outputPath);
+                                WriteTags(ref regionTagsFileStreams, ref writtenWayTagsInRegion, nodeRegions[node1Id],
+                                    currentTags, outputPath);
                             }
                         }
-                    else if(nodeRegions.ContainsKey(node1Id) && nodeRegions.ContainsKey(node2Id))
+                        else
                         {
-                        OsmEdge n12e = new OsmEdge(currentTags[Tag.TagType.id], node1Id, node2Id, nodeRegions[node2Id]);
+                            OsmEdge n12e = new OsmEdge(currentTags[Tag.TagType.id], node1Id, node2Id,
+                                nodeRegions[node2Id]);
                             WriteWay(ref regionWaysFileStreams, nodeRegions[node1Id], n12e, outputPath);
-                        WriteTags(ref regionTagsFileStreams, ref writtenWayTagsInRegion, nodeRegions[node1Id], currentTags, outputPath);
+                            WriteTags(ref regionTagsFileStreams, ref writtenWayTagsInRegion, nodeRegions[node1Id],
+                                currentTags, outputPath);
 
-                        OsmEdge n21e = new OsmEdge(currentTags[Tag.TagType.id], node2Id, node1Id, nodeRegions[node2Id]);
+                            OsmEdge n21e = new OsmEdge(currentTags[Tag.TagType.id], node2Id, node1Id,
+                                nodeRegions[node1Id]);
                             WriteWay(ref regionWaysFileStreams, nodeRegions[node2Id], n21e, outputPath);
-                        WriteTags(ref regionTagsFileStreams, ref writtenWayTagsInRegion, nodeRegions[node2Id], currentTags, outputPath);
+                            WriteTags(ref regionTagsFileStreams, ref writtenWayTagsInRegion, nodeRegions[node2Id],
+                                currentTags, outputPath);
+                        }
                     }
                 }
             }

Server/Server.cs

@@ -1,33 +1,183 @@
+using System.Diagnostics.CodeAnalysis;
+using System.Drawing;
+using System.Drawing.Imaging;
+using System.Text.Json;
 using OSMDatastructure;
 using OSMDatastructure.Graph;
 using Pathfinding;
+using RenderPath;
+using Region = OSMDatastructure.Region;
 
 namespace Server;
 
 public class Server
 {
     
+    [SuppressMessage("Interoperability", "CA1416:Validate platform compatibility")]
     public static void Main(string[] args)
     {
-        ConsoleWriter newConsole = new ConsoleWriter();
+        ConsoleWriter newConsole = new();
         Console.SetOut(newConsole);
         Console.SetError(newConsole);
         
-        RegionConverter.ConvertXMLToRegions("D:/stuttgart-regbez-latest.osm", "D:/stuttgart-regbez-latest");
+        string workingDir = "D:/stuttgart-regbez-latest";
+
+        //RegionConverter.ConvertXMLToRegions("D:/stuttgart-regbez-latest.osm", "D:/stuttgart-regbez-latest");
         //RegionConverter.ConvertXMLToRegions("D:/map.osm", "D:/map");
         //RegionConverter.ConvertXMLToRegions("D:/germany-latest.osm", "D:/germany-latest");
         
+        Coordinates start = new (48.7933798f, 9.8275859f);
+        Coordinates finish = new (48.795918f, 9.021618f);
+
+        Pathfinder result = new Pathfinder(workingDir, 2, 30).AStar(start, finish, Tag.SpeedType.car, 1);
+        Renderer image = Renderer.DrawPathfinder(result, Renderer.RenderType.png);
+        image.Save("D:/stuttgart-regbez-latest");
+        
         /*
-        Coordinates start = new Coordinates(48.794567f, 9.820625f);
-        Coordinates finish = new Coordinates(48.79593f, 9.824013f);
-        DateTime startTime = DateTime.Now;
-        OsmNode[] path = Pathfinder.CustomAStar("D:/map", start, finish, Tag.SpeedType.car).ToArray();
-        TimeSpan duration = DateTime.Now - startTime;
-        Console.WriteLine($"Took {duration.TotalMilliseconds}ms ({duration:g})");
-        for (int i = 0; i < path.Length - 1; i++)
+        if(File.Exists(@"D:\bounds"))
+            File.Delete(@"D:\bounds");
+        RegionManager rm = LoadRegions(workingDir, start, finish);
+        Renderer areaRender = Renderer.DrawArea(rm, Renderer.RenderType.PNG);
+        FileStream s = new(@"D:\bounds", FileMode.OpenOrCreate);
+        JsonSerializer.Serialize(s, areaRender.bounds, JsonSerializerOptions.Default);
+        areaRender.Save(@"D:\Base");
+        s.Dispose();
+        */
+        
+
+
+        //TestVariables(workingDir, start, finish, 12);
+        //GetShortestRoute("D:");
+
+/*
+        string parentFolder = new DirectoryInfo(workingDir).Parent!.FullName;
+        Renderer.Bounds bounds = JsonSerializer.Deserialize<Renderer.Bounds>(new FileStream(@"D:\bounds", FileMode.Open));
+        Image baseImage = Image.FromFile(@"D:\Base.png");
+        
+        Pathfinder result = new Pathfinder(workingDir, 2, 30).AStar(start,
+            finish, Tag.SpeedType.car, 4);
+
+        Console.WriteLine($"Calc-time {result.pathResult!.calcTime} Path-length: {result.pathResult.pathNodes.Count} Visited-nodes: {result.gScore!.Count}");
+
+        string fileName = DateTime.Now.ToFileTime().ToString();
+        
+        string resultFileName = $"{new DirectoryInfo(workingDir).Name}-{fileName}.result";
+        result.SaveResult(Path.Join(parentFolder, resultFileName));
+
+        string renderFileName = $"{new DirectoryInfo(workingDir).Name}-{fileName}.render.png";
+
+        Image renderWeights = Renderer.DrawGScores(result.gScore, baseImage, bounds).Item1;
+        Image render = Renderer.DrawPath(result.pathResult, renderWeights, bounds).Item1;
+        render.Save(Path.Join(parentFolder, renderFileName), ImageFormat.Png);
+*/
+        Console.Beep(400, 50);
+        Console.Beep(600, 50);
+        Console.Beep(400, 50);
+        Console.Beep(600, 50);
+    }
+
+    private static void GetShortestRoute(string directory)
     {
-            Console.WriteLine(path[i]);
+        DateTime start = DateTime.Now;
+        HashSet<string> allFiles = Directory.GetFiles(directory).Where(file => file.EndsWith(".result")).ToHashSet();
+        Dictionary<PathResult, string> results = new();
+        int loaded = 0;
+        foreach (string filePath in allFiles)
+        {
+            PathResult result = PathResult.PathresultFromFile(filePath);
+            results.Add(result, filePath);
+            Console.WriteLine($"{loaded++}/{allFiles.Count()} {filePath}  " +
+                              $"Time elapsed: {DateTime.Now - start} " +
+                              $"Remaining {((DateTime.Now - start)/loaded)*(allFiles.Count-loaded)}");
+        }
+
+        KeyValuePair<PathResult, string> shortest = results.MinBy(result => result.Key.distance);
+        KeyValuePair<PathResult, string> fastest = results.MinBy(result => result.Key.weight);
+        KeyValuePair<PathResult, string> calcTime = results.MinBy(result => result.Key.calcTime);
+        Console.WriteLine($"\nShortest:\t{shortest.Key.distance:0.0} {shortest.Key.weight:0.00} {shortest.Key.calcTime} {shortest.Value}\n" +
+                          $"Fastest:\t{fastest.Key.distance:0.0} {fastest.Key.weight:0.00} {fastest.Key.calcTime} {fastest.Value}\n" +
+                          $"CalcTime:\t{calcTime.Key.distance:0.0} {calcTime.Key.weight:0.00} {calcTime.Key.calcTime} {calcTime.Value}");
+    }
+
+    private static RegionManager LoadRegions(string workingDir, Coordinates c1, Coordinates c2)
+    {
+        float minLat = c1.latitude < c2.latitude ? c1.latitude : c2.latitude;
+        float minLon = c1.longitude < c2.longitude ? c1.longitude : c2.longitude;
+        float maxLat = c1.latitude > c2.latitude ? c1.latitude : c2.latitude;
+        float maxLon = c1.longitude > c2.longitude ? c1.longitude : c2.longitude;
+
+        RegionManager allRegions = new(workingDir);
+        for (float lat = minLat - Region.RegionSize * 3; lat < maxLat + Region.RegionSize * 3; lat += Region.RegionSize / 2)
+        {
+            for (float lon = minLon - Region.RegionSize; lon < maxLon + Region.RegionSize; lon += Region.RegionSize / 2)
+            {
+                allRegions.GetRegion(new Coordinates(lat, lon));
+            }
+        }
+        Console.WriteLine("Loaded needed Regions");
+        return allRegions;
+    }
+
+    [SuppressMessage("Interoperability", "CA1416:Validate platform compatibility")]
+    private static void TestVariables(string workingDir, Coordinates start, Coordinates finish, int threads)
+    {
+        string parentFolder = new DirectoryInfo(workingDir).Parent!.FullName;
+
+        RegionManager rm = LoadRegions(workingDir, start, finish);
+        
+        Queue<Thread> calcThreads = new();
+        
+        Bounds bounds = JsonSerializer.Deserialize<Bounds>(new FileStream(@"D:\bounds", FileMode.Open))!;
+
+        
+        for (double extraTime = 1.5; extraTime >= 1; extraTime -= 0.25)
+        {
+            for (double roadFactor = 0.05; roadFactor < 5; roadFactor += 0.05)
+            {
+                double road = roadFactor;
+                double time = extraTime;
+                calcThreads.Enqueue(new Thread(() =>
+                {
+                    Pathfinder testresult = new Pathfinder(workingDir, road, 30).AStar(start,
+                        finish, Tag.SpeedType.car, time);
+                    Image baseImage = Image.FromStream(new FileStream(@"D:\Base.png", FileMode.Open, FileAccess.Read, FileShare.Read,
+                        (int)new FileInfo(@"D:\Base.png").Length, FileOptions.Asynchronous));
+                    Renderer renderer = new PNGRenderer(baseImage);
+                    renderer.bounds = bounds;
+                    Renderer renderWeights = Renderer.DrawGScores(testresult.gScore!, Renderer.RenderType.png, renderer);
+                    Renderer render = Renderer.DrawPath(testresult.pathResult!, Renderer.RenderType.png, renderWeights);
+                    string fileName = $"road{road:0.00}_time{time:0.00}";
+                    string resultFileName = Path.Combine("D:", $"{fileName}.result");
+                    testresult.SaveResult(resultFileName);
+                    string imageFileName = Path.Combine("D:", fileName);
+                    render.Save(imageFileName);
+                    Console.WriteLine($"Saved {fileName}");
+                }));
+            }
+        }
+
+        int totalTasks = calcThreads.Count;
+        int completedTasks = 0;
+        DateTime startTime = DateTime.Now;
+
+        HashSet<Thread> runningThreads = new();
+        Console.WriteLine($"Running {threads} Threads on {totalTasks} Tasks.");
+        while (calcThreads.Count > 0 || runningThreads.Count > 0)
+        {
+            while (runningThreads.Count < threads && calcThreads.Count > 0)
+            {
+                Thread t = calcThreads.Dequeue();
+                runningThreads.Add(t);
+                t.Start();
+            }
+
+            int newCompletedTasks = runningThreads.RemoveWhere(thread => !thread.IsAlive);
+            completedTasks += newCompletedTasks;
+            if (newCompletedTasks > 0)
+            {
+                TimeSpan elapsedTime = DateTime.Now - startTime;
+                Console.WriteLine($"To calculate: {calcThreads.Count}(+{runningThreads.Count} running)/{totalTasks} Time Average: {(elapsedTime/completedTasks)} Elapsed: {elapsedTime} Remaining: {(elapsedTime/completedTasks*calcThreads.Count)}");
+            }
         }
-        Console.WriteLine();*/
     }
 }

Server/Server.csproj

@@ -9,9 +9,11 @@
 
     <ItemGroup>
       <ProjectReference Include="..\Pathfinding\Pathfinding.csproj" />
+      <ProjectReference Include="..\RenderPath\RenderPath.csproj" />
     </ItemGroup>
 
     <ItemGroup>
+      <PackageReference Include="System.Drawing.Common" Version="7.0.0" />
       <PackageReference Include="System.Runtime.Serialization.Json" Version="4.3.0" />
     </ItemGroup>