Changed some display values

API/API.csproj

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

API/Program.cs

@@ -14,17 +14,6 @@ builder.Services.AddSwaggerGen();
 
 var app = builder.Build();
 
-app.MapGet("/getRouteBeta", (float latStart, float lonStart, float latEnd, float lonEnd, Tag.SpeedType vehicle, double stayOnSameRoadPriority, double useHigherLevelRoadsPriority, double useRoadsWithLessJunctionsPriority) =>
-    {
-        DateTime startCalc = DateTime.Now;
-        List<PathNode> result = Pathfinder.AStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart),
-            new Coordinates(latEnd, lonEnd), vehicle, useHigherLevelRoadsPriority, stayOnSameRoadPriority,
-            useRoadsWithLessJunctionsPriority);
-        PathResult pathResult = new PathResult(DateTime.Now - startCalc, result);
-        return RenderPath.Renderer.DrawFromPath(result);
-    } 
-);
-
 app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lonEnd, Tag.SpeedType vehicle, double stayOnSameRoadPriority, double useHigherLevelRoadsPriority, double useRoadsWithLessJunctionsPriority) =>
     {
         DateTime startCalc = DateTime.Now;

OSMDatastructure/Tag.cs

@@ -118,16 +118,16 @@ public class Tag
         { WayType.secondary, 60 },
         { WayType.tertiary, 50 },
         { WayType.unclassified, 30 },
-        { WayType.residential, 15 },
+        { WayType.residential, 20 },
         { WayType.motorway_link, 60 },
         { WayType.trunk_link, 50 },
         { WayType.primary_link, 50 },
         { WayType.secondary_link, 50 },
         { WayType.tertiary_link, 30 },
         { WayType.living_street, 10 },
-        { WayType.service, 1 },
+        { WayType.service, 0 },
         { WayType.pedestrian, 0 },
-        { WayType.track, 1 },
+        { WayType.track, 0 },
         { WayType.bus_guideway, 0 },
         { WayType.escape, 0 },
         { WayType.raceway, 0 },

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/Pathfinder.cs

@@ -1,5 +1,6 @@
 using OSMDatastructure;
 using OSMDatastructure.Graph;
+using RenderPath;
 using static OSMDatastructure.Tag;
 using WayType = OSMDatastructure.Tag.WayType;
 
@@ -28,7 +29,17 @@ public static class Pathfinder
         {
             OsmNode currentNode = openSetfScore.Dequeue();
             if (currentNode.Equals(goalNode))
-                return GetPath(cameFromDict, goalNode, regionManager);
+            {
+                Console.WriteLine("Path found.");
+                List<PathNode> path = GetPath(cameFromDict, goalNode, regionManager);
+                Console.WriteLine("Rendering.");
+                List<Coordinates> coords = new();
+                foreach(PathNode pn in path)
+                    coords.Add(pn.coordinates);
+                Renderer.DrawLoadedNodes(gScore, coords, workingDir);
+                Console.WriteLine("Done.");
+                return path;
+            }
 
             foreach (OsmEdge edge in currentNode.edges)
             {
@@ -85,7 +96,7 @@ 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 * 10));
+        return distance / (speed + prio * 50);
     }
 
     private static double Heuristic(OsmNode fromNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, SpeedType vehicle, RegionManager regionManager, double roadPriorityFactor, double junctionFactor, double sameRoadFactor)
@@ -113,7 +124,7 @@ public static class Pathfinder
         
         //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) * 100;
+        return Utils.DistanceBetween(neighborNode, goalNode) - (roadPriority + sameRoadName + junctionCount) * 20;
     }
     
     private static double GetPriorityVehicleRoad(OsmEdge edge, SpeedType vehicle, Region region)

Pathfinding/Pathfinding.csproj

@@ -8,6 +8,7 @@
 
     <ItemGroup>
       <ProjectReference Include="..\OSMDatastructure\OSMDatastructure.csproj" />
+      <ProjectReference Include="..\RenderPath\RenderPath.csproj" />
     </ItemGroup>
 
 </Project>

RenderPath/RenderPath.csproj

@@ -0,0 +1,17 @@
+<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" />
+    </ItemGroup>
+
+    <ItemGroup>
+      <ProjectReference Include="..\OSMDatastructure\OSMDatastructure.csproj" />
+    </ItemGroup>
+
+</Project>

RenderPath/Renderer.cs

@@ -0,0 +1,79 @@
+using System.Diagnostics.CodeAnalysis;
+using System.Drawing;
+using System.Drawing.Imaging;
+using OSMDatastructure.Graph;
+
+namespace RenderPath;
+
+public class Renderer
+{
+    [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
+
+    public static void DrawLoadedNodes(Dictionary<OsmNode, double> gScoreDict, List<Coordinates> pathCoordinates, string workingDir)
+    {
+        float minLat = gScoreDict.Min(kv => kv.Key.coordinates.latitude);
+        float minLon = gScoreDict.Min(kv => kv.Key.coordinates.longitude);
+        float maxLat = gScoreDict.Max(kv => kv.Key.coordinates.latitude);
+        float maxLon = gScoreDict.Max(kv => kv.Key.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;
+
+        int pixelsX = (int)(lonDiff * scaleFactor);
+        int pixelsY = (int)(latDiff * scaleFactor);
+
+        Bitmap ret = new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppRgb);
+        Graphics g = Graphics.FromImage(ret);
+        g.Clear(Color.White);
+
+        Color start = Color.FromArgb(0, 0, 255);
+        Color center = Color.FromArgb(255, 255, 0);
+        Color end = Color.FromArgb(0, 255, 0);
+
+        foreach (KeyValuePair<OsmNode, double> kv in gScoreDict)
+        {
+            double percentage = (kv.Value - minWeight) / (maxWeight - minWeight);
+            Brush b = new SolidBrush(GradientPick(percentage, start, center, end));
+            float x = (kv.Key.coordinates.longitude - minLon) * scaleFactor;
+            float y = (maxLat - kv.Key.coordinates.latitude) * scaleFactor;
+            g.FillEllipse(b, x, y, 2, 2);
+        }
+        
+        Pen p = new Pen(Color.Red, 2);
+
+        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));
+            g.DrawLine(p, p1, p2);
+        }
+        
+        ret.Save(Path.Join(Directory.GetParent(workingDir)!.FullName, "routing.png"), ImageFormat.Bmp);
+    }
+    
+    /*
+     * 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));
+    private static Color GradientPick(double percentage, Color Start, Color Center, Color End) {
+        if (percentage < 0.5)
+            return ColorInterp(Start, Center, percentage / 0.5);
+        else if (percentage == 0.5)
+            return Center;
+        else
+            return ColorInterp(Center, End, (percentage - 0.5)/0.5);
+    }
+}

Server/RegionConverter.cs

@@ -159,7 +159,7 @@ public class RegionConverter
                                 WriteTags(ref regionTagsFileStreams, ref writtenWayTagsInRegion, nodeRegions[node2Id],
                                     currentTags, outputPath);
                             }
-                            else if (currentTags.ContainsKey(Tag.TagType.forward) && (bool)currentTags[Tag.TagType.forward])
+                            else
                             {
                                 OsmEdge n12e = new OsmEdge(currentTags[Tag.TagType.id], node1Id, node2Id,
                                     nodeRegions[node2Id]);

Server/Server.cs

@@ -13,21 +13,14 @@ public class Server
         Console.SetOut(newConsole);
         Console.SetError(newConsole);
        
-        RegionConverter.ConvertXMLToRegions("D:/stuttgart-regbez-latest.osm", "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 Coordinates(  48.7933798f, 9.8275859f);
-        Coordinates start = new Coordinates(48.794567f, 9.820625f);
+        Coordinates finish = new Coordinates(   48.8407632f, 10.0676979f);
-        Coordinates finish = new Coordinates(48.79593f, 9.824013f);
+        List<PathNode> result = Pathfinder.AStar("D:/stuttgart-regbez-latest", start,
-        DateTime startTime = DateTime.Now;
+            finish, Tag.SpeedType.car, 20, 2,
-        OsmNode[] path = Pathfinder.CustomAStar("D:/map", start, finish, Tag.SpeedType.car).ToArray();
+            0);
-        TimeSpan duration = DateTime.Now - startTime;
-        Console.WriteLine($"Took {duration.TotalMilliseconds}ms ({duration:g})");
-        for (int i = 0; i < path.Length - 1; i++)
-        {
-            Console.WriteLine(path[i]);
-        }
-        Console.WriteLine();*/
     }
 }

Server/Server.csproj

@@ -9,6 +9,7 @@
 
     <ItemGroup>
       <ProjectReference Include="..\Pathfinding\Pathfinding.csproj" />
+      <ProjectReference Include="..\RenderPath\RenderPath.csproj" />
     </ItemGroup>
 
     <ItemGroup>