Pathfinding/PathResult.cs

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

Pathfinding/Pathfinder.cs

@@ -33,12 +33,11 @@ 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;
             }
 
@@ -64,6 +63,7 @@ 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;
+        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)
@@ -131,7 +131,9 @@ public static class Pathfinder
 
         double junctionCount = (neighborNode.edges.Count > 2 ? 0 : 1) * junctionFactor;
         
-        return Utils.DistanceBetween(neighborNode, goalNode) / (1 + roadPriority + sameRoadName + junctionCount);
+        //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;
     }
     
     private static double GetPriorityVehicleRoad(OsmEdge edge, SpeedType vehicle, Region region)
@@ -152,10 +154,10 @@ public static class Pathfinder
                 case WayType.trunk_link:
                 case WayType.primary:
                 case WayType.primary_link:
-                    return 10;
+                    return 8;
                 case WayType.secondary:
                 case WayType.secondary_link:
-                    return 7;
+                    return 6;
                 case WayType.tertiary:
                 case WayType.tertiary_link:
                     return 5;
@@ -166,7 +168,7 @@ public static class Pathfinder
                     return 2;
                 case WayType.service:
                 case WayType.track:
-                    return 0.0001;
+                    return 0.01;
             }
         }
         if (vehicle == SpeedType.pedestrian)

RenderPath/Renderer.cs

@@ -7,26 +7,10 @@ using Pathfinding;
 
 namespace RenderPath;
 
-public static class Renderer
+public class Renderer
 {
-    private const int ImageMaxSize = 20000;
-    private const float PenThickness = 4;
 
-    public class Bounds
+    public static void DrawGraph(string resultPath)
-    {
-        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)!;
@@ -35,92 +19,32 @@ public static class Renderer
             coords.Add(node.coordinates);
         string workingDir = new DirectoryInfo(resultPath).FullName;
 
-        Image renderedImage = DrawLoadedNodes(graph.gScoreNodes!, graph.gScore!, coords, area, bounds);
+        DrawLoadedNodes(graph.nodes!, graph.gScore!, coords, workingDir);
-        renderedImage.Save($"{workingDir}-routing.png");
     }
 
     [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
-    public static ValueTuple<Image, Bounds> DrawArea(RegionManager rm)
+    public static void DrawLoadedNodes(HashSet<OsmNode> nodes, Dictionary<ulong, double> gScoreDict, List<Coordinates> pathCoordinates, string workingDir)
     {
-        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;
 
-        float scaleFactor = latDiff > lonDiff ? ImageMaxSize / latDiff : ImageMaxSize / lonDiff;
+        const int imageMaxSize = 10000;
+        float scaleFactor = latDiff > lonDiff ? imageMaxSize / latDiff : imageMaxSize / lonDiff;
 
         int pixelsX = (int)(lonDiff * scaleFactor);
         int pixelsY = (int)(latDiff * scaleFactor);
 
-        Image ret;
+        Bitmap ret = new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppRgb);
-        Graphics g;
+        Graphics g = Graphics.FromImage(ret);
-        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);
@@ -134,26 +58,21 @@ public static 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, PenThickness);
+        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];
+            Coordinates c2 = pathCoordinates[i+1];
-            Point p1 = new(Convert.ToInt32((c1.longitude - minLon) * scaleFactor),
+            Point p1 = new(Convert.ToInt32((c1.longitude - minLon) * scaleFactor), Convert.ToInt32((maxLat - c1.latitude) * scaleFactor));
-                Convert.ToInt32((maxLat - c1.latitude) * scaleFactor));
+            Point p2 = new(Convert.ToInt32((c2.longitude - minLon) * scaleFactor), Convert.ToInt32((maxLat - c2.latitude) * scaleFactor));
-            Point p2 = new(Convert.ToInt32((c2.longitude - minLon) * scaleFactor),
-                Convert.ToInt32((maxLat - c2.latitude) * scaleFactor));
             g.DrawLine(p, p1, p2);
         }
         
-        return ret;
+        ret.Save($"{workingDir}-routing.png", ImageFormat.Bmp);
     }
     
     /*

Server/Server.cs

@@ -1,4 +1,3 @@
-using System.Drawing;
 using OSMDatastructure;
 using OSMDatastructure.Graph;
 using Pathfinding;
@@ -20,16 +19,12 @@ public class Server
         //RegionConverter.ConvertXMLToRegions("D:/germany-latest.osm", "D:/germany-latest");
         
         
-        Coordinates start = new Coordinates(48.7933798f, 9.8275859f);
+        Coordinates start = new Coordinates(  48.7933798f, 9.8275859f);
-        Coordinates finish = new Coordinates(48.795918f,  9.021618f);
+        Coordinates finish = new Coordinates(   48.795918f,  9.021618f);
         PathResult result = Pathfinder.AStar("D:/stuttgart-regbez-latest", start,
-            finish, Tag.SpeedType.car, 0.01, 0.0001,
+            finish, Tag.SpeedType.car, 0.1, 0.2,
             0);
             
-        Console.WriteLine("Drawing area");
+        Renderer.DrawGraph(result.name);
-        ValueTuple<Image, Renderer.Bounds> area = Renderer.DrawArea(result.regionManager);
-            
-        Console.WriteLine("Drawing route");
-        Renderer.DrawGraph(result.name, area.Item1, area.Item2);
     }
 }

Server/Server.csproj

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