API/API.csproj

@@ -1,22 +0,0 @@
-<Project Sdk="Microsoft.NET.Sdk.Web">
-
-    <PropertyGroup>
-        <TargetFramework>net7.0</TargetFramework>
-        <Nullable>enable</Nullable>
-        <ImplicitUsings>enable</ImplicitUsings>
-    </PropertyGroup>
-
-    <ItemGroup>
-        <PackageReference Include="Microsoft.AspNetCore.OpenApi" Version="7.0.4" />
-        <PackageReference Include="Swashbuckle.AspNetCore" Version="6.4.0" />
-    </ItemGroup>
-
-    <ItemGroup>
-      <Folder Include="Controllers" />
-    </ItemGroup>
-
-    <ItemGroup>
-      <ProjectReference Include="..\Pathfinding\Pathfinding.csproj" />
-    </ItemGroup>
-
-</Project>

API/Program.cs

@@ -1,37 +0,0 @@
-using OSMDatastructure.Graph;
-
-var builder = WebApplication.CreateBuilder(args);
-
-// Add services to the container.
-
-builder.Services.AddControllers();
-// Learn more about configuring Swagger/OpenAPI at https://aka.ms/aspnetcore/swashbuckle
-builder.Services.AddEndpointsApiExplorer();
-builder.Services.AddSwaggerGen();
-
-var app = builder.Build();
-
-
-
-app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lonEnd) =>
-    {
-        List<OsmNode> path = Pathfinding.Pathfinder.CustomAStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart), new Coordinates(latEnd, lonEnd),
-            Tag.SpeedType.car);
-        return path;
-    } 
-);
-
-// Configure the HTTP request pipeline.
-if (app.Environment.IsDevelopment())
-{
-    app.UseSwagger();
-    app.UseSwaggerUI();
-}
-
-app.UseHttpsRedirection();
-
-app.UseAuthorization();
-
-app.MapControllers();
-
-app.Run();

API/Properties/launchSettings.json

@@ -1,41 +0,0 @@
-{
-  "$schema": "https://json.schemastore.org/launchsettings.json",
-  "iisSettings": {
-    "windowsAuthentication": false,
-    "anonymousAuthentication": true,
-    "iisExpress": {
-      "applicationUrl": "http://localhost:39952",
-      "sslPort": 44326
-    }
-  },
-  "profiles": {
-    "http": {
-      "commandName": "Project",
-      "dotnetRunMessages": true,
-      "launchBrowser": true,
-      "launchUrl": "swagger",
-      "applicationUrl": "http://localhost:5057",
-      "environmentVariables": {
-        "ASPNETCORE_ENVIRONMENT": "Development"
-      }
-    },
-    "https": {
-      "commandName": "Project",
-      "dotnetRunMessages": true,
-      "launchBrowser": true,
-      "launchUrl": "swagger",
-      "applicationUrl": "https://localhost:7095;http://localhost:5057",
-      "environmentVariables": {
-        "ASPNETCORE_ENVIRONMENT": "Development"
-      }
-    },
-    "IIS Express": {
-      "commandName": "IISExpress",
-      "launchBrowser": true,
-      "launchUrl": "swagger",
-      "environmentVariables": {
-        "ASPNETCORE_ENVIRONMENT": "Development"
-      }
-    }
-  }
-}

API/appsettings.Development.json

@@ -1,8 +0,0 @@
-{
-  "Logging": {
-    "LogLevel": {
-      "Default": "Information",
-      "Microsoft.AspNetCore": "Warning"
-    }
-  }
-}

API/appsettings.json

@@ -1,9 +0,0 @@
-{
-  "Logging": {
-    "LogLevel": {
-      "Default": "Information",
-      "Microsoft.AspNetCore": "Warning"
-    }
-  },
-  "AllowedHosts": "*"
-}

OSMDatastructure/Coordinates.cs

@@ -1,5 +1,4 @@
 using System.Globalization;
-using System.Text.Json.Serialization;
 
 namespace OSMDatastructure.Graph;
 
@@ -9,7 +8,6 @@ public class Coordinates
     public float latitude { get; }
     public float longitude { get; }
 
-    [JsonConstructor]
     public Coordinates(float latitude, float longitude)
     {
         this.latitude = latitude;

OSMDatastructure/OSMDatastructure.csproj

@@ -6,8 +6,4 @@
         <Nullable>enable</Nullable>
     </PropertyGroup>
 
-    <ItemGroup>
-      <PackageReference Include="System.Runtime.Serialization.Json" Version="4.3.0" />
-    </ItemGroup>
-
 </Project>

OSMDatastructure/OsmEdge.cs

@@ -1,5 +1,3 @@
-using System.Text.Json.Serialization;
-
 namespace OSMDatastructure.Graph;
 
 [Serializable]
@@ -11,7 +9,6 @@ public class OsmEdge
     public ulong neighborRegion { get; }
     
 
-    [JsonConstructor]
     public OsmEdge(ulong wayId, ulong startId, ulong neighborId, ulong neighborRegion)
     {
         this.wayId = wayId;

OSMDatastructure/OsmNode.cs

@@ -1,6 +1,5 @@
 using System.ComponentModel;
 using System.Runtime.Serialization;
-using System.Text.Json.Serialization;
 
 namespace OSMDatastructure.Graph;
 
@@ -8,13 +7,13 @@ namespace OSMDatastructure.Graph;
 public class OsmNode
 {
     public ulong nodeId { get; }
-    public HashSet<OsmEdge> edges { get; set; }
+    public HashSet<OsmEdge> edges { get; }
     public Coordinates coordinates { get; } 
     
-    [JsonIgnore][NonSerialized]public OsmNode? previousPathNode = null;
+    [NonSerialized]public OsmNode? previousPathNode = null;
-    [JsonInclude][NonSerialized]public double currentPathWeight = double.MaxValue;
+    [NonSerialized]public double currentPathWeight = double.MaxValue;
-    [JsonInclude][NonSerialized]public double currentPathLength = double.MaxValue;
+    [NonSerialized]public double currentPathLength = double.MaxValue;
-    [JsonIgnore][NonSerialized]public double directDistanceToGoal = double.MaxValue;
+    [NonSerialized]public double directDistanceToGoal = double.MaxValue;
 
     [OnDeserialized]
     internal void SetDefaultValues(StreamingContext context)
@@ -31,7 +30,6 @@ public class OsmNode
         this.coordinates = new Coordinates(lat, lon);
     }
 
-    [JsonConstructor]
     public OsmNode(ulong nodeId, Coordinates coordinates)
     {
         this.nodeId = nodeId;

OSMDatastructure/Region.cs

@@ -1,5 +1,4 @@
-using System.Text.Json;
+using System.Runtime.Serialization.Formatters.Binary;
-using System.Text.Json.Serialization;
 using OSMDatastructure.Graph;
 
 namespace OSMDatastructure;
@@ -7,32 +6,21 @@ namespace OSMDatastructure;
 [Serializable]
 public class Region
 {
-    [JsonIgnore]public const float RegionSize = 0.025f;
+    [NonSerialized]public const float RegionSize = 0.025f;
-    [JsonIgnore]public static readonly JsonSerializerOptions serializerOptions = new()
+    public readonly HashSet<OsmNode> nodes = new();
-    {
-        IncludeFields = true,
-        MaxDepth = 32,
-        IgnoreReadOnlyFields = false//,
-        //WriteIndented = true
-    };
-
-    [JsonRequired]public HashSet<OsmNode> nodes { get; set; }
     public ulong regionHash { get; }
-    [JsonRequired]public TagManager tagManager { get; set; }
+    public TagManager tagManager { get; }
 
-    [JsonConstructor]
     public Region(ulong regionHash)
     {
         this.regionHash = regionHash;
         tagManager = new TagManager();
-        nodes = new HashSet<OsmNode>();
     }
 
     public Region(Coordinates coordinates)
     {
         regionHash = Coordinates.GetRegionHashCode(coordinates);
         tagManager = new TagManager();
-        nodes = new HashSet<OsmNode>();
     }
 
     public bool ContainsNode(ulong id)
@@ -61,8 +49,11 @@ public class Region
 
     public static Region? FromFile(string filePath)
     {
+        BinaryFormatter bFormatter = new BinaryFormatter();
+#pragma warning disable SYSLIB0011
         if (File.Exists(filePath))
-            return JsonSerializer.Deserialize<Region>(new FileStream(filePath, FileMode.Open), serializerOptions)!;
+            return (Region)bFormatter.Deserialize(new FileStream(filePath, FileMode.Open));
+#pragma warning restore SYSLIB0011
         else return null;
     }
 

OSMDatastructure/Tag.cs

@@ -1,6 +1,3 @@
-using System.Text.Json;
-using System.Text.Json.Serialization;
-
 namespace OSMDatastructure.Graph;
 
 [Serializable]
@@ -9,36 +6,11 @@ public class Tag
     public TagType key { get; }
     public dynamic value { get; }
     
-    [JsonConstructor]
+    
     public Tag(TagType key, dynamic value)
     {
         this.key = key;
-        if (value is JsonElement)
+        this.value = value;
-        {
-            switch (key)
-            {
-                case TagType.highway:
-                    this.value = (WayType)value.GetByte();
-                    break;
-                case TagType.maxspeed:
-                    this.value = value.GetByte();
-                    break;
-                case TagType.forward:
-                case TagType.oneway:
-                    this.value = value.GetBoolean();
-                    break;
-                case TagType.id:
-                    this.value = value.GetUInt64();
-                    break;
-                default:
-                    this.value = value;
-                    break;
-            }
-        }
-        else
-        {
-            this.value = value;
-        }
     }
 
     public static Tag FromBytes(byte[] bytes)

OSMDatastructure/TagManager.cs

@@ -1,16 +1,11 @@
-using System.Text.Json.Serialization;
+using System.Runtime.CompilerServices;
 
 namespace OSMDatastructure.Graph;
 
 [Serializable]
 public class TagManager
 {
-    [JsonRequired]public Dictionary<ulong, HashSet<Tag>> wayTagSets { get; set; }
+    public readonly Dictionary<ulong, HashSet<Tag>> wayTagSets = new();
-
-    public TagManager()
-    {
-        wayTagSets = new();
-    }
 
     public bool ContainsKey(ulong wayId, Tag.TagType key)
     {

OSMServer.sln

@@ -6,8 +6,6 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "OSMDatastructure", "OSMData
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Pathfinding", "Pathfinding\Pathfinding.csproj", "{D4AA1C47-98D4-415C-B026-3BC25B6B6F9D}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "API", "API\API.csproj", "{1D364F40-1681-4D36-A625-83B324F6AC89}"
-EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -26,9 +24,5 @@ Global
 		{D4AA1C47-98D4-415C-B026-3BC25B6B6F9D}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{D4AA1C47-98D4-415C-B026-3BC25B6B6F9D}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{D4AA1C47-98D4-415C-B026-3BC25B6B6F9D}.Release|Any CPU.Build.0 = Release|Any CPU
-		{1D364F40-1681-4D36-A625-83B324F6AC89}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{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
 	EndGlobalSection
 EndGlobal

Pathfinding/Pathfinder.cs

@@ -4,7 +4,7 @@ using OSMImporter;
 
 namespace Pathfinding;
 
-public static class Pathfinder
+public class Pathfinder
 {
     public static List<OsmNode> CustomAStar(string workingDir, Coordinates start, Coordinates goal, Tag.SpeedType vehicle)
     {
@@ -14,8 +14,8 @@ public static class Pathfinder
         if (startRegion is null || goalRegion is null)
             return new List<OsmNode>();
 
-        OsmNode? startNode = ClosestNodeToCoordinates(start, startRegion, vehicle, ref regionManager);
+        OsmNode? startNode = ClosestNodeToCoordinates(start, startRegion, vehicle);
-        OsmNode? goalNode = ClosestNodeToCoordinates(goal, goalRegion, vehicle, ref regionManager);
+        OsmNode? goalNode = ClosestNodeToCoordinates(goal, goalRegion, vehicle);
         if (startNode == null || goalNode == null)
             return new List<OsmNode>();
 
@@ -27,7 +27,7 @@ public static class Pathfinder
         OsmNode closestNodeToGoal = startNode;
         bool stop = false;
 
-        while (toVisit.Count > 0)
+        while (toVisit.Count > 0 && !stop)
         {
             closestNodeToGoal = toVisit.Dequeue();
             Console.WriteLine($"{toVisit.Count:000} {closestNodeToGoal.directDistanceToGoal:#.00} current:{closestNodeToGoal}");
@@ -39,18 +39,15 @@ public static class Pathfinder
                 {
                     double newPotentialWeight =
                         closestNodeToGoal.currentPathWeight + EdgeWeight(closestNodeToGoal, neighbor, edge.wayId, vehicle, ref regionManager);
-                    if (newPotentialWeight < neighbor.currentPathWeight)
+                    if (neighbor.currentPathWeight > newPotentialWeight)
                     {
                         neighbor.previousPathNode = closestNodeToGoal;
                         neighbor.currentPathWeight = newPotentialWeight;
                         neighbor.currentPathLength = closestNodeToGoal.currentPathLength + Utils.DistanceBetween(closestNodeToGoal, neighbor);
                     
-                        if (neighbor.Equals(goalNode) || closestNodeToGoal.directDistanceToGoal < 10)
+                        if (neighbor.Equals(goalNode) || closestNodeToGoal.directDistanceToGoal < 10) //change for faster
-                        {
                             stop = true;
-                            goalNode = neighbor;
+                        else
-                        }
-                        else if(!stop)
                         {
                             neighbor.directDistanceToGoal = Utils.DistanceBetween(neighbor, goalNode);
                             toVisit.Enqueue(neighbor, neighbor.directDistanceToGoal);
@@ -61,7 +58,7 @@ public static class Pathfinder
         }
 
         List<OsmNode> path = new();
-        OsmNode? currentNode = goalNode;
+        OsmNode? currentNode = closestNodeToGoal;
         while (currentNode != null && !currentNode.Equals(startNode))
         {
             path.Add(currentNode);
@@ -73,21 +70,33 @@ public static class Pathfinder
         return path;
     }
     
-    private static OsmNode? ClosestNodeToCoordinates(Coordinates coordinates, Region region, Tag.SpeedType vehicle, ref RegionManager regionManager)
+    private static OsmNode? ClosestNodeToCoordinates(Coordinates coordinates, Region region, Tag.SpeedType vehicle)
     {
         OsmNode? closest = null;
         double distance = double.MaxValue;
         foreach (OsmNode node in region.nodes)
         {
-            bool hasConnectionUsingVehicle = false;
+            bool hasConnection = false;
             foreach (OsmEdge edge in node.edges)
             {
-                double speed = GetSpeed(node, edge.wayId, vehicle, ref regionManager);
+                byte speed = 0;
+                switch (vehicle)
+                {
+                    case Tag.SpeedType.road:
+                    case Tag.SpeedType.car:
+                        speed = Tag.defaultSpeedCar[(Tag.WayType)region.tagManager.GetTag(edge.wayId, Tag.TagType.highway)!];
+                        break;
+                    case Tag.SpeedType.pedestrian:
+                        speed = Tag.defaultSpeedPedestrian[
+                            (Tag.WayType)region.tagManager.GetTag(edge.wayId, Tag.TagType.highway)!];
+                        break;
+                }
+
                 if (speed != 0)
-                    hasConnectionUsingVehicle = true;
+                    hasConnection = true;
             }
             double nodeDistance = Utils.DistanceBetween(node, coordinates);
-            if (nodeDistance < distance && hasConnectionUsingVehicle)
+            if (nodeDistance < distance && hasConnection)
             {
                 closest = node;
                 distance = nodeDistance;
@@ -97,37 +106,30 @@ public static class Pathfinder
         return closest;
     }
 
-    private static double GetSpeed(OsmNode node1, ulong wayId, Tag.SpeedType vehicle, ref RegionManager regionManager)
+    private static double EdgeWeight(OsmNode node1, OsmNode node2, ulong wayId, Tag.SpeedType vehicle, ref RegionManager regionManager)
     {
         TagManager tags = regionManager.GetRegion(node1.coordinates)!.tagManager;
+        double distance = Utils.DistanceBetween(node1, node2);
         Tag.WayType wayType = (Tag.WayType)tags.GetTag(wayId, Tag.TagType.highway)!;
         switch (vehicle)
         {
             case Tag.SpeedType.pedestrian:
                 byte speed = Tag.defaultSpeedPedestrian[wayType];
-                if (speed is not 0)
+                if(speed is not 0)
-                    return speed;
+                    return distance / speed;
-                return 0;
+                else return Double.PositiveInfinity;
             case Tag.SpeedType.car: 
             case Tag.SpeedType.road:
-                byte? maxSpeed = (byte?)tags.GetTag(wayId, Tag.TagType.maxspeed);
+                byte? maxspeed = (byte?)tags.GetTag(wayId, Tag.TagType.maxspeed);
-                if (maxSpeed is not null)
+                if (maxspeed is not null)
-                    return (double)maxSpeed;
+                    return distance / Convert.ToDouble(maxspeed);
-                maxSpeed = Tag.defaultSpeedCar[wayType];
+                else
-                if(maxSpeed is not 0)
+                    maxspeed = Tag.defaultSpeedCar[wayType];
-                    return (byte)maxSpeed;
+                if(maxspeed is not 0)
-                return 0;
+                    return distance / Tag.defaultSpeedCar[wayType];
+                else return Double.PositiveInfinity;;
             default:
-                return 0;
+                return double.PositiveInfinity;
         }
     }
-
-    private static double EdgeWeight(OsmNode node1, OsmNode node2, ulong wayId, Tag.SpeedType vehicle, ref RegionManager regionManager)
-    {
-        double distance = Utils.DistanceBetween(node1, node2);
-        double speed = GetSpeed(node1, wayId, vehicle, ref regionManager);
-        if (speed is not 0)
-            return distance / speed;
-        return double.PositiveInfinity;
-    }
 }

Server/RegionConverter.cs

@@ -1,6 +1,5 @@
 using System.Globalization;
 using System.Runtime.Serialization.Formatters.Binary;
-using System.Text.Json;
 using System.Xml;
 using OSMDatastructure;
 using OSMDatastructure.Graph;
@@ -47,6 +46,7 @@ public class RegionConverter
 
     private static Dictionary<ulong, ulong> GetNodesAndRegions(XmlReader xmlReader, string outputPath)
     {
+        BinaryFormatter bFormatter = new BinaryFormatter();
         Dictionary<ulong, ulong> nodeRegions = new();
         Dictionary<ulong, FileStream> regionFileStreams = new();
         Dictionary<ulong, OsmNode> tmpAllNodes = new();
@@ -82,7 +82,6 @@ public class RegionConverter
 
                 foreach (ulong nodeId in currentIds.Where(key => tmpAllNodes.ContainsKey(key)))
                 {
-                    BinaryFormatter bFormatter = new BinaryFormatter();
                     if (isHighway)
                     {
                         ulong regionHash = Coordinates.GetRegionHashCode(tmpAllNodes[nodeId].coordinates);
@@ -222,6 +221,7 @@ public class RegionConverter
 
     private static void CombineTmpFiles(string folderPath, HashSet<ulong> regionHashes)
     {
+        BinaryFormatter bFormatter = new BinaryFormatter();
         foreach (ulong regionId in regionHashes)
         {
             ValueTuple<Region, HashSet<OsmEdge>> tmpRegion = LoadRegion(folderPath, regionId);
@@ -233,11 +233,11 @@ public class RegionConverter
                     startNode.edges.Add(edge);
                 }
             }
-            
+            FileStream tmpRegionFileStream = new FileStream(Path.Join(folderPath, $"{regionId}{RegionsFileName}"), FileMode.Create);
-            using (FileStream tmpRegionFileStream = new FileStream(Path.Join(folderPath, $"{regionId}{RegionsFileName}"), FileMode.Create))
+#pragma warning disable SYSLIB0011
-            {
+            bFormatter.Serialize(tmpRegionFileStream, tmpRegion.Item1);
-                JsonSerializer.Serialize(tmpRegionFileStream, tmpRegion.Item1, typeof(Region), Region.serializerOptions);
+#pragma warning restore SYSLIB0011
-            }
+            tmpRegionFileStream.Dispose();
             Directory.Delete(Path.Join(folderPath, regionId.ToString()), true);
         }
     }

Server/Server.csproj

@@ -11,8 +11,4 @@
       <ProjectReference Include="..\Pathfinding\Pathfinding.csproj" />
     </ItemGroup>
 
-    <ItemGroup>
-      <PackageReference Include="System.Runtime.Serialization.Json" Version="4.3.0" />
-    </ItemGroup>
-
 </Project>