API/Program.cs

@@ -1,3 +1,4 @@
+using System.Text.Json.Serialization;
 using OSMDatastructure;
 using OSMDatastructure.Graph;
 using Pathfinding;
@@ -13,11 +14,11 @@ builder.Services.AddSwaggerGen();
 
 var app = builder.Build();
 
-app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lonEnd, Tag.SpeedType vehicle, double stayOnSameRoadPriority, double useHigherLevelRoadsPriority, double useRoadsWithLessJunctionsPriority, double angleFactor) =>
+app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lonEnd, Tag.SpeedType vehicle, double stayOnSameRoadPriority, double useHigherLevelRoadsPriority, double useRoadsWithLessJunctionsPriority) =>
     {
         Pathfinder result = new Pathfinder("D:/stuttgart-regbez-latest").AStar(new Coordinates(latStart, lonStart),
             new Coordinates(latEnd, lonEnd), vehicle, useHigherLevelRoadsPriority, stayOnSameRoadPriority,
-            useRoadsWithLessJunctionsPriority, angleFactor);
+            useRoadsWithLessJunctionsPriority);
         return result.pathResult;
     } 
 );
@@ -26,7 +27,7 @@ app.MapGet("/getShortestRoute", (float latStart, float lonStart, float latEnd, f
     {
         Pathfinder result = new Pathfinder("D:/stuttgart-regbez-latest").AStar(new Coordinates(latStart, lonStart),
             new Coordinates(latEnd, lonEnd), Tag.SpeedType.any, 0, 0,
-            0, 0);
+            0);
         return result.pathResult;
     }
 );

OSMDatastructure/Graph/OsmNode.cs

@@ -12,15 +12,15 @@ public class OsmNode
     public OsmNode(ulong nodeId, float lat, float lon)
     {
         this.nodeId = nodeId;
-        edges = new();
-        coordinates = new Coordinates(lat, lon);
+        this.edges = new();
+        this.coordinates = new Coordinates(lat, lon);
     }
 
     [JsonConstructor]
     public OsmNode(ulong nodeId, Coordinates coordinates)
     {
         this.nodeId = nodeId;
-        edges = new();
+        this.edges = new();
         this.coordinates = coordinates;
     }
     
@@ -29,8 +29,7 @@ public class OsmNode
         HashSet<OsmEdge> e = edges.Where(edge => edge.neighborId == n.nodeId).ToHashSet();
         if (e.Count > 0)
             return e.First();
-        
-        return null;
+        else return null;
     }
 
     public override bool Equals(object? obj)

OSMDatastructure/Region.cs

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

OSMDatastructure/TagManager.cs

@@ -1,4 +1,5 @@
 using System.Text.Json.Serialization;
+using OSMDatastructure.Graph;
 
 namespace OSMDatastructure;
 

OSMDatastructure/Utils.cs

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

Pathfinding/PathNode.cs

@@ -1,3 +1,4 @@
+using System.Diagnostics.Tracing;
 using System.Text.Json.Serialization;
 using OSMDatastructure;
 using OSMDatastructure.Graph;

Pathfinding/PathResult.cs

@@ -6,15 +6,11 @@ public class PathResult
 {
     [JsonInclude]public TimeSpan calcTime;
     [JsonInclude]public List<PathNode> pathNodes;
-    [JsonInclude]public double distance;
-    [JsonInclude]public double weight;
     
     [JsonConstructor]
-    public PathResult(TimeSpan calcTime, List<PathNode> pathNodes, double distance, double weight)
+    public PathResult(TimeSpan calcTime, List<PathNode> pathNodes)
     {
         this.calcTime = calcTime;
         this.pathNodes = pathNodes;
-        this.distance = distance;
-        this.weight = weight;
     }
 }

Pathfinding/Pathfinder.cs

@@ -2,9 +2,11 @@
 using OSMDatastructure;
 using OSMDatastructure.Graph;
 using static OSMDatastructure.Tag;
+using WayType = OSMDatastructure.Tag.WayType;
 
 namespace Pathfinding;
 
+//TODO check parameters for all functions and determine global fields
 public class Pathfinder
 {
 
@@ -12,8 +14,6 @@ public class Pathfinder
     public readonly string workingDir;
     public PathResult? pathResult;
     public Dictionary<OsmNode, double>? gScore;
-    private Dictionary<OsmNode, OsmNode>? _cameFromDict;
-    private SpeedType _speedType;
 
     public Pathfinder(string workingDirectory)
     {
@@ -25,32 +25,30 @@ public class Pathfinder
     
     public Pathfinder AStar(Coordinates startCoordinates, Coordinates goalCoordinates,
         SpeedType vehicle, double heuristicRoadLevelPriority, double heuristicSameRoadPriority,
-        double heuristicFewJunctionsPriority, double angleWeightFactor)
+        double heuristicFewJunctionsPriority)
     {
         DateTime startCalc = DateTime.Now;
         regionManager = new RegionManager(workingDir);
-        _speedType = vehicle;
-        OsmNode? startNode = regionManager.ClosestNodeToCoordinates(startCoordinates, _speedType);
-        OsmNode? goalNode = regionManager.ClosestNodeToCoordinates(goalCoordinates, _speedType);
+        OsmNode? startNode = regionManager.ClosestNodeToCoordinates(startCoordinates, vehicle);
+        OsmNode? goalNode = regionManager.ClosestNodeToCoordinates(goalCoordinates, vehicle);
         if (startNode is null || goalNode is null)
         {
-            pathResult = new(DateTime.Now - startCalc, new List<PathNode>(),0 ,0);
+            pathResult = new(DateTime.Now - startCalc, new List<PathNode>());
             return this;
         }
 
         PriorityQueue<OsmNode, double> openSetfScore = new();
         openSetfScore.Enqueue(startNode, 0);
+        Dictionary<OsmNode, OsmNode> cameFromDict = new();
         gScore = new() { { startNode, 0 } };
-        _cameFromDict = new();
 
         while (openSetfScore.Count > 0)
         {
             OsmNode currentNode = openSetfScore.Dequeue();
             if (currentNode.Equals(goalNode))
             {
-                TimeSpan calcTime = DateTime.Now - startCalc;
-                pathResult = GetPath(goalNode, calcTime);
-                Console.WriteLine($"Path found. {calcTime} PathLength {pathResult.pathNodes.Count} VisitedNodes {gScore.Count} Distance {pathResult.distance} Duration {pathResult.weight}");
+                Console.WriteLine("Path found.");
+                this.pathResult = GetPath(cameFromDict, goalNode, DateTime.Now - startCalc);
                 return this;
             }
 
@@ -60,15 +58,20 @@ public class Pathfinder
                 if (neighbor is not null)
                 {
                     double tentativeGScore =
-                        gScore[currentNode] + Weight(currentNode, neighbor, edge, angleWeightFactor);
+                        gScore[currentNode] + Weight(currentNode, neighbor, edge, vehicle);
                     gScore.TryAdd(neighbor, double.MaxValue);
                     if (tentativeGScore < gScore[neighbor])
                     {
-                        if(!_cameFromDict.TryAdd(neighbor, currentNode))
-                            _cameFromDict[neighbor] = currentNode;
+                        if (cameFromDict.ContainsKey(neighbor))
+                            cameFromDict[neighbor] = currentNode;
+                        else
+                            cameFromDict.Add(neighbor, currentNode);
+                        if (gScore.ContainsKey(neighbor))
                             gScore[neighbor] = tentativeGScore;
-                        double h = Heuristic(currentNode, neighbor, goalNode, edge,
-                            heuristicRoadLevelPriority, heuristicFewJunctionsPriority, heuristicSameRoadPriority, angleWeightFactor);
+                        else
+                            gScore.Add(neighbor, tentativeGScore);
+                        double h = Heuristic(currentNode, neighbor, goalNode, edge, vehicle,
+                            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);
                     }
@@ -76,37 +79,51 @@ public class Pathfinder
             }
         }
 
-        pathResult = new(DateTime.Now - startCalc, new List<PathNode>(),0 ,0);
+        pathResult = new(DateTime.Now - startCalc, new List<PathNode>());
         return this;
     }
 
-    private double Weight(OsmNode currentNode, OsmNode neighborNode, OsmEdge edge, double angleWeightFactor)
+    public void SaveResult(string path)
     {
-        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(previousNode, currentNode);
-            Vector v2 = new(currentNode, neighborNode);
-            double nodeAngle = v1.Angle(v2);
-            angle = ((180 - nodeAngle) / 180) * angleWeightFactor;
-        }
-        double prio = regionManager.GetPriorityForVehicle(_speedType,edge, currentNode);
-        return distance / (1 + speed + angle + prio);
+        FileStream fs = new (path, FileMode.CreateNew);
+        JsonSerializer.Serialize(fs, pathResult, JsonSerializerOptions.Default);
+        fs.Dispose();
+        Console.WriteLine($"Saved result to {path}");
     }
 
-    private double Heuristic(OsmNode currentNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, double roadPriorityFactor, double junctionFactor, double sameRoadFactor, double nodeAngleFactor)
+    private PathResult GetPath(Dictionary<OsmNode, OsmNode> cameFromDict, OsmNode goalNode, TimeSpan calcFinished)
     {
-        double roadPriority = regionManager.GetPriorityForVehicle(_speedType, edge, currentNode) * roadPriorityFactor;
-        if (roadPriority == 0)
-            return double.MaxValue;
+        List<PathNode> path = new();
+        OsmNode currentNode = goalNode;
+        while (cameFromDict.ContainsKey(cameFromDict[currentNode]))
+        {
+            OsmEdge? currentEdge = cameFromDict[currentNode].edges.First(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);
+            currentNode = cameFromDict[currentNode];
+        }
 
-        double speed = regionManager.GetSpeedForEdge(currentNode, edge.wayId, _speedType) * 0.0003;
+        path.Reverse();
 
-        TagManager curTags = regionManager.GetRegion(currentNode.coordinates)!.tagManager;
+        return new PathResult(calcFinished, path);
+    }
+
+    private double Weight(OsmNode fromNode, OsmNode neighborNode, OsmEdge edge, SpeedType vehicle)
+    {
+        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;
+    }
+
+    private double Heuristic(OsmNode fromNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, SpeedType vehicle, double roadPriorityFactor, double junctionFactor, double sameRoadFactor)
+    {
+        double roadPriority = GetPriorityVehicleRoad(edge, vehicle, regionManager.GetRegion(fromNode.coordinates)!) * roadPriorityFactor;
+        
+        TagManager curTags = regionManager.GetRegion(fromNode.coordinates)!.tagManager;
         TagManager nextTags = regionManager.GetRegion(neighborNode.coordinates)!.tagManager;
 
         bool sameName = false;
@@ -125,82 +142,70 @@ public class Pathfinder
 
         double junctionCount = (neighborNode.edges.Count > 2 ? 0 : 1) * junctionFactor;
         
-        double angle = 0;
-        if (_cameFromDict!.ContainsKey(currentNode))
-        {
-            OsmNode previousNode = _cameFromDict[currentNode];
-            Vector v1 = new(previousNode, currentNode);
-            Vector v2 = new(currentNode, neighborNode);
-            double nodeAngle = v1.Angle(v2);
-            angle = ((180 - nodeAngle) / 180) * nodeAngleFactor;
-        }
-        return Utils.DistanceBetween(neighborNode, goalNode) / (roadPriority + sameRoadName + junctionCount + angle);
+        return Utils.DistanceBetween(neighborNode, goalNode) / (1 + roadPriority + sameRoadName + junctionCount);
     }
     
-    public void SaveResult(string path)
+    private static double GetPriorityVehicleRoad(OsmEdge edge, SpeedType vehicle, Region region)
     {
-        FileStream fs = new (path, FileMode.CreateNew);
-        JsonSerializer.Serialize(fs, pathResult, JsonSerializerOptions.Default);
-        fs.Dispose();
-        Console.WriteLine($"Saved result to {path}");
+        if (vehicle == SpeedType.any)
+            return 1;
+        WayType? wayType = (WayType?)region.tagManager.GetTag(edge.wayId, TagType.highway);
+        if(wayType is null)
+            return 0;
+        if (vehicle == SpeedType.car)
+        {
+            switch (wayType)
+            {
+                case WayType.motorway:
+                case WayType.motorway_link:
+                case WayType.motorroad:
+                case WayType.trunk:
+                case WayType.trunk_link:
+                case WayType.primary:
+                case WayType.primary_link:
+                    return 10;
+                case WayType.secondary:
+                case WayType.secondary_link:
+                    return 7;
+                case WayType.tertiary:
+                case WayType.tertiary_link:
+                    return 5;
+                case WayType.unclassified:
+                case WayType.residential:
+                case WayType.road:
+                case WayType.living_street:
+                    return 2;
+                case WayType.service:
+                case WayType.track:
+                    return 0.0001;
+            }
+        }
+        if (vehicle == 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;
+            }
         }
 
-    private PathResult GetPath(OsmNode goalNode, TimeSpan calcFinished)
-    {
-        List<PathNode> path = new();
-        OsmNode currentNode = goalNode;
-        double retDistance = 0;
-        double weight = 0;
-        while (_cameFromDict!.ContainsKey(_cameFromDict[currentNode]))
-        {
-            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);
-
-            double distance = Utils.DistanceBetween(currentNode, _cameFromDict[currentNode]);
-            retDistance += distance;
-            weight += regionManager.GetSpeedForEdge(_cameFromDict[currentNode], currentEdge.wayId, _speedType);
-            
-            currentNode = _cameFromDict[currentNode];
-        }
-
-        path.Reverse();
-
-        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));
-            double angle = Utils.RadiansToDegrees(ang);
-            return angle;
-        }
+        return 0.01;
     }
 }

Pathfinding/RegionManager.cs

@@ -1,8 +1,6 @@
 using System.Text.Json;
 using OSMDatastructure;
 using OSMDatastructure.Graph;
-using SpeedType = OSMDatastructure.Tag.SpeedType;
-using WayType = OSMDatastructure.Tag.WayType;
 
 namespace Pathfinding
 {
@@ -25,26 +23,29 @@ namespace Pathfinding
         {
             if(_regions.TryGetValue(id, out Region? value))
                 return value;
-            
+            else
+            {
                 Region? loadedRegion = RegionFromId(id);
                 if(loadedRegion is not null)
                     _regions.Add(loadedRegion!.regionHash, value: loadedRegion);
                 return loadedRegion;
             }
+        }
 
         public Region[] GetAllRegions()
         {
-            return _regions.Values.ToArray();
+            return this._regions.Values.ToArray();
         }
 
         private Region? RegionFromFile(string filePath)
         {
-            if (!File.Exists(filePath)) 
-                return null;
-
-            FileStream regionFile = new (filePath, FileMode.Open, FileAccess.Read, FileShare.Read);
-            Region retRegion = JsonSerializer.Deserialize<Region>(regionFile, Region.serializerOptions)!;
+            Region? retRegion = null;
+            if (File.Exists(filePath))
+            {
+                FileStream regionFile = new FileStream(filePath, FileMode.Open);
+                retRegion = JsonSerializer.Deserialize<Region>(regionFile, Region.serializerOptions)!;
                 regionFile.Dispose();
+            }
             return retRegion;
         }
 
@@ -130,69 +131,5 @@ namespace Pathfinding
                     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 17;
-                    case WayType.trunk:
-                    case WayType.trunk_link:
-                    case WayType.primary:
-                    case WayType.primary_link:
-                        return 10;
-                    case WayType.secondary:
-                    case WayType.secondary_link:
-                        return 7;
-                    case WayType.tertiary:
-                    case WayType.tertiary_link:
-                        return 5;
-                    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/Renderer.cs

@@ -1,6 +1,7 @@
 using System.Diagnostics.CodeAnalysis;
 using System.Drawing;
 using System.Drawing.Imaging;
+using System.Text.Json;
 using OSMDatastructure.Graph;
 using Pathfinding;
 
@@ -44,7 +45,7 @@ public static class Renderer
     [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
     public static ValueTuple<Image, Bounds> DrawArea(RegionManager rm)
     {
-        HashSet<OsmNode> nodes = new();
+        HashSet<OsmNode> nodes = new HashSet<OsmNode>();
         foreach (OSMDatastructure.Region r in rm.GetAllRegions())
             nodes = nodes.Concat(r.nodes).ToHashSet();
 
@@ -78,7 +79,7 @@ public static class Renderer
                 OsmNode nNode = rm.GetNode(edge.neighborId, edge.neighborRegion)!;
                 Coordinates c2 = nNode.coordinates;
 
-                Pen p = new(GradientPick(0, start, center, end), PenThickness);
+                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;

Server/ConsoleWriter.cs

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

Server/Server.cs

@@ -4,7 +4,6 @@ using OSMDatastructure;
 using OSMDatastructure.Graph;
 using Pathfinding;
 using RenderPath;
-using Region = OSMDatastructure.Region;
 
 namespace Server;
 
@@ -25,93 +24,18 @@ public class Server
         
         Coordinates start = new (48.7933798f, 9.8275859f);
         Coordinates finish = new (48.795918f, 9.021618f);
-        
-        TestVariables(workingDir, start, finish);
-        
+        Pathfinder result = new Pathfinder(workingDir).AStar(start,
+            finish, Tag.SpeedType.car, 0.01, 0.0001,
+            0);
         
         string parentFolder = new DirectoryInfo(workingDir).Parent!.FullName;
-
-        /*
-        Console.WriteLine("Preparing BaseRender");
-        RegionManager allRegions = new(workingDir);
-        for (float lat = 48.78f - Region.RegionSize / 2; lat < 48.87f + Region.RegionSize / 2; lat += Region.RegionSize / 2)
-        {
-            for (float lon = 9f - Region.RegionSize / 2; lon < 9.9f + Region.RegionSize / 2; lon += Region.RegionSize / 2)
-            {
-                allRegions.GetRegion(new Coordinates(lat, lon));
-            }
-        }
-        Console.WriteLine("Regions Loaded. Rendering.");
-        ValueTuple<Image, Renderer.Bounds> baseRender = Renderer.DrawArea(allRegions);
-*/
-        
-        
-        
-        /*
-        Pathfinder result = new Pathfinder(workingDir).AStar(start,
-            finish, Tag.SpeedType.car, 0.034, 0.012,
-            0, 0.18);
-        
-        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";
+        string resultFileName = $"{new DirectoryInfo(workingDir).Name}-{DateTime.Now.ToFileTime()}.result";
         result.SaveResult(Path.Join(parentFolder, resultFileName));
 
-        string renderFileName = $"{new DirectoryInfo(workingDir).Name}-{fileName}.render.png";
+        string renderFileName = $"{new DirectoryInfo(workingDir).Name}-{DateTime.Now.ToFileTime()}.render.png";
         Image render = Renderer.DrawPathfinder(result);
 #pragma warning disable CA1416
         render.Save(Path.Join(parentFolder, renderFileName), ImageFormat.Png);
-#pragma warning restore CA1416*/
-    }
-
-    private static void TestVariables(string workingDir, Coordinates start, Coordinates finish)
-    {
-        string parentFolder = new DirectoryInfo(workingDir).Parent!.FullName;
-        
-        Queue<Thread> CalcThreads = new();
-
-        for (double sameRoadPriority = 0.002; sameRoadPriority < 0.4; sameRoadPriority += 0.02)
-        {
-            for (double roadLevelPriority = 0.4; roadLevelPriority > 0; roadLevelPriority -= 0.02)
-            {
-                for (double angleWeightFactor = 0.01; angleWeightFactor < 0.25; angleWeightFactor += 0.01)
-                {
-                    double priority = roadLevelPriority;
-                    double roadPriority = sameRoadPriority;
-                    double factor = angleWeightFactor;
-                    CalcThreads.Enqueue(new Thread(() =>
-                    {
-                        Pathfinder testresult = new Pathfinder(workingDir).AStar(start,
-                            finish, Tag.SpeedType.car, priority, roadPriority,
-                            0, factor);
-                        string fileName =
-                            $"angle{factor:0.000}_level{priority:0.000}_same{roadPriority:0.000}.result";
-                        testresult.SaveResult(Path.Join(parentFolder, fileName));
-                    }));
-                }
-            }
-        }
-
-        int totalTasks = CalcThreads.Count;
-        int completed = 0;
-        DateTime startTime = DateTime.Now;
-
-        HashSet<Thread> runningThreads = new();
-        while (CalcThreads.Count > 0)
-        {
-            while (runningThreads.Count < 16 && CalcThreads.Count > 0)
-            {
-                Thread t = CalcThreads.Dequeue();
-                runningThreads.Add(t);
-                t.Start();
-            }
-
-            int newCompleted = runningThreads.RemoveWhere(thread => !thread.IsAlive);
-            completed += newCompleted;
-            if(newCompleted > 0)
-                Console.WriteLine($"To calculate: {CalcThreads.Count}/{totalTasks} Average Time: {(DateTime.Now - startTime)/(completed)} Elapsed: {DateTime.Now - startTime} Remaining: {(DateTime.Now - startTime)/(completed)*CalcThreads.Count}");
-        }
+#pragma warning restore CA1416
     }
 }