API/Program.cs

@@ -16,19 +16,20 @@ var app = builder.Build();
 
 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),
+        
+        PathResult result = Pathfinder.AStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart),
             new Coordinates(latEnd, lonEnd), vehicle, useHigherLevelRoadsPriority, stayOnSameRoadPriority,
             useRoadsWithLessJunctionsPriority);
-        return result.pathResult;
+        return result;
     } 
 );
 
 app.MapGet("/getShortestRoute", (float latStart, float lonStart, float latEnd, float lonEnd) =>
     {
-        Pathfinder result = new Pathfinder("D:/stuttgart-regbez-latest").AStar(new Coordinates(latStart, lonStart),
+        PathResult result = Pathfinder.AStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart),
             new Coordinates(latEnd, lonEnd), Tag.SpeedType.any, 0, 0,
             0);
-        return result.pathResult;
+        return result;
     }
 );
 

Pathfinding/PathResult.cs

@@ -1,4 +1,5 @@
 using System.Text.Json.Serialization;
+using OSMDatastructure.Graph;
 
 namespace Pathfinding;
 
@@ -6,11 +7,41 @@ public class PathResult
 {
     [JsonInclude]public TimeSpan calcTime;
     [JsonInclude]public List<PathNode> pathNodes;
-    
+    [JsonInclude]public Dictionary<ulong, double>? gScore;
+    [JsonInclude]public HashSet<OsmNode>? gScoreNodes;
+    [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)
+    {
+        this.calcTime = calcTime;
+        this.pathNodes = pathNodes;
+        this.gScore = gScore;
+        this.gScoreNodes = gScoreNodes;
+    }
+    
     public PathResult(TimeSpan calcTime, List<PathNode> pathNodes)
     {
         this.calcTime = calcTime;
         this.pathNodes = pathNodes;
     }
+    
+    public PathResult(TimeSpan calcTime, List<PathNode> pathNodes, Dictionary<OsmNode, double> gScore)
+    {
+        this.calcTime = calcTime;
+        this.pathNodes = pathNodes;
+        AddGScores(gScore);
+    }
+
+    public void AddGScores(Dictionary<OsmNode, double> gScore)
+    {
+        this.gScore = new();
+        this.gScoreNodes = new();
+        foreach (KeyValuePair<OsmNode, double> kv in gScore)
+        {
+            this.gScore.Add(kv.Key.nodeId, kv.Value);
+            this.gScoreNodes.Add(kv.Key);
+        }
+    }
 }

Pathfinding/Pathfinder.cs

@@ -6,41 +6,25 @@ using WayType = OSMDatastructure.Tag.WayType;
 
 namespace Pathfinding;
 
-//TODO check parameters for all functions and determine global fields
-public class Pathfinder
+public static class Pathfinder
 {
 
-    public RegionManager regionManager;
-    public readonly string workingDir;
-    public PathResult? pathResult;
-    public Dictionary<OsmNode, double>? gScore;
-
-    public Pathfinder(string workingDirectory)
-    {
-        if (!Path.Exists(workingDirectory))
-            throw new DirectoryNotFoundException(workingDirectory);
-        regionManager = new(workingDirectory);
-        workingDir = workingDirectory;
-    }
-    
-    public Pathfinder AStar(Coordinates startCoordinates, Coordinates goalCoordinates,
+    public static PathResult AStar(string workingDir, Coordinates startCoordinates, Coordinates goalCoordinates,
         SpeedType vehicle, double heuristicRoadLevelPriority, double heuristicSameRoadPriority,
         double heuristicFewJunctionsPriority)
     {
         DateTime startCalc = DateTime.Now;
-        regionManager = new RegionManager(workingDir);
+        RegionManager regionManager = new RegionManager(workingDir);
         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>());
-            return this;
-        }
+            return new PathResult(DateTime.Now - startCalc, new List<PathNode>());
 
         PriorityQueue<OsmNode, double> openSetfScore = new();
         openSetfScore.Enqueue(startNode, 0);
         Dictionary<OsmNode, OsmNode> cameFromDict = new();
-        gScore = new() { { startNode, 0 } };
+        Dictionary<OsmNode, double> gScore = new();
+        gScore.Add(startNode, 0);
 
         while (openSetfScore.Count > 0)
         {
@@ -48,8 +32,14 @@ public class Pathfinder
             if (currentNode.Equals(goalNode))
             {
                 Console.WriteLine("Path found.");
-                this.pathResult = GetPath(cameFromDict, goalNode, DateTime.Now - startCalc);
-                return this;
+                PathResult path = GetPath(cameFromDict, goalNode, regionManager, DateTime.Now - startCalc);
+                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;
             }
 
             foreach (OsmEdge edge in currentNode.edges)
@@ -58,7 +48,7 @@ public class Pathfinder
                 if (neighbor is not null)
                 {
                     double tentativeGScore =
-                        gScore[currentNode] + Weight(currentNode, neighbor, edge, vehicle);
+                        gScore[currentNode] + Weight(currentNode, neighbor, edge, vehicle, regionManager);
                     gScore.TryAdd(neighbor, double.MaxValue);
                     if (tentativeGScore < gScore[neighbor])
                     {
@@ -70,7 +60,7 @@ public class Pathfinder
                             gScore[neighbor] = tentativeGScore;
                         else
                             gScore.Add(neighbor, tentativeGScore);
-                        double h = Heuristic(currentNode, neighbor, goalNode, edge, vehicle,
+                        double h = Heuristic(currentNode, neighbor, goalNode, edge, vehicle, regionManager,
                             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);
@@ -79,21 +69,20 @@ public class Pathfinder
             }
         }
 
-        pathResult = new(DateTime.Now - startCalc, new List<PathNode>());
-        return this;
+        return new PathResult(DateTime.Now - startCalc, new List<PathNode>());
     }
 
-    public void SaveResult(string path)
+    private static void SaveGraph(PathResult pathResult, string outputFilepath)
     {
-        FileStream fs = new (path, FileMode.CreateNew);
+        FileStream fs = new FileStream(outputFilepath, FileMode.CreateNew);
         JsonSerializer.Serialize(fs, pathResult, JsonSerializerOptions.Default);
         fs.Dispose();
-        Console.WriteLine($"Saved result to {path}");
+        Console.WriteLine($"Saved result to {outputFilepath}");
     }
 
-    private PathResult GetPath(Dictionary<OsmNode, OsmNode> cameFromDict, OsmNode goalNode, TimeSpan calcFinished)
+    private static PathResult GetPath(Dictionary<OsmNode, OsmNode> cameFromDict, OsmNode goalNode, RegionManager regionManager, TimeSpan calcFinished)
     {
-        List<PathNode> path = new();
+        List<PathNode> path = new List<PathNode>();
         OsmNode currentNode = goalNode;
         while (cameFromDict.ContainsKey(cameFromDict[currentNode]))
         {
@@ -111,15 +100,15 @@ public class Pathfinder
         return new PathResult(calcFinished, path);
     }
 
-    private double Weight(OsmNode fromNode, OsmNode neighborNode, OsmEdge edge, SpeedType vehicle)
+    private static double Weight(OsmNode fromNode, OsmNode neighborNode, OsmEdge edge, SpeedType vehicle, RegionManager regionManager)
     {
         double distance = Utils.DistanceBetween(fromNode, neighborNode);
         double speed = regionManager.GetSpeedForEdge(fromNode, edge.wayId, vehicle);
-        //double prio = GetPriorityVehicleRoad(edge, vehicle, regionManager.GetRegion(fromNode.coordinates)!);
+        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)
+    private static double Heuristic(OsmNode fromNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, SpeedType vehicle, RegionManager regionManager, double roadPriorityFactor, double junctionFactor, double sameRoadFactor)
     {
         double roadPriority = GetPriorityVehicleRoad(edge, vehicle, regionManager.GetRegion(fromNode.coordinates)!) * roadPriorityFactor;
         

RenderPath/Renderer.cs

@@ -11,10 +11,6 @@ public static class Renderer
 {
     private const int ImageMaxSize = 20000;
     private const float PenThickness = 4;
-    private static readonly Color RouteColor = Color.Red;
-    private static readonly Color WeightStartColor = Color.FromArgb(0, 0, 255);
-    private static readonly Color WeightCenterColor = Color.FromArgb(255, 255, 0);
-    private static readonly Color WeightEndColor = Color.FromArgb(0, 255, 0);
 
     public class Bounds
     {
@@ -30,16 +26,17 @@ public static class Renderer
     }
 
     [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
-    public static Image DrawPathfinder(Pathfinder pathfinder)
+    public static void DrawGraph(string resultPath, Image? area = null, Bounds? bounds = null)
     {
-        Console.WriteLine("Rendering loaded Regions");
-        ValueTuple<Image, Bounds> areaRender = DrawArea(pathfinder.regionManager);
-        Console.WriteLine("Rendering gScores (Weights)");
-        ValueTuple<Image, Bounds> areaGScoreRender = DrawGScores(pathfinder.gScore!, areaRender.Item1, areaRender.Item2);
-        Console.WriteLine("Rendering path");
-        ValueTuple<Image, Bounds> areaGScorePathRender = DrawPath(pathfinder.pathResult!, areaGScoreRender.Item1, areaGScoreRender.Item2);
+        FileStream fs = new FileStream(resultPath, FileMode.Open);
+        PathResult graph = JsonSerializer.Deserialize<PathResult>(fs)!;
+        List<Coordinates> coords = new List<Coordinates>();
+        foreach (PathNode node in graph.pathNodes)
+            coords.Add(node.coordinates);
+        string workingDir = new DirectoryInfo(resultPath).FullName;
 
-        return areaGScorePathRender.Item1;
+        Image renderedImage = DrawLoadedNodes(graph.gScoreNodes!, graph.gScore!, coords, area, bounds);
+        renderedImage.Save($"{workingDir}-routing.png");
     }
 
     [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
@@ -66,7 +63,6 @@ public static class Renderer
         Graphics g = Graphics.FromImage(ret);
         g.Clear(Color.White);
 
-        //TODO Use road priority for roadcolor
         Color start = Color.FromArgb(255, 25, 25, 25);
         Color center = Color.FromArgb(255, 0, 0, 0);
         Color end = Color.FromArgb(255, 0, 255, 0);
@@ -93,54 +89,13 @@ public static class Renderer
     }
 
     [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
-    public static ValueTuple<Image, Bounds> DrawPath(PathResult pathResult, Image? renderOver = null, Bounds? bounds = null)
+    public static Image DrawLoadedNodes(HashSet<OsmNode> nodes, Dictionary<ulong, double> gScoreDict,
+        List<Coordinates> pathCoordinates,  Image? renderOver = null, Bounds? bounds = null)
     {
-        List<Coordinates> coordinates = new();
-        foreach(PathNode node in pathResult.pathNodes)
-            coordinates.Add(node.coordinates);
-        
-        float minLat = bounds?.minLat ?? coordinates.Min(coords => coords.latitude);
-        float minLon = bounds?.minLon ?? coordinates.Min(coords => coords.longitude);
-        float maxLat = bounds?.maxLat ?? coordinates.Max(coords => coords.latitude);
-        float maxLon = 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);
-        
-        Image ret = renderOver ?? new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppRgb);
-        Graphics g = Graphics.FromImage(ret);
-        if(renderOver is null)
-            g.Clear(Color.White);
-
-        Pen p = new Pen(RouteColor, PenThickness);
-
-        for (int i = 0; i < coordinates.Count - 1; i++)
-        {
-            Coordinates c1 = coordinates[i];
-            Coordinates c2 = coordinates[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);
-        }
-
-        return new ValueTuple<Image, Bounds>(ret, new Bounds(minLat,minLon,maxLat,maxLon));
-    }
-
-    [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
-    public static ValueTuple<Image, Bounds> DrawGScores(Dictionary<OsmNode, double> gScoreDict, Image? renderOver = null,
-        Bounds? bounds = null)
-    {
-        float minLat = bounds?.minLat ?? gScoreDict.Min(kv => kv.Key.coordinates.latitude);
-        float minLon = bounds?.minLon ?? gScoreDict.Min(kv => kv.Key.coordinates.longitude);
-        float maxLat = bounds?.maxLat ?? gScoreDict.Max(kv => kv.Key.coordinates.latitude);
-        float maxLon = bounds?.maxLon ?? gScoreDict.Max(kv => kv.Key.coordinates.longitude);
+        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);
@@ -152,28 +107,55 @@ public static class Renderer
 
         int pixelsX = (int)(lonDiff * scaleFactor);
         int pixelsY = (int)(latDiff * scaleFactor);
-        
-        Image ret = renderOver ?? new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppRgb);
-        Graphics g = Graphics.FromImage(ret);
-        if(renderOver is null)
+
+        Image ret;
+        Graphics g;
+        if (renderOver is null)
+        {
+            ret = new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppRgb);
+            g = Graphics.FromImage(ret);
             g.Clear(Color.White);
-        
-        foreach (KeyValuePair<OsmNode, double> kv in gScoreDict)
+        }
+        else
+        {
+            ret = renderOver;
+            g = Graphics.FromImage(ret);
+        }
+
+        Color start = Color.FromArgb(0, 0, 255);
+        Color center = Color.FromArgb(255, 255, 0);
+        Color end = Color.FromArgb(0, 255, 0);
+
+        foreach (KeyValuePair<ulong, double> kv in gScoreDict)
         {
             double percentage = (kv.Value - minWeight) / (maxWeight - minWeight);
-            Brush b = new SolidBrush(GradientPick(percentage, WeightStartColor, WeightCenterColor, WeightEndColor));
+            Brush b = new SolidBrush(GradientPick(percentage, start, center, end));
+            OsmNode node = nodes.First(node => node.nodeId.Equals(kv.Key));
             
-            float x = (kv.Key.coordinates.longitude - minLon) * scaleFactor;
-            float y = (maxLat - kv.Key.coordinates.latitude) * scaleFactor;
+            float x = (node.coordinates.longitude - minLon) * scaleFactor;
+            float y = (maxLat - node.coordinates.latitude) * scaleFactor;
 
             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);
 
-        return new ValueTuple<Image, Bounds>(ret, new Bounds(minLat,minLon,maxLat,maxLon));
+        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);
+        }
+
+        return ret;
     }
-
+    
     /*
      * https://stackoverflow.com/questions/55601338/get-a-color-value-within-a-gradient-based-on-a-value
      */

Server/Server.cs

@@ -1,5 +1,4 @@
 using System.Drawing;
-using System.Drawing.Imaging;
 using OSMDatastructure;
 using OSMDatastructure.Graph;
 using Pathfinding;
@@ -12,30 +11,25 @@ public class Server
     
     public static void Main(string[] args)
     {
-        ConsoleWriter newConsole = new();
+        ConsoleWriter newConsole = new ConsoleWriter();
         Console.SetOut(newConsole);
         Console.SetError(newConsole);
-        
-        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).AStar(start,
+        
+        Coordinates start = new Coordinates(48.7933798f, 9.8275859f);
+        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,
             0);
         
-        string parentFolder = new DirectoryInfo(workingDir).Parent!.FullName;
-        string resultFileName = $"{new DirectoryInfo(workingDir).Name}-{DateTime.Now.ToFileTime()}.result";
-        result.SaveResult(Path.Join(parentFolder, resultFileName));
-
-        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
+        Console.WriteLine("Drawing area");
+        ValueTuple<Image, Renderer.Bounds> area = Renderer.DrawArea(result.regionManager);
+            
+        Console.WriteLine("Drawing route");
+        Renderer.DrawGraph(result.name, area.Item1, area.Item2);
     }
 }