better readability

Changed Pathfinding class to static
Changed AStar to continue after path found.

API/API.csproj

@@ -0,0 +1,22 @@
+<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

@@ -0,0 +1,37 @@
+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

@@ -0,0 +1,41 @@
+{
+  "$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

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

API/appsettings.json

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

OSMDatastructure/Coordinates.cs

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

OSMDatastructure/OSMDatastructure.csproj

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

OSMDatastructure/OsmEdge.cs

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

OSMDatastructure/OsmNode.cs

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

OSMDatastructure/Region.cs

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

OSMDatastructure/Tag.cs

@@ -1,3 +1,6 @@
+using System.Text.Json;
+using System.Text.Json.Serialization;
+
 namespace OSMDatastructure.Graph;
 
 [Serializable]
@@ -6,11 +9,36 @@ public class Tag
     public TagType key { get; }
     public dynamic value { get; }
     
-    
+    [JsonConstructor]
     public Tag(TagType key, dynamic value)
     {
         this.key = key;
-        this.value = value;
+        if (value is JsonElement)
+        {
+            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

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

OSMServer.sln

@@ -6,6 +6,8 @@ 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
@@ -24,5 +26,9 @@ 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 class Pathfinder
+public static class Pathfinder
 {
     public static List<OsmNode> CustomAStar(string workingDir, Coordinates start, Coordinates goal, Tag.SpeedType vehicle)
     {
@@ -14,8 +14,8 @@ public class Pathfinder
         if (startRegion is null || goalRegion is null)
             return new List<OsmNode>();
 
-        OsmNode? startNode = ClosestNodeToCoordinates(start, startRegion, vehicle);
-        OsmNode? goalNode = ClosestNodeToCoordinates(goal, goalRegion, vehicle);
+        OsmNode? startNode = ClosestNodeToCoordinates(start, startRegion, vehicle, ref regionManager);
+        OsmNode? goalNode = ClosestNodeToCoordinates(goal, goalRegion, vehicle, ref regionManager);
         if (startNode == null || goalNode == null)
             return new List<OsmNode>();
 
@@ -27,7 +27,7 @@ public class Pathfinder
         OsmNode closestNodeToGoal = startNode;
         bool stop = false;
 
-        while (toVisit.Count > 0 && !stop)
+        while (toVisit.Count > 0)
         {
             closestNodeToGoal = toVisit.Dequeue();
             Console.WriteLine($"{toVisit.Count:000} {closestNodeToGoal.directDistanceToGoal:#.00} current:{closestNodeToGoal}");
@@ -39,15 +39,18 @@ public class Pathfinder
                 {
                     double newPotentialWeight =
                         closestNodeToGoal.currentPathWeight + EdgeWeight(closestNodeToGoal, neighbor, edge.wayId, vehicle, ref regionManager);
-                    if (neighbor.currentPathWeight > newPotentialWeight)
+                    if (newPotentialWeight < neighbor.currentPathWeight)
                     {
                         neighbor.previousPathNode = closestNodeToGoal;
                         neighbor.currentPathWeight = newPotentialWeight;
                         neighbor.currentPathLength = closestNodeToGoal.currentPathLength + Utils.DistanceBetween(closestNodeToGoal, neighbor);
-                    
-                        if (neighbor.Equals(goalNode) || closestNodeToGoal.directDistanceToGoal < 10) //change for faster
+
+                        if (neighbor.Equals(goalNode) || closestNodeToGoal.directDistanceToGoal < 10)
+                        {
                             stop = true;
-                        else
+                            goalNode = neighbor;
+                        }
+                        else if(!stop)
                         {
                             neighbor.directDistanceToGoal = Utils.DistanceBetween(neighbor, goalNode);
                             toVisit.Enqueue(neighbor, neighbor.directDistanceToGoal);
@@ -58,7 +61,7 @@ public class Pathfinder
         }
 
         List<OsmNode> path = new();
-        OsmNode? currentNode = closestNodeToGoal;
+        OsmNode? currentNode = goalNode;
         while (currentNode != null && !currentNode.Equals(startNode))
         {
             path.Add(currentNode);
@@ -70,33 +73,21 @@ public class Pathfinder
         return path;
     }
     
-    private static OsmNode? ClosestNodeToCoordinates(Coordinates coordinates, Region region, Tag.SpeedType vehicle)
+    private static OsmNode? ClosestNodeToCoordinates(Coordinates coordinates, Region region, Tag.SpeedType vehicle, ref RegionManager regionManager)
     {
         OsmNode? closest = null;
         double distance = double.MaxValue;
         foreach (OsmNode node in region.nodes)
         {
-            bool hasConnection = false;
+            bool hasConnectionUsingVehicle = false;
             foreach (OsmEdge edge in node.edges)
             {
-                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;
-                }
-
+                double speed = GetSpeed(node, edge.wayId, vehicle, ref regionManager);
                 if (speed != 0)
-                    hasConnection = true;
+                    hasConnectionUsingVehicle = true;
             }
             double nodeDistance = Utils.DistanceBetween(node, coordinates);
-            if (nodeDistance < distance && hasConnection)
+            if (nodeDistance < distance && hasConnectionUsingVehicle)
             {
                 closest = node;
                 distance = nodeDistance;
@@ -106,30 +97,37 @@ public class Pathfinder
         return closest;
     }
 
-    private static double EdgeWeight(OsmNode node1, OsmNode node2, ulong wayId, Tag.SpeedType vehicle, ref RegionManager regionManager)
+    private static double GetSpeed(OsmNode node1, 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)
-                    return distance / speed;
-                else return Double.PositiveInfinity;
+                if (speed is not 0)
+                    return speed;
+                return 0;
             case Tag.SpeedType.car: 
             case Tag.SpeedType.road:
-                byte? maxspeed = (byte?)tags.GetTag(wayId, Tag.TagType.maxspeed);
-                if (maxspeed is not null)
-                    return distance / Convert.ToDouble(maxspeed);
-                else
-                    maxspeed = Tag.defaultSpeedCar[wayType];
-                if(maxspeed is not 0)
-                    return distance / Tag.defaultSpeedCar[wayType];
-                else return Double.PositiveInfinity;;
+                byte? maxSpeed = (byte?)tags.GetTag(wayId, Tag.TagType.maxspeed);
+                if (maxSpeed is not null)
+                    return (double)maxSpeed;
+                maxSpeed = Tag.defaultSpeedCar[wayType];
+                if(maxSpeed is not 0)
+                    return (byte)maxSpeed;
+                return 0;
             default:
-                return double.PositiveInfinity;
+                return 0;
         }
     }
+
+    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

@@ -1,5 +1,6 @@
 using System.Globalization;
 using System.Runtime.Serialization.Formatters.Binary;
+using System.Text.Json;
 using System.Xml;
 using OSMDatastructure;
 using OSMDatastructure.Graph;
@@ -46,7 +47,6 @@ 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();
@@ -82,6 +82,7 @@ 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);
@@ -97,7 +98,7 @@ public class RegionConverter
                             regionFileStreams.Add(regionHash, nodesRegionStream);
                         }
                         nodeRegions.Add(nodeId, regionHash);
-                        
+
 #pragma warning disable SYSLIB0011 //eheheh
                         bFormatter.Serialize(nodesRegionStream, tmpAllNodes[nodeId]);
 #pragma warning restore SYSLIB0011
@@ -221,7 +222,6 @@ 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);
-#pragma warning disable SYSLIB0011
-            bFormatter.Serialize(tmpRegionFileStream, tmpRegion.Item1);
-#pragma warning restore SYSLIB0011
-            tmpRegionFileStream.Dispose();
+            
+            using (FileStream tmpRegionFileStream = new FileStream(Path.Join(folderPath, $"{regionId}{RegionsFileName}"), FileMode.Create))
+            {
+                JsonSerializer.Serialize(tmpRegionFileStream, tmpRegion.Item1, typeof(Region), Region.serializerOptions);
+            }
             Directory.Delete(Path.Join(folderPath, regionId.ToString()), true);
         }
     }

Server/Server.csproj

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