API/Program.cs

@@ -13,18 +13,20 @@ builder.Services.AddSwaggerGen();
 
 var app = builder.Build();
 
-app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lonEnd, Tag.SpeedType vehicle, double useHigherLevelRoadsPriority, double maxTurnAngle) =>
+app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lonEnd, Tag.SpeedType vehicle, double stayOnSameRoadPriority, double useHigherLevelRoadsPriority, double useRoadsWithLessJunctionsPriority, double angleFactor) =>
     {
-        Pathfinder result = new Pathfinder("D:/stuttgart-regbez-latest", useHigherLevelRoadsPriority,  maxTurnAngle).AStar(new Coordinates(latStart, lonStart),
-            new Coordinates(latEnd, lonEnd), vehicle);
+        Pathfinder result = new Pathfinder("D:/stuttgart-regbez-latest").AStar(new Coordinates(latStart, lonStart),
+            new Coordinates(latEnd, lonEnd), vehicle, useHigherLevelRoadsPriority, stayOnSameRoadPriority,
+            useRoadsWithLessJunctionsPriority, angleFactor);
         return result.pathResult;
     } 
 );
 
 app.MapGet("/getShortestRoute", (float latStart, float lonStart, float latEnd, float lonEnd) =>
     {
-        Pathfinder result = new Pathfinder("D:/stuttgart-regbez-latest", 0, 30).AStar(new Coordinates(latStart, lonStart),
-            new Coordinates(latEnd, lonEnd), Tag.SpeedType.any);
+        Pathfinder result = new Pathfinder("D:/stuttgart-regbez-latest").AStar(new Coordinates(latStart, lonStart),
+            new Coordinates(latEnd, lonEnd), Tag.SpeedType.any, 0, 0,
+            0, 0);
         return result.pathResult;
     }
 );

Pathfinding/PathResult.cs

@@ -1,14 +1,13 @@
-using System.Text.Json;
 using System.Text.Json.Serialization;
 
 namespace Pathfinding;
 
 public class PathResult
 {
-    [JsonInclude]public double distance;
-    [JsonInclude]public double weight;
     [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)
@@ -18,10 +17,4 @@ public class PathResult
         this.distance = distance;
         this.weight = weight;
     }
-
-    public static PathResult PathresultFromFile(string filePath)
-    {
-        return JsonSerializer.Deserialize<PathResult>(new FileStream(filePath, FileMode.Open, FileAccess.Read,
-            FileShare.Read))!;
-    }
 }

Pathfinding/Pathfinder.cs

@@ -9,31 +9,26 @@ public class Pathfinder
 {
 
     public RegionManager regionManager;
+    public readonly string workingDir;
     public PathResult? pathResult;
     public Dictionary<OsmNode, double>? gScore;
     private Dictionary<OsmNode, OsmNode>? _cameFromDict;
     private SpeedType _speedType;
-    private double roadPriorityFactor, turnAngle;
 
-    public Pathfinder(string workingDirectory, double roadPriorityFactor, double turnAngle)
+    public Pathfinder(string workingDirectory)
     {
         if (!Path.Exists(workingDirectory))
             throw new DirectoryNotFoundException(workingDirectory);
         regionManager = new(workingDirectory);
-        this.roadPriorityFactor = roadPriorityFactor;
-        this.turnAngle = turnAngle;
+        workingDir = workingDirectory;
     }
     
-    public Pathfinder(RegionManager regionManager, double roadPriorityFactor, double turnAngle)
-    {
-        this.regionManager = regionManager;
-        this.roadPriorityFactor = roadPriorityFactor;
-        this.turnAngle = turnAngle;
-    }
-    
-    public Pathfinder AStar(Coordinates startCoordinates, Coordinates goalCoordinates, SpeedType vehicle)
+    public Pathfinder AStar(Coordinates startCoordinates, Coordinates goalCoordinates,
+        SpeedType vehicle, double heuristicRoadLevelPriority, double heuristicSameRoadPriority,
+        double heuristicFewJunctionsPriority, double angleWeightFactor)
     {
         DateTime startCalc = DateTime.Now;
+        regionManager = new RegionManager(workingDir);
         _speedType = vehicle;
         OsmNode? startNode = regionManager.ClosestNodeToCoordinates(startCoordinates, _speedType);
         OsmNode? goalNode = regionManager.ClosestNodeToCoordinates(goalCoordinates, _speedType);
@@ -43,71 +38,49 @@ public class Pathfinder
             return this;
         }
 
-        RPriorityQueue<OsmNode, double> openSetfScore = new();
+        PriorityQueue<OsmNode, double> openSetfScore = new();
         openSetfScore.Enqueue(startNode, 0);
         gScore = new() { { startNode, 0 } };
         _cameFromDict = new();
 
-        bool found = false;
-        bool stop = false;
-        TimeSpan firstFound = TimeSpan.MaxValue;
-        double maxGscore = double.MaxValue;
-
-        while (openSetfScore.Count > 0 && !stop)
+        while (openSetfScore.Count > 0)
         {
-            OsmNode currentNode = openSetfScore.Dequeue()!;
+            OsmNode currentNode = openSetfScore.Dequeue();
             if (currentNode.Equals(goalNode))
             {
-                if (!found)
-                {
-                    firstFound = DateTime.Now - startCalc;
-                    found = true;
+                TimeSpan calcTime = DateTime.Now - startCalc;
+                pathResult = GetPath(goalNode, calcTime);
+                Console.WriteLine($"Path found. {calcTime} PathLength {pathResult.pathNodes.Count} VisitedNodes {gScore.Count} Distance {pathResult.distance} Duration {pathResult.weight}");
+                return this;
             }
-                maxGscore = gScore[goalNode];
-                /*
-                int removed = openSetfScore.Remove(gScore.Where(item => item.Value > maxGscore)
-                    .ToDictionary(item => item.Key, item => item.Value).Keys);
-                Console.WriteLine($"Removed {removed}");*/
-            }
-
-            if (found && DateTime.Now - startCalc > firstFound.Multiply(2))
-                stop = true;
 
             foreach (OsmEdge edge in currentNode.edges)
             {
                 OsmNode? neighbor = regionManager.GetNode(edge.neighborId, edge.neighborRegion);
                 if (neighbor is not null)
                 {
-                    double tentativeGScore = gScore[currentNode] + Weight(currentNode, neighbor, edge);
+                    double tentativeGScore =
+                        gScore[currentNode] + Weight(currentNode, neighbor, edge, angleWeightFactor);
                     gScore.TryAdd(neighbor, double.MaxValue);
-                    if ((!found || (found && tentativeGScore < maxGscore)) && tentativeGScore < gScore[neighbor])
+                    if (tentativeGScore < gScore[neighbor])
                     {
                         if(!_cameFromDict.TryAdd(neighbor, currentNode))
                             _cameFromDict[neighbor] = currentNode;
                         gScore[neighbor] = tentativeGScore;
-                        double h = Heuristic(currentNode, neighbor, goalNode, edge);
+                        double h = Heuristic(currentNode, neighbor, goalNode, edge,
+                            heuristicRoadLevelPriority, heuristicFewJunctionsPriority, heuristicSameRoadPriority, angleWeightFactor);
+                        //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);
                     }
                 }
             }
         }
 
-        TimeSpan calcTime = DateTime.Now - startCalc;
-        if (!found)
-        {
         pathResult = new(DateTime.Now - startCalc, new List<PathNode>(),0 ,0);
-            Console.Write("No path found.");
-            return this;
-        }
-        else
-        {
-            pathResult = GetPath(goalNode, calcTime);
-        }
-        Console.WriteLine($"Path found. {calcTime} PathLength {pathResult.pathNodes.Count} VisitedNodes {gScore.Count} Distance {pathResult.distance} Duration {pathResult.weight}");
         return this;
     }
     
-    private double Weight(OsmNode currentNode, OsmNode neighborNode, OsmEdge edge)
+    private double Weight(OsmNode currentNode, OsmNode neighborNode, OsmEdge edge, double angleWeightFactor)
     {
         double distance = Utils.DistanceBetween(currentNode, neighborNode);
         double speed = regionManager.GetSpeedForEdge(currentNode, edge.wayId, _speedType);
@@ -116,43 +89,52 @@ public class Pathfinder
         if (_cameFromDict!.ContainsKey(currentNode))
         {
             OsmNode previousNode = _cameFromDict[currentNode];
-            Vector v1 = new(currentNode, previousNode);
+            Vector v1 = new(previousNode, currentNode);
             Vector v2 = new(currentNode, neighborNode);
             double nodeAngle = v1.Angle(v2);
-            if (nodeAngle < turnAngle)
-                angle = 0;
-            else
-                angle = nodeAngle / 180;
+            angle = ((180 - nodeAngle) / 180) * angleWeightFactor;
         }
-        double prio = regionManager.GetPriorityForVehicle(_speedType,edge, currentNode) * roadPriorityFactor;
-
-        return distance / (speed * angle + prio + 1);
+        double prio = regionManager.GetPriorityForVehicle(_speedType,edge, currentNode);
+        return distance / (1 + speed + angle + prio);
     }
 
-    private double Heuristic(OsmNode currentNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge)
+    private double Heuristic(OsmNode currentNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, double roadPriorityFactor, double junctionFactor, double sameRoadFactor, double nodeAngleFactor)
     {
-        if (neighborNode.Equals(goalNode)) return 0;
-        double priority = regionManager.GetPriorityForVehicle(_speedType, edge, currentNode);
-        if (priority == 0)
+        double roadPriority = regionManager.GetPriorityForVehicle(_speedType, edge, currentNode) * roadPriorityFactor;
+        if (roadPriority == 0)
             return double.MaxValue;
         
-        double speed = regionManager.GetSpeedForEdge(currentNode, edge.wayId, _speedType);
+        double speed = regionManager.GetSpeedForEdge(currentNode, edge.wayId, _speedType) * 0.0003;
+        
+        TagManager curTags = regionManager.GetRegion(currentNode.coordinates)!.tagManager;
+        TagManager nextTags = regionManager.GetRegion(neighborNode.coordinates)!.tagManager;
+
+        bool sameName = false;
+        string? curName = (string?)curTags.GetTag(edge.wayId, TagType.name);
+        bool sameRef = false;
+        string? curRef = (string?)curTags.GetTag(edge.wayId, TagType.tagref);
+        if(curName is not null)
+            foreach (OsmEdge pEdge in neighborNode.edges)
+            {
+                if ((string?)nextTags.GetTag(pEdge.wayId, TagType.name) == curName)
+                    sameName = true;
+                if ((string?)nextTags.GetTag(pEdge.wayId, TagType.tagref) == curRef)
+                    sameRef = true;
+            }
+        double sameRoadName = (sameRef || sameName ? 1 : 0) * sameRoadFactor;
+
+        double junctionCount = (neighborNode.edges.Count > 2 ? 0 : 1) * junctionFactor;
         
         double angle = 0;
         if (_cameFromDict!.ContainsKey(currentNode))
         {
             OsmNode previousNode = _cameFromDict[currentNode];
-            Vector v1 = new(currentNode, previousNode);
+            Vector v1 = new(previousNode, currentNode);
             Vector v2 = new(currentNode, neighborNode);
             double nodeAngle = v1.Angle(v2);
-            if (nodeAngle < turnAngle)
-                angle = 0;
-            else
-                angle = nodeAngle / 180;
+            angle = ((180 - nodeAngle) / 180) * nodeAngleFactor;
         }
-
-        double roadPriority = priority * roadPriorityFactor;
-        return Utils.DistanceBetween(neighborNode, goalNode) / (speed * angle + roadPriority + 1);
+        return Utils.DistanceBetween(neighborNode, goalNode) / (roadPriority + sameRoadName + junctionCount + angle);
     }
 
     public void SaveResult(string path)
@@ -217,8 +199,6 @@ public class Pathfinder
             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));
-            if (ang.Equals(double.NaN))
-                return 0;
             double angle = Utils.RadiansToDegrees(ang);
             return angle;
         }

Pathfinding/RPriorityQueue.cs

@@ -1,36 +0,0 @@
-namespace Pathfinding;
-
-public class RPriorityQueue<TKey, TPriority> where TKey : notnull
-{
-    public Dictionary<TKey, TPriority> queue;
-    public int Count { get; private set; }
-
-    public RPriorityQueue()
-    {
-        queue = new();
-    }
-
-    public void Enqueue(TKey key, TPriority priority)
-    {
-        if (!queue.TryAdd(key, priority))
-            queue[key] = priority;
-        Count = queue.Count;
-    }
-
-    public TKey? Dequeue()
-    {
-        TKey? retKey = queue.MinBy(item => item.Value).Key;
-        queue.Remove(retKey);
-        Count = queue.Count;
-        return retKey;
-    }
-
-    public int Remove(IEnumerable<TKey> elements)
-    {
-        int before = Count;
-        queue = queue.Where(queueitem => !elements.Contains(queueitem.Key))
-            .ToDictionary(item => item.Key, item => item.Value);
-        Count = queue.Count;
-        return before - Count;
-    }
-}

Pathfinding/RegionManager.cs

@@ -23,18 +23,13 @@ namespace Pathfinding
 
         public Region? GetRegion(ulong id)
         {
-            
-            if(_regions.TryGetValue(id, out Region? retRegion))
-                return retRegion;
+            if(_regions.TryGetValue(id, out Region? value))
+                return value;
             
             Region? loadedRegion = RegionFromId(id);
-
-            if(_regions.TryGetValue(id, out Region? retRegion2)) //Prevent other thread from changing collection
-                return retRegion2;
             if(loadedRegion is not null)
-                _regions.TryAdd(loadedRegion.regionHash, loadedRegion);
-
-            return _regions[id];
+                _regions.Add(loadedRegion!.regionHash, value: loadedRegion);
+            return loadedRegion;
         }
 
         public Region[] GetAllRegions()
@@ -42,12 +37,12 @@ namespace Pathfinding
             return _regions.Values.ToArray();
         }
 
-        private static Region? RegionFromFile(string filePath)
+        private Region? RegionFromFile(string filePath)
         {
             if (!File.Exists(filePath)) 
                 return null;
 
-            FileStream regionFile = new (filePath, FileMode.Open, FileAccess.Read, FileShare.Read, (int)new FileInfo(filePath).Length, FileOptions.SequentialScan);
+            FileStream regionFile = new (filePath, FileMode.Open, FileAccess.Read, FileShare.Read);
             Region retRegion = JsonSerializer.Deserialize<Region>(regionFile, Region.serializerOptions)!;
             regionFile.Dispose();
             return retRegion;
@@ -65,7 +60,7 @@ namespace Pathfinding
             return r?.GetNode(nodeId);
         }
 
-        public bool TestValidConnectionForType(OsmNode node1, OsmNode node2, SpeedType type)
+        public bool TestValidConnectionForType(OsmNode node1, OsmNode node2, Tag.SpeedType type)
         {
             foreach (OsmEdge edge in node1.edges)
             {
@@ -76,15 +71,15 @@ namespace Pathfinding
             return false;
         }
 
-        public bool TestValidConnectionForType(OsmNode node1, OsmEdge edge, SpeedType type)
+        public bool TestValidConnectionForType(OsmNode node1, OsmEdge edge, Tag.SpeedType type)
         {
-            if (type == SpeedType.any)
+            if (type == Tag.SpeedType.any)
                 return true;
             byte speed = GetSpeedForEdge(node1, edge.wayId, type);
             return (speed is not 0);
         }
         
-        public OsmNode? ClosestNodeToCoordinates(Coordinates coordinates, SpeedType vehicle)
+        public OsmNode? ClosestNodeToCoordinates(Coordinates coordinates, Tag.SpeedType vehicle)
         {
             OsmNode? closest = null;
             double distance = double.MaxValue;
@@ -94,7 +89,7 @@ namespace Pathfinding
             foreach (OsmNode node in region.nodes)
             {
                 bool hasConnectionUsingVehicle = true;
-                if (vehicle is not SpeedType.any)
+                if (vehicle is not Tag.SpeedType.any)
                 {
                     hasConnectionUsingVehicle = false;
                     foreach (OsmEdge edge in node.edges)
@@ -115,21 +110,21 @@ namespace Pathfinding
             return closest;
         }
         
-        public byte GetSpeedForEdge(OsmNode node1, ulong wayId, SpeedType vehicle)
+        public byte GetSpeedForEdge(OsmNode node1, ulong wayId, Tag.SpeedType vehicle)
         {
             TagManager tags = GetRegion(node1.coordinates)!.tagManager;
-            WayType wayType = (WayType)tags.GetTag(wayId, Tag.TagType.highway)!;
+            Tag.WayType wayType = (Tag.WayType)tags.GetTag(wayId, Tag.TagType.highway)!;
             byte speed = 0;
             switch (vehicle)
             {
-                case SpeedType.pedestrian:
+                case Tag.SpeedType.pedestrian:
                     speed = Tag.defaultSpeedPedestrian[wayType];
                     return speed;
-                case SpeedType.car: 
+                case Tag.SpeedType.car: 
                     byte? maxSpeed = (byte?)tags.GetTag(wayId, Tag.TagType.maxspeed);
                     speed = Tag.defaultSpeedCar[wayType];
                     return maxSpeed < speed ? (byte)maxSpeed : speed;
-                case SpeedType.any:
+                case Tag.SpeedType.any:
                     return 1;
                 default:
                     return 0;

RenderPath/Renderer.cs

@@ -1,7 +1,6 @@
 using System.Diagnostics.CodeAnalysis;
 using System.Drawing;
 using System.Drawing.Imaging;
-using OSMDatastructure;
 using OSMDatastructure.Graph;
 using Pathfinding;
 
@@ -10,12 +9,11 @@ namespace RenderPath;
 public static class Renderer
 {
     private const int ImageMaxSize = 20000;
-    private const float PenThickness = 2;
+    private const float PenThickness = 4;
     private static readonly Color RouteColor = Color.Red;
-    private static readonly Color WeightStartColor = Color.FromArgb(127, 0, 100, 255);
-    private static readonly Color WeightEndColor = Color.FromArgb(255,0, 255, 0);
-    private static readonly Color RoadPrioStart = Color.FromArgb(200, 100, 100, 100);
-    private static readonly Color RoadPrioEnd = Color.FromArgb(255, 255, 180, 0);
+    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
     {
@@ -63,20 +61,24 @@ public static class Renderer
         int pixelsX = (int)(lonDiff * scaleFactor);
         int pixelsY = (int)(latDiff * scaleFactor);
         
-        Image ret = new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppPArgb);
+        Image ret = new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppRgb);
         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);
+
         foreach (OsmNode node in nodes)
         {
             foreach (OsmEdge edge in node.edges)
             {
-                double priority = rm.GetPriorityForVehicle(Tag.SpeedType.car, edge, node) / 17;
                 Coordinates c1 = node.coordinates;
                 OsmNode nNode = rm.GetNode(edge.neighborId, edge.neighborRegion)!;
                 Coordinates c2 = nNode.coordinates;
 
-                Pen p = new(ColorInterp(RoadPrioStart, RoadPrioEnd, priority), PenThickness);
+                Pen p = new(GradientPick(0, start, center, end), PenThickness);
                 float x1 = (c1.longitude - minLon) * scaleFactor;
                 float y1 = (maxLat - c1.latitude) * scaleFactor;
                 float x2 = (c2.longitude - minLon) * scaleFactor;
@@ -109,7 +111,7 @@ public static class Renderer
         int pixelsX = (int)(lonDiff * scaleFactor);
         int pixelsY = (int)(latDiff * scaleFactor);
         
-        Image ret = renderOver ?? new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppPArgb);
+        Image ret = renderOver ?? new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppRgb);
         Graphics g = Graphics.FromImage(ret);
         if(renderOver is null)
             g.Clear(Color.White);
@@ -131,17 +133,16 @@ public static class Renderer
     }
 
     [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
-    public static ValueTuple<Image, Bounds> DrawGScores(Dictionary<OsmNode, double> gScore, Image? renderOver = null,
+    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 ?? gScore.Min(kv => kv.Key.coordinates.latitude);
-        float minLon = bounds?.minLon ?? gScore.Min(kv => kv.Key.coordinates.longitude);
-        float maxLat = bounds?.maxLat ?? gScore.Max(kv => kv.Key.coordinates.latitude);
-        float maxLon = bounds?.maxLon ?? gScore.Max(kv => kv.Key.coordinates.longitude);
-
-        double minWeight = gScore.Min(kv => kv.Value);
-        double maxWeight = gScore.Max(kv => kv.Value);
+        double minWeight = gScoreDict.Min(kv => kv.Value);
+        double maxWeight = gScoreDict.Max(kv => kv.Value);
         
         float latDiff = maxLat - minLat;
         float lonDiff = maxLon - minLon;
@@ -151,24 +152,22 @@ public static class Renderer
         int pixelsX = (int)(lonDiff * scaleFactor);
         int pixelsY = (int)(latDiff * scaleFactor);
         
-        Image ret = renderOver ?? new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppPArgb);
+        Image ret = renderOver ?? new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppRgb);
         Graphics g = Graphics.FromImage(ret);
         if(renderOver is null)
             g.Clear(Color.White);
         
-        float pointSize = PenThickness * 1.5f;
-        
-        foreach (KeyValuePair<OsmNode, double> kv in gScore)
+        foreach (KeyValuePair<OsmNode, double> kv in gScoreDict)
         {
             double percentage = (kv.Value - minWeight) / (maxWeight - minWeight);
-            Brush b = new SolidBrush(ColorInterp(WeightStartColor, WeightEndColor, percentage));
+            Brush b = new SolidBrush(GradientPick(percentage, WeightStartColor, WeightCenterColor, WeightEndColor));
             
             float x = (kv.Key.coordinates.longitude - minLon) * scaleFactor;
             float y = (maxLat - kv.Key.coordinates.latitude) * scaleFactor;
 
-            x -= pointSize / 2;
-            y -= pointSize / 2;
-            g.FillEllipse(b, x, y, pointSize, pointSize);
+            x -= (PenThickness * 1.5f) / 2;
+            y -= (PenThickness * 1.5f) / 2;
+            g.FillEllipse(b, x, y, PenThickness * 1.5f, PenThickness * 1.5f);
         }
 
         return new ValueTuple<Image, Bounds>(ret, new Bounds(minLat,minLon,maxLat,maxLon));
@@ -183,4 +182,12 @@ public static class Renderer
             LinearInterp(start.R, end.R, percentage),
             LinearInterp(start.G, end.G, percentage),
             LinearInterp(start.B, end.B, percentage));
+    private static Color GradientPick(double percentage, Color Start, Color Center, Color End) {
+        if (percentage < 0.5)
+            return ColorInterp(Start, Center, percentage / 0.5);
+        else if (percentage == 0.5)
+            return Center;
+        else
+            return ColorInterp(Center, End, (percentage - 0.5)/0.5);
+    }
 }

Server/Server.cs

@@ -26,27 +26,31 @@ public class Server
         Coordinates start = new (48.7933798f, 9.8275859f);
         Coordinates finish = new (48.795918f, 9.021618f);
         
-        TestVariables(workingDir, start, finish, 16);
-        GetShortestRoute("D:");
+        TestVariables(workingDir, start, finish);
         
-        /*
-        ValueTuple<Image, Renderer.Bounds> area = RenderAreaBaseImage(workingDir, start, finish);
-        area.Item1.Save(@"D:\Base.png", ImageFormat.Png);
 
-        ValueTuple<Image, Renderer.Bounds> areaDistance = Renderer.DrawPath(
-            PathResult.PathresultFromFile(@"D:\angle0,140_level0,020_same0,160.result"), Image.FromFile(@"D:\Base.png"), area.Item2);
-        areaDistance.Item1.Save(@"D:\Distance.png", ImageFormat.Png);
-        
-        ValueTuple<Image, Renderer.Bounds> areaWeight = Renderer.DrawPath(
-            PathResult.PathresultFromFile(@"D:\angle0,160_level0,020_same0,020.result"), Image.FromFile(@"D:\Base.png"), area.Item2);
-        areaWeight.Item1.Save(@"D:\Weight.png", ImageFormat.Png);
-*/
-/*
         string parentFolder = new DirectoryInfo(workingDir).Parent!.FullName;
 
-        Pathfinder result = new Pathfinder(workingDir, 0.002, 0,
-            0, 1, 30).AStar(start,
-            finish, Tag.SpeedType.car);
+        /*
+        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}");
 
@@ -60,101 +64,54 @@ public class Server
 #pragma warning disable CA1416
         render.Save(Path.Join(parentFolder, renderFileName), ImageFormat.Png);
 #pragma warning restore CA1416*/
-        Console.Beep(400, 100);
     }
 
-    private static void GetShortestRoute(string directory)
-    {
-        DateTime start = DateTime.Now;
-        HashSet<string> allFiles = Directory.GetFiles(directory).Where(file => file.EndsWith(".result")).ToHashSet();
-        PathResult first = PathResult.PathresultFromFile(allFiles.First());
-        KeyValuePair<PathResult, string> shortest = new(first, allFiles.First());
-        KeyValuePair<PathResult, string> fastest = new(first, allFiles.First());
-        KeyValuePair<PathResult, string> calcTime = new(first, allFiles.First());
-        int loaded = 0;
-        foreach (string filePath in allFiles)
-        {
-            PathResult result = PathResult.PathresultFromFile(filePath);
-            Console.WriteLine($"{loaded++}/{allFiles.Count()} {filePath}  " +
-                              $"Time elapsed: {DateTime.Now - start} " +
-                              $"Remaining {((DateTime.Now - start)/loaded)*(allFiles.Count-loaded)}");
-            if (shortest.Key.distance > result.distance)
-                shortest = new KeyValuePair<PathResult, string>(result, filePath);
-            
-            if (fastest.Key.weight > result.weight)
-                fastest = new KeyValuePair<PathResult, string>(result, filePath);
-
-            if (calcTime.Key.calcTime > result.calcTime)
-                calcTime = new KeyValuePair<PathResult, string>(result, filePath);
-        }
-        Console.WriteLine($"Shortest: {shortest.Key.distance} {shortest.Value}\nFastest: {shortest.Key.weight} {fastest.Value}\nCalcTime: {calcTime.Key.calcTime} {calcTime.Value}");
-    }
-
-    private static ValueTuple<Image, Renderer.Bounds> RenderAreaBaseImage(string workingDir, Coordinates c1, Coordinates c2)
-    {
-        float minLat = c1.latitude < c2.latitude ? c1.latitude : c2.latitude;
-        float minLon = c1.longitude < c2.longitude ? c1.longitude : c2.longitude;
-        float maxLat = c1.latitude > c2.latitude ? c1.latitude : c2.latitude;
-        float maxLon = c1.longitude > c2.longitude ? c1.longitude : c2.longitude;
-
-        RegionManager allRegions = new(workingDir);
-        for (float lat = minLat - Region.RegionSize; lat < maxLat + Region.RegionSize; lat += Region.RegionSize / 2)
-        {
-            for (float lon = minLon - Region.RegionSize; lon < maxLon + Region.RegionSize; lon += Region.RegionSize / 2)
-            {
-                allRegions.GetRegion(new Coordinates(lat, lon));
-            }
-        }
-        Console.WriteLine("Regions Loaded. Rendering.");
-        ValueTuple<Image, Renderer.Bounds> baseRender = Renderer.DrawArea(allRegions);
-        return baseRender;
-    }
-
-    private static void TestVariables(string workingDir, Coordinates start, Coordinates finish, int threads)
+    private static void TestVariables(string workingDir, Coordinates start, Coordinates finish)
     {
         string parentFolder = new DirectoryInfo(workingDir).Parent!.FullName;
         
-        RegionManager rm = new (workingDir);
+        Queue<Thread> CalcThreads = new();
 
-        Queue<Thread> calcThreads = new();
-
-        for (double roadLevelPriority = 0.02; roadLevelPriority > 0; roadLevelPriority -= 0.001)
+        for (double sameRoadPriority = 0.002; sameRoadPriority < 0.4; sameRoadPriority += 0.02)
         {
-            for (double maxAngle = 5; maxAngle < 45; maxAngle += 5)
+            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 angle = maxAngle;
-                calcThreads.Enqueue(new Thread(() =>
+                    double roadPriority = sameRoadPriority;
+                    double factor = angleWeightFactor;
+                    CalcThreads.Enqueue(new Thread(() =>
                     {
-                    Pathfinder testresult = new Pathfinder(rm, priority, angle).AStar(start,
-                        finish, Tag.SpeedType.car);
-                    string fileName = $"angle{angle:0.000}_level{priority:0.000}.result";
+                        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 completedTasks = 0;
+        int totalTasks = CalcThreads.Count;
+        int completed = 0;
         DateTime startTime = DateTime.Now;
 
         HashSet<Thread> runningThreads = new();
-        while (calcThreads.Count > 0)
+        while (CalcThreads.Count > 0)
         {
-            while (runningThreads.Count < threads && calcThreads.Count > 0)
+            while (runningThreads.Count < 16 && CalcThreads.Count > 0)
             {
-                Thread t = calcThreads.Dequeue();
+                Thread t = CalcThreads.Dequeue();
                 runningThreads.Add(t);
                 t.Start();
             }
 
-            int newCompletedTasks = runningThreads.RemoveWhere(thread => !thread.IsAlive);
-            completedTasks += newCompletedTasks;
-            if (newCompletedTasks > 0)
-            {
-                TimeSpan elapsedTime = DateTime.Now - startTime;
-                Console.WriteLine($"To calculate: {calcThreads.Count}/{totalTasks} Time Average: {(elapsedTime)/(completedTasks)} Elapsed: {elapsedTime} Remaining: {(elapsedTime)/(completedTasks)*calcThreads.Count}");
-            }
+            int newCompleted = runningThreads.RemoveWhere(thread => !thread.IsAlive);
+            completed += newCompleted;
+            if(newCompleted > 0)
+                Console.WriteLine($"To calculate: {CalcThreads.Count}/{totalTasks} Average Time: {(DateTime.Now - startTime)/(completed)} Elapsed: {DateTime.Now - startTime} Remaining: {(DateTime.Now - startTime)/(completed)*CalcThreads.Count}");
         }
     }
 }