unnecessary type-conversion.

This way standardized rendering methods can be implemented.

API/Program.cs

@@ -16,7 +16,7 @@ var app = builder.Build();
 app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lonEnd, Tag.SpeedType vehicle, double useHigherLevelRoadsPriority, double maxTurnAngle) =>
     {
         Pathfinder result = new Pathfinder("D:/stuttgart-regbez-latest", useHigherLevelRoadsPriority,  maxTurnAngle).AStar(new Coordinates(latStart, lonStart),
-            new Coordinates(latEnd, lonEnd), vehicle);
+            new Coordinates(latEnd, lonEnd), vehicle, 3);
         return result.pathResult;
     } 
 );
@@ -24,7 +24,7 @@ app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lon
 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);
+            new Coordinates(latEnd, lonEnd), Tag.SpeedType.any, 3);
         return result.pathResult;
     }
 );

OSMDatastructure/Graph/Coordinates.cs

@@ -21,8 +21,7 @@ public class Coordinates
         if (obj == null || obj.GetType() != this.GetType())
             return false;
         Coordinates convObj = (Coordinates)obj;
-        // ReSharper disable twice CompareOfFloatsByEqualityOperator static values
-        return convObj.latitude == this.latitude && convObj.longitude == this.longitude;
+        return convObj.latitude.Equals(this.latitude) && convObj.longitude.Equals(longitude);
     }
 
     public static ulong GetRegionHashCode(float latitude, float longitude)
@@ -49,6 +48,6 @@ public class Coordinates
     public override string ToString()
     {
         return
-            $"lat:{latitude.ToString(NumberFormatInfo.InvariantInfo)} lon:{longitude.ToString(CultureInfo.InvariantCulture)}";
+            $"Coordinates lat:{latitude.ToString(NumberFormatInfo.InvariantInfo)} lon:{longitude.ToString(CultureInfo.InvariantCulture)}";
     }
 }

OSMDatastructure/Graph/OsmEdge.cs

@@ -22,6 +22,6 @@ public class OsmEdge
 
     public override string ToString()
     {
-        return $"w:{wayId} n1:{startId} n2:{neighborId} in r:{neighborRegion}";
+        return $"Edge wayId:{wayId} n1:{startId} n2:{neighborId} in regionId:{neighborRegion}";
     }
 }

OSMDatastructure/Graph/OsmNode.cs

@@ -40,6 +40,6 @@ public class OsmNode
 
     public override string ToString()
     {
-        return $"{nodeId} {coordinates} ec:{edges.Count}";
+        return $"Node id:{nodeId} coordinates:{coordinates} edges-count:{edges.Count}";
     }
 }

OSMDatastructure/Tag.cs

@@ -18,7 +18,7 @@ public class Tag
             switch (key)
             {
                 case TagType.highway:
-                    this.value = (WayType)value.GetByte();
+                    this.value = value.GetByte();
                     break;
                 case TagType.maxspeed:
                     this.value = value.GetByte();
@@ -61,6 +61,7 @@ public class Tag
                 }
                 break;
             case "maxspeed":
+            case "maxspeed:max":
                 try
                 {
                     byte speed = Convert.ToByte(value);
@@ -111,8 +112,8 @@ public class Tag
 
     public static readonly Dictionary<WayType, byte> defaultSpeedCar = new() {
         { WayType.NONE, 0 },
-        { WayType.motorway, 100 },
-        { WayType.motorroad, 90 },
+        { WayType.motorway, 130 },
+        { WayType.motorroad, 100 },
         { WayType.trunk, 85 },
         { WayType.primary, 65 },
         { WayType.secondary, 60 },

Pathfinding/Pathfinder.cs

@@ -31,7 +31,7 @@ public class Pathfinder
         this.turnAngle = turnAngle;
     }
 
-    public Pathfinder AStar(Coordinates startCoordinates, Coordinates goalCoordinates, SpeedType vehicle)
+    public Pathfinder AStar(Coordinates startCoordinates, Coordinates goalCoordinates, SpeedType vehicle, double extraTime)
     {
         DateTime startCalc = DateTime.Now;
         _speedType = vehicle;
@@ -62,15 +62,12 @@ public class Pathfinder
                 {
                     firstFound = DateTime.Now - startCalc;
                     found = true;
+                    Console.WriteLine($"First: {firstFound} Multiplied by {extraTime}: {firstFound.Multiply(extraTime)}");
                 }
                 maxGscore = gScore[goalNode];
-                /*
-                int removed = openSetfScore.Remove(gScore.Where(item => item.Value > maxGscore)
-                    .ToDictionary(item => item.Key, item => item.Value).Keys);
-                Console.WriteLine($"Removed {removed}");*/
             }
 
-            if (found && DateTime.Now - startCalc > firstFound.Multiply(2))
+            if (found && DateTime.Now - startCalc > firstFound.Multiply(extraTime))
                 stop = true;
 
             foreach (OsmEdge edge in currentNode.edges)
@@ -136,8 +133,12 @@ public class Pathfinder
         if (priority == 0)
             return double.MaxValue;
 
+        double distance = Utils.DistanceBetween(neighborNode, goalNode);
+        
         double speed = regionManager.GetSpeedForEdge(currentNode, edge.wayId, _speedType);
         
+        double roadPriority = priority * roadPriorityFactor;
+        
         double angle = 0;
         if (_cameFromDict!.ContainsKey(currentNode))
         {
@@ -151,12 +152,13 @@ public class Pathfinder
                 angle = nodeAngle / 180;
         }
 
-        double roadPriority = priority * roadPriorityFactor;
-        return Utils.DistanceBetween(neighborNode, goalNode) / (speed * angle + roadPriority + 1);
+        return distance / (speed * angle + roadPriority + 1);
     }
 
     public void SaveResult(string path)
     {
+        if(File.Exists(path))
+            File.Delete(path);
         FileStream fs = new (path, FileMode.CreateNew);
         JsonSerializer.Serialize(fs, pathResult, JsonSerializerOptions.Default);
         fs.Dispose();

Pathfinding/RPriorityQueue.cs

@@ -3,7 +3,7 @@ namespace Pathfinding;
 public class RPriorityQueue<TKey, TPriority> where TKey : notnull
 {
     public Dictionary<TKey, TPriority> queue;
-    public int Count { get; private set; }
+    public int Count => queue.Count;
 
     public RPriorityQueue()
     {
@@ -14,14 +14,12 @@ public class RPriorityQueue<TKey, TPriority> where TKey : notnull
     {
         if (!queue.TryAdd(key, priority))
             queue[key] = priority;
-        Count = queue.Count;
     }
 
-    public TKey? Dequeue()
+    public TKey Dequeue()
     {
-        TKey? retKey = queue.MinBy(item => item.Value).Key;
+        TKey retKey = queue.MinBy(item => item.Value).Key;
         queue.Remove(retKey);
-        Count = queue.Count;
         return retKey;
     }
 
@@ -30,7 +28,20 @@ public class RPriorityQueue<TKey, TPriority> where TKey : notnull
         int before = Count;
         queue = queue.Where(queueitem => !elements.Contains(queueitem.Key))
             .ToDictionary(item => item.Key, item => item.Value);
-        Count = queue.Count;
         return before - Count;
     }
+
+    public int RemoveExcept(IEnumerable<TKey> exceptKeys)
+    {
+        int before = Count;
+        queue = queue.IntersectBy(exceptKeys, item => item.Key).ToDictionary(item => item.Key, item => item.Value);
+        return before - Count;
+    }
+
+    public int Clear()
+    {
+        int before = Count;
+        queue.Clear();
+        return before;
+    }
 }

Pathfinding/RegionManager.cs

@@ -23,17 +23,13 @@ namespace Pathfinding
 
         public Region? GetRegion(ulong id)
         {
-            
-            if(_regions.TryGetValue(id, out Region? retRegion))
-                return retRegion;
-            
+            if (!_regions.ContainsKey(id))
+            {
                 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]; //return from _regions instead of loadedRegion for multithreading/pointers
+            }
             return _regions[id];
         }
 
@@ -45,7 +41,10 @@ namespace Pathfinding
         private static Region? RegionFromFile(string filePath)
         {
             if (!File.Exists(filePath))
+            {
+                //throw new FileNotFoundException(filePath);
                 return null;
+            }
 
             FileStream regionFile = new (filePath, FileMode.Open, FileAccess.Read, FileShare.Read, (int)new FileInfo(filePath).Length, FileOptions.SequentialScan);
             Region retRegion = JsonSerializer.Deserialize<Region>(regionFile, Region.serializerOptions)!;
@@ -67,9 +66,8 @@ namespace Pathfinding
 
         public bool TestValidConnectionForType(OsmNode node1, OsmNode node2, SpeedType type)
         {
-            foreach (OsmEdge edge in node1.edges)
+            foreach (OsmEdge edge in node1.edges.Where(edge => edge.neighborId.Equals(node2.nodeId)))
             {
-                if (edge.neighborId.Equals(node2.nodeId))
                 return TestValidConnectionForType(node1, edge, type);
             }
 
@@ -151,7 +149,7 @@ namespace Pathfinding
                     case WayType.motorway:
                     case WayType.motorway_link:
                     case WayType.motorroad:
-                        return 17;
+                        return 20;
                     case WayType.trunk:
                     case WayType.trunk_link:
                     case WayType.primary:
@@ -159,10 +157,9 @@ namespace Pathfinding
                         return 10;
                     case WayType.secondary:
                     case WayType.secondary_link:
-                        return 7;
                     case WayType.tertiary:
                     case WayType.tertiary_link:
-                        return 5;
+                        return 6;
                     case WayType.unclassified:
                     case WayType.residential:
                     case WayType.road:

RenderPath/Bounds.cs

@@ -0,0 +1,33 @@
+using System.Text.Json.Serialization;
+using OSMDatastructure.Graph;
+
+namespace RenderPath;
+
+public class Bounds
+{
+    [JsonInclude]public float minLat, maxLat, minLon, maxLon;
+
+    [JsonConstructor]
+    public Bounds(float minLat, float minLon, float maxLat, float maxLon)
+    {
+        this.minLon = minLon;
+        this.maxLat = maxLat;
+        this.maxLon = maxLon;
+        this.minLat = minLat;
+    }
+
+    public static Bounds FromCoords(float lat1, float lon1, float lat2, float lon2)
+    {
+        float minLat = lat1 < lat2 ? lat1 : lat2;
+        float minLon = lon1 < lon2 ? lon1 : lon2;
+        float maxLat = lat1 > lat2 ? lat1 : lat2;
+        float maxLon = lon1 > lon2 ? lon1 : lon2;
+
+        return new Bounds(minLat, minLon, maxLat, maxLon);
+    }
+
+    public static Bounds FromCoords(Coordinates c1, Coordinates c2)
+    {
+        return FromCoords(c1.latitude, c1.longitude, c2.latitude, c2.longitude);
+    }
+}

RenderPath/PNGRenderer.cs

@@ -0,0 +1,44 @@
+using System.Drawing;
+using System.Drawing.Imaging;
+
+namespace RenderPath;
+
+#pragma warning disable CA1416
+public class PNGRenderer : Renderer
+{
+    private readonly Image _image;
+    private readonly Graphics _graphics;
+
+    public PNGRenderer(int width, int height)
+    {
+        _image = new Bitmap(width, height, PixelFormat.Format32bppPArgb);
+        _graphics = Graphics.FromImage(_image);
+        _graphics.Clear(Color.White);
+    }
+
+    public PNGRenderer(Image renderOver)
+    {
+        _image = renderOver;
+        _graphics = Graphics.FromImage(renderOver);
+    }
+
+    public override void DrawLine(float x1, float y1, float x2, float y2, int width, Color color)
+    {
+        Pen p = new Pen(color, width);
+        _graphics.DrawLine(p, x1, y1, x2, y2);
+    }
+
+    public override void DrawDot(float x, float y, int radius, Color color)
+    {
+        Brush b = new SolidBrush(color);
+        x -= radius / 2f;
+        y -= radius / 2f;
+        _graphics.FillEllipse(b, x, y, radius, radius);
+    }
+
+    public override void Save(string path)
+    {
+        _image.Save($"{path}.png", ImageFormat.Png);
+    }
+}
+#pragma warning restore CA1416

RenderPath/Renderer.cs

@@ -1,50 +1,29 @@
-using System.Diagnostics.CodeAnalysis;
 using System.Drawing;
-using System.Drawing.Imaging;
 using OSMDatastructure;
 using OSMDatastructure.Graph;
 using Pathfinding;
 
 namespace RenderPath;
 
-public static class Renderer
+public abstract class Renderer
 {
     private const int ImageMaxSize = 20000;
-    private const float PenThickness = 2;
+    private const int PenThickness = 2;
     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);
 
-    public class Bounds
-    {
-        public readonly float minLat, maxLat, minLon, maxLon;
+    public Bounds? bounds;
 
-        public Bounds(float minLat, float minLon, float maxLat, float maxLon)
-        {
-            this.minLon = minLon;
-            this.maxLat = maxLat;
-            this.maxLon = maxLon;
-            this.minLat = minLat;
-        }
-    }
+    public enum RenderType { png, svg}
     
-    [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
-    public static Image DrawPathfinder(Pathfinder pathfinder)
-    {
-        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);
+    public abstract void DrawLine(float x1, float y1, float x2, float y2, int width, Color color);
+    public abstract void DrawDot(float x, float y, int r, Color color);
+    public abstract void Save(string path);
     
-        return areaGScorePathRender.Item1;
-    }
-
-    [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
-    public static ValueTuple<Image, Bounds> DrawArea(RegionManager rm)
+    public static Renderer DrawArea(RegionManager rm, RenderType renderType)
     {
         HashSet<OsmNode> nodes = new();
         foreach (OSMDatastructure.Region r in rm.GetAllRegions())
@@ -63,43 +42,49 @@ public static class Renderer
         int pixelsX = (int)(lonDiff * scaleFactor);
         int pixelsY = (int)(latDiff * scaleFactor);
 
-        Image ret = new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppPArgb);
-        Graphics g = Graphics.FromImage(ret);
-        g.Clear(Color.White);
+        Renderer renderer;
+        switch (renderType)
+        {
+            case RenderType.svg:
+                renderer = new SVGRenderer(pixelsX, pixelsY);
+                break;
+            default:
+                renderer = new PNGRenderer(pixelsX, pixelsY);
+                break;
+        }
 
         foreach (OsmNode node in nodes)
         {
             foreach (OsmEdge edge in node.edges)
             {
-                double priority = rm.GetPriorityForVehicle(Tag.SpeedType.car, edge, node) / 17;
+                double priority = rm.GetPriorityForVehicle(Tag.SpeedType.car, edge, node) / 20;
                 Coordinates c1 = node.coordinates;
                 OsmNode nNode = rm.GetNode(edge.neighborId, edge.neighborRegion)!;
                 Coordinates c2 = nNode.coordinates;
 
-                Pen p = new(ColorInterp(RoadPrioStart, RoadPrioEnd, priority), PenThickness);
                 float x1 = (c1.longitude - minLon) * scaleFactor;
                 float y1 = (maxLat - c1.latitude) * scaleFactor;
                 float x2 = (c2.longitude - minLon) * scaleFactor;
                 float y2 = (maxLat - c2.latitude) * scaleFactor;
                 
-                g.DrawLine(p, x1, y1, x2, y2);
+                renderer.DrawLine(x1, y1, x2, y2, PenThickness, ColorInterp(RoadPrioStart, RoadPrioEnd, priority));
             }
         }
 
-        return new ValueTuple<Image, Bounds>(ret, new Bounds(minLat,minLon,maxLat,maxLon));
+        renderer.bounds = new Bounds(minLat,minLon,maxLat,maxLon);
+        return renderer;
     }
     
-    [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
-    public static ValueTuple<Image, Bounds> DrawPath(PathResult pathResult, Image? renderOver = null, Bounds? bounds = null)
+    public static Renderer DrawPath(PathResult pathResult, RenderType renderType, Renderer? drawOver)
     {
         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 minLat = drawOver?.bounds!.minLat ?? coordinates.Min(coords => coords.latitude);
+        float minLon = drawOver?.bounds!.minLon ?? coordinates.Min(coords => coords.longitude);
+        float maxLat = drawOver?.bounds!.maxLat ?? coordinates.Max(coords => coords.latitude);
+        float maxLon = drawOver?.bounds!.maxLon ?? coordinates.Max(coords => coords.longitude);
         
         float latDiff = maxLat - minLat;
         float lonDiff = maxLon - minLon;
@@ -109,36 +94,43 @@ public static class Renderer
         int pixelsX = (int)(lonDiff * scaleFactor);
         int pixelsY = (int)(latDiff * scaleFactor);
         
-        Image ret = renderOver ?? new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppPArgb);
-        Graphics g = Graphics.FromImage(ret);
-        if(renderOver is null)
-            g.Clear(Color.White);
-
-        Pen p = new Pen(RouteColor, PenThickness);
+        Renderer renderer;
+        if(drawOver is null)
+            switch (renderType)
+            {
+                case RenderType.svg:
+                    renderer = new SVGRenderer(pixelsX, pixelsY);
+                    break;
+                default:
+                    renderer = new PNGRenderer(pixelsX, pixelsY);
+                    break;
+            }
+        else
+            renderer = drawOver;
 
         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);
+            float x1 = (c1.longitude - minLon) * scaleFactor;
+            float y1 = (maxLat - c1.latitude) * scaleFactor;
+            float x2 = (c2.longitude - minLon) * scaleFactor;
+            float y2 = (maxLat - c2.latitude) * scaleFactor;
+            
+            renderer.DrawLine(x1, y1, x2, y2, PenThickness, RouteColor);
         }
 
-        return new ValueTuple<Image, Bounds>(ret, new Bounds(minLat,minLon,maxLat,maxLon));
+        renderer.bounds = new Bounds(minLat, minLon, maxLat, maxLon);
+        return renderer;
     }
     
-    [SuppressMessage("Interoperability", "CA1416:Plattformkompatibilität überprüfen")]
-    public static ValueTuple<Image, Bounds> DrawGScores(Dictionary<OsmNode, double> gScore, Image? renderOver = null,
-        Bounds? bounds = null)
+    public static Renderer DrawGScores(Dictionary<OsmNode, double> gScore, RenderType renderType, Renderer? drawOver)
     {
         
-        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);
+        float minLat = drawOver?.bounds!.minLat ?? gScore.Min(kv => kv.Key.coordinates.latitude);
+        float minLon = drawOver?.bounds!.minLon ?? gScore.Min(kv => kv.Key.coordinates.longitude);
+        float maxLat = drawOver?.bounds!.maxLat ?? gScore.Max(kv => kv.Key.coordinates.latitude);
+        float maxLon = drawOver?.bounds!.maxLon ?? gScore.Max(kv => kv.Key.coordinates.longitude);
 
         double minWeight = gScore.Min(kv => kv.Value);
         double maxWeight = gScore.Max(kv => kv.Value);
@@ -151,27 +143,43 @@ public static class Renderer
         int pixelsX = (int)(lonDiff * scaleFactor);
         int pixelsY = (int)(latDiff * scaleFactor);
         
-        Image ret = renderOver ?? new Bitmap(pixelsX, pixelsY, PixelFormat.Format32bppPArgb);
-        Graphics g = Graphics.FromImage(ret);
-        if(renderOver is null)
-            g.Clear(Color.White);
-
-        float pointSize = PenThickness * 1.5f;
+        Renderer renderer;
+        if(drawOver is null)
+            switch (renderType)
+            {
+                case RenderType.svg:
+                    renderer = new SVGRenderer(pixelsX, pixelsY);
+                    break;
+                default:
+                    renderer = new PNGRenderer(pixelsX, pixelsY);
+                    break;
+            }
+        else
+            renderer = drawOver;
 
         foreach (KeyValuePair<OsmNode, double> kv in gScore)
         {
             double percentage = (kv.Value - minWeight) / (maxWeight - minWeight);
-            Brush b = new SolidBrush(ColorInterp(WeightStartColor, WeightEndColor, percentage));
-            
             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);
+            renderer.DrawDot(x, y, PenThickness, ColorInterp(WeightStartColor, WeightEndColor, percentage));
         }
 
-        return new ValueTuple<Image, Bounds>(ret, new Bounds(minLat,minLon,maxLat,maxLon));
+        renderer.bounds = new Bounds(minLat,minLon,maxLat,maxLon);
+        return renderer;
+    }
+    
+    public static Renderer DrawPathfinder(Pathfinder pathfinder, RenderType renderType)
+    {
+        Console.WriteLine("Rendering loaded Regions");
+        Renderer areaRender = DrawArea(pathfinder.regionManager, renderType);
+        Console.WriteLine("Rendering gScores (Weights)");
+        Renderer areaGScoreRender = DrawGScores(pathfinder.gScore!, renderType, areaRender);
+        Console.WriteLine("Rendering path");
+        Renderer areaGScorePathRender = DrawPath(pathfinder.pathResult!, renderType, areaGScoreRender);
+
+        return areaGScorePathRender;
     }
     
     /*

RenderPath/SVGRenderer.cs

@@ -0,0 +1,92 @@
+using System.Drawing;
+
+namespace RenderPath;
+using System.Xml;
+
+public class SVGRenderer : Renderer
+{
+    private readonly XmlDocument _image;
+    private XmlElement _document;
+    
+    public SVGRenderer(int width, int height)
+    {
+        _image = new XmlDocument();
+        CreateTree(width, height);
+    }
+
+    public SVGRenderer(XmlDocument renderOver)
+    {
+        _image = renderOver;
+        _document = _image.GetElementById("svg")!;
+    }
+
+    private void CreateTree(int width, int height)
+    {
+        XmlDeclaration xmlDeclaration = _image.CreateXmlDeclaration( "1.0", "UTF-8", null );
+        _image.InsertBefore(xmlDeclaration, _image.DocumentElement);
+        XmlElement pElement = _image.CreateElement("svg");
+        XmlAttribute xmlns = _image.CreateAttribute("xmlns");
+        xmlns.Value = "http://www.w3.org/2000/svg";
+        pElement.Attributes.Append(xmlns);
+        XmlAttribute aWidth = _image.CreateAttribute("width");
+        aWidth.Value = width.ToString();
+        pElement.Attributes.Append(aWidth);
+        XmlAttribute aHeight = _image.CreateAttribute("height");
+        aHeight.Value = height.ToString();
+        pElement.Attributes.Append(aHeight);
+        _image.AppendChild(pElement);
+        _document = pElement;
+    }
+
+    public override void DrawLine(float x1, float y1, float x2, float y2, int width, Color color)
+    {
+        XmlElement newLine = _image.CreateElement("line");
+        XmlAttribute aX1 = _image.CreateAttribute("x1");
+        aX1.Value = Math.Floor(x1).ToString("0");
+        newLine.Attributes.Append(aX1);
+        XmlAttribute aY1 = _image.CreateAttribute("y1");
+        aY1.Value = Math.Floor(y1).ToString("0");
+        newLine.Attributes.Append(aY1);
+        XmlAttribute aX2 = _image.CreateAttribute("x2");
+        aX2.Value = Math.Floor(x2).ToString("0");
+        newLine.Attributes.Append(aX2);
+        XmlAttribute aY2 = _image.CreateAttribute("y2");
+        aY2.Value = Math.Floor(y2).ToString("0");
+        newLine.Attributes.Append(aY2);
+        XmlAttribute stroke = _image.CreateAttribute("stroke-width");
+        stroke.Value = width.ToString();
+        newLine.Attributes.Append(stroke);
+        XmlAttribute aColor = _image.CreateAttribute("stroke");
+        aColor.Value = HexFromColor(color);
+        newLine.Attributes.Append(aColor);
+        _document.AppendChild(newLine);
+    }
+
+    public override void DrawDot(float x, float y, int radius, Color color)
+    {
+        XmlElement newCircle = _image.CreateElement("circle");
+        XmlAttribute aX = _image.CreateAttribute("cx");
+        aX.Value = Math.Floor(x).ToString("0");
+        newCircle.Attributes.Append(aX);
+        XmlAttribute aY = _image.CreateAttribute("cy");
+        aY.Value = Math.Floor(y).ToString("0");
+        newCircle.Attributes.Append(aY);
+        XmlAttribute aR = _image.CreateAttribute("r");
+        aR.Value = radius.ToString();
+        newCircle.Attributes.Append(aR);
+        XmlAttribute fill = _image.CreateAttribute("fill");
+        fill.Value = HexFromColor(color);
+        newCircle.Attributes.Append(fill);
+        _document.AppendChild(newCircle);
+    }
+
+    public override void Save(string path)
+    {
+        _image.Save($"{path}.svg");
+    }
+
+    private static string HexFromColor(Color color)
+    {
+        return $"#{color.R:X2}{color.G:X2}{color.B:X2}";
+    }
+}

Server/Server.cs

@@ -1,5 +1,7 @@
+using System.Diagnostics.CodeAnalysis;
 using System.Drawing;
 using System.Drawing.Imaging;
+using System.Text.Json;
 using OSMDatastructure;
 using OSMDatastructure.Graph;
 using Pathfinding;
@@ -11,6 +13,7 @@ namespace Server;
 public class Server
 {
     
+    [SuppressMessage("Interoperability", "CA1416:Validate platform compatibility")]
     public static void Main(string[] args)
     {
         ConsoleWriter newConsole = new();
@@ -26,27 +29,33 @@ public class Server
         Coordinates start = new (48.7933798f, 9.8275859f);
         Coordinates finish = new (48.795918f, 9.021618f);
 
-        TestVariables(workingDir, start, finish, 16);
-        GetShortestRoute("D:");
+        Pathfinder result = new Pathfinder(workingDir, 2, 30).AStar(start, finish, Tag.SpeedType.car, 1);
+        Renderer image = Renderer.DrawPathfinder(result, Renderer.RenderType.png);
+        image.Save("D:/stuttgart-regbez-latest");
         
         /*
-        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);
+        if(File.Exists(@"D:\bounds"))
+            File.Delete(@"D:\bounds");
+        RegionManager rm = LoadRegions(workingDir, start, finish);
+        Renderer areaRender = Renderer.DrawArea(rm, Renderer.RenderType.PNG);
+        FileStream s = new(@"D:\bounds", FileMode.OpenOrCreate);
+        JsonSerializer.Serialize(s, areaRender.bounds, JsonSerializerOptions.Default);
+        areaRender.Save(@"D:\Base");
+        s.Dispose();
         */
+        
+
+
+        //TestVariables(workingDir, start, finish, 12);
+        //GetShortestRoute("D:");
+
 /*
         string parentFolder = new DirectoryInfo(workingDir).Parent!.FullName;
+        Renderer.Bounds bounds = JsonSerializer.Deserialize<Renderer.Bounds>(new FileStream(@"D:\bounds", FileMode.Open));
+        Image baseImage = Image.FromFile(@"D:\Base.png");
         
-        Pathfinder result = new Pathfinder(workingDir, 0.002, 0,
-            0, 1, 30).AStar(start,
-            finish, Tag.SpeedType.car);
+        Pathfinder result = new Pathfinder(workingDir, 2, 30).AStar(start,
+            finish, Tag.SpeedType.car, 4);
 
         Console.WriteLine($"Calc-time {result.pathResult!.calcTime} Path-length: {result.pathResult.pathNodes.Count} Visited-nodes: {result.gScore!.Count}");
 
@@ -56,41 +65,41 @@ public class Server
         result.SaveResult(Path.Join(parentFolder, resultFileName));
 
         string renderFileName = $"{new DirectoryInfo(workingDir).Name}-{fileName}.render.png";
-        Image render = Renderer.DrawPathfinder(result);
-#pragma warning disable CA1416
+
+        Image renderWeights = Renderer.DrawGScores(result.gScore, baseImage, bounds).Item1;
+        Image render = Renderer.DrawPath(result.pathResult, renderWeights, bounds).Item1;
         render.Save(Path.Join(parentFolder, renderFileName), ImageFormat.Png);
-#pragma warning restore CA1416*/
-        Console.Beep(400, 100);
+*/
+        Console.Beep(400, 50);
+        Console.Beep(600, 50);
+        Console.Beep(400, 50);
+        Console.Beep(600, 50);
     }
 
     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());
+        Dictionary<PathResult, string> results = new();
         int loaded = 0;
         foreach (string filePath in allFiles)
         {
             PathResult result = PathResult.PathresultFromFile(filePath);
+            results.Add(result, 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)
+        KeyValuePair<PathResult, string> shortest = results.MinBy(result => result.Key.distance);
+        KeyValuePair<PathResult, string> fastest = results.MinBy(result => result.Key.weight);
+        KeyValuePair<PathResult, string> calcTime = results.MinBy(result => result.Key.calcTime);
+        Console.WriteLine($"\nShortest:\t{shortest.Key.distance:0.0} {shortest.Key.weight:0.00} {shortest.Key.calcTime} {shortest.Value}\n" +
+                          $"Fastest:\t{fastest.Key.distance:0.0} {fastest.Key.weight:0.00} {fastest.Key.calcTime} {fastest.Value}\n" +
+                          $"CalcTime:\t{calcTime.Key.distance:0.0} {calcTime.Key.weight:0.00} {calcTime.Key.calcTime} {calcTime.Value}");
+    }
+
+    private static RegionManager LoadRegions(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;
@@ -98,38 +107,51 @@ public class Server
         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 lat = minLat - Region.RegionSize * 3; lat < maxLat + Region.RegionSize * 3; 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;
+        Console.WriteLine("Loaded needed Regions");
+        return allRegions;
     }
 
+    [SuppressMessage("Interoperability", "CA1416:Validate platform compatibility")]
     private static void TestVariables(string workingDir, Coordinates start, Coordinates finish, int threads)
     {
         string parentFolder = new DirectoryInfo(workingDir).Parent!.FullName;
 
-        RegionManager rm = new (workingDir);
+        RegionManager rm = LoadRegions(workingDir, start, finish);
         
         Queue<Thread> calcThreads = new();
         
-        for (double roadLevelPriority = 0.02; roadLevelPriority > 0; roadLevelPriority -= 0.001)
+        Bounds bounds = JsonSerializer.Deserialize<Bounds>(new FileStream(@"D:\bounds", FileMode.Open))!;
+
+        
+        for (double extraTime = 1.5; extraTime >= 1; extraTime -= 0.25)
         {
-            for (double maxAngle = 5; maxAngle < 45; maxAngle += 5)
+            for (double roadFactor = 0.05; roadFactor < 5; roadFactor += 0.05)
             {
-                double priority = roadLevelPriority;
-                double angle = maxAngle;
+                double road = roadFactor;
+                double time = extraTime;
                 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";
-                    testresult.SaveResult(Path.Join(parentFolder, fileName));
+                    Pathfinder testresult = new Pathfinder(workingDir, road, 30).AStar(start,
+                        finish, Tag.SpeedType.car, time);
+                    Image baseImage = Image.FromStream(new FileStream(@"D:\Base.png", FileMode.Open, FileAccess.Read, FileShare.Read,
+                        (int)new FileInfo(@"D:\Base.png").Length, FileOptions.Asynchronous));
+                    Renderer renderer = new PNGRenderer(baseImage);
+                    renderer.bounds = bounds;
+                    Renderer renderWeights = Renderer.DrawGScores(testresult.gScore!, Renderer.RenderType.png, renderer);
+                    Renderer render = Renderer.DrawPath(testresult.pathResult!, Renderer.RenderType.png, renderWeights);
+                    string fileName = $"road{road:0.00}_time{time:0.00}";
+                    string resultFileName = Path.Combine("D:", $"{fileName}.result");
+                    testresult.SaveResult(resultFileName);
+                    string imageFileName = Path.Combine("D:", fileName);
+                    render.Save(imageFileName);
+                    Console.WriteLine($"Saved {fileName}");
                 }));
             }
         }
@@ -139,7 +161,8 @@ public class Server
         DateTime startTime = DateTime.Now;
 
         HashSet<Thread> runningThreads = new();
-        while (calcThreads.Count > 0)
+        Console.WriteLine($"Running {threads} Threads on {totalTasks} Tasks.");
+        while (calcThreads.Count > 0 || runningThreads.Count > 0)
         {
             while (runningThreads.Count < threads && calcThreads.Count > 0)
             {
@@ -153,7 +176,7 @@ public class Server
             if (newCompletedTasks > 0)
             {
                 TimeSpan elapsedTime = DateTime.Now - startTime;
-                Console.WriteLine($"To calculate: {calcThreads.Count}/{totalTasks} Time Average: {(elapsedTime)/(completedTasks)} Elapsed: {elapsedTime} Remaining: {(elapsedTime)/(completedTasks)*calcThreads.Count}");
+                Console.WriteLine($"To calculate: {calcThreads.Count}(+{runningThreads.Count} running)/{totalTasks} Time Average: {(elapsedTime/completedTasks)} Elapsed: {elapsedTime} Remaining: {(elapsedTime/completedTasks*calcThreads.Count)}");
             }
         }
     }