API/Program.cs

@@ -1,7 +1,4 @@
-using System.Text.Json.Serialization;
 using OSMDatastructure.Graph;
-using OSMImporter;
-using Pathfinding;
 
 var builder = WebApplication.CreateBuilder(args);
 
@@ -18,19 +15,12 @@ var app = builder.Build();
 
 app.MapGet("/getRoute", (float latStart, float lonStart, float latEnd, float lonEnd) =>
     {
-        ValueTuple<TimeSpan, List<PathNode>> result = Pathfinder.CustomAStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart), new Coordinates(latEnd, lonEnd),
+        List<OsmNode> path = Pathfinding.Pathfinder.CustomAStar("D:/stuttgart-regbez-latest", new Coordinates(latStart, lonStart), new Coordinates(latEnd, lonEnd),
             Tag.SpeedType.car);
-        PathResult pathResult = new PathResult(result.Item1, result.Item2);
+        return path;
-        return pathResult;
     } 
 );
 
-app.MapGet("/getClosestNode", (float lat, float lon) =>
-{
-    RegionManager regionManager = new RegionManager("D:/stuttgart-regbez-latest");
-    return Pathfinder.ClosestNodeToCoordinates(new Coordinates(lat, lon), Tag.SpeedType.car, ref regionManager);
-});
-
 // Configure the HTTP request pipeline.
 if (app.Environment.IsDevelopment())
 {
@@ -45,19 +35,3 @@ app.UseAuthorization();
 app.MapControllers();
 
 app.Run();
-
-internal class PathResult
-{
-    [JsonInclude]public TimeSpan calcTime;
-    [JsonInclude] public double pathWeight;
-    [JsonInclude] public double pathTravelDistance;
-    [JsonInclude]public List<PathNode> pathNodes;
-
-    public PathResult(TimeSpan calcTime, List<PathNode> pathNodes)
-    {
-        this.calcTime = calcTime;
-        this.pathNodes = pathNodes;
-        this.pathWeight = pathNodes.Last().currentPathWeight;
-        this.pathTravelDistance = pathNodes.Last().currentPathLength;
-    }
-}

OSMDatastructure/OsmNode.cs

@@ -12,8 +12,8 @@ public class OsmNode
     public Coordinates coordinates { get; } 
     
     [JsonIgnore][NonSerialized]public OsmNode? previousPathNode = null;
-    [JsonIgnore][NonSerialized]public double currentPathWeight = double.MaxValue;
+    [JsonInclude][NonSerialized]public double currentPathWeight = double.MaxValue;
-    [JsonIgnore][NonSerialized]public double currentPathLength = double.MaxValue;
+    [JsonInclude][NonSerialized]public double currentPathLength = double.MaxValue;
     [JsonIgnore][NonSerialized]public double directDistanceToGoal = double.MaxValue;
 
     [OnDeserialized]

Pathfinding/PathNode.cs

@@ -1,32 +0,0 @@
-using System.Text.Json.Serialization;
-using OSMDatastructure.Graph;
-
-namespace Pathfinding;
-
-public class PathNode : OsmNode
-{
-    [JsonInclude]public new double currentPathWeight = double.MaxValue;
-    [JsonInclude]public new double currentPathLength = double.MaxValue;
-    [JsonInclude]public new double directDistanceToGoal = double.MaxValue;
-    
-    public PathNode(ulong nodeId, float lat, float lon) : base(nodeId, lat, lon)
-    {
-    }
-
-    public PathNode(ulong nodeId, Coordinates coordinates) : base(nodeId, coordinates)
-    {
-    }
-
-    public static PathNode? FromOsmNode(OsmNode? node)
-    {
-        if (node is null)
-            return null;
-        PathNode retNode = new PathNode(node.nodeId, node.coordinates)
-        {
-            currentPathLength = node.currentPathLength,
-            currentPathWeight = node.currentPathWeight,
-            directDistanceToGoal = node.directDistanceToGoal
-        };
-        return retNode;
-    }
-}

Pathfinding/Pathfinder.cs

@@ -6,30 +6,31 @@ namespace Pathfinding;
 
 public static class Pathfinder
 {
-    public static ValueTuple<TimeSpan, List<PathNode>> CustomAStar(string workingDir, Coordinates start, Coordinates goal, Tag.SpeedType vehicle)
+    public static List<OsmNode> CustomAStar(string workingDir, Coordinates start, Coordinates goal, Tag.SpeedType vehicle)
     {
-        DateTime startTime = DateTime.Now;
+        RegionManager regionManager = new RegionManager(workingDir);
-        TimeSpan calcTime;
+        Region? startRegion = regionManager.GetRegion(start);
-        RegionManager regionManager = new (workingDir);
+        Region? goalRegion = regionManager.GetRegion(goal);
-        OsmNode? startNode = ClosestNodeToCoordinates(start, vehicle, ref regionManager);
+        if (startRegion is null || goalRegion is null)
-        OsmNode? goalNode = ClosestNodeToCoordinates(goal, vehicle, ref regionManager);
+            return new List<OsmNode>();
+
+        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>();
-            calcTime = DateTime.Now - startTime;
-            return new ValueTuple<TimeSpan, List<PathNode>>(calcTime, new List<PathNode>());
-        }
 
         PriorityQueue<OsmNode, double> toVisit = new();
         toVisit.Enqueue(startNode, 0);
         startNode.currentPathWeight = 0;
         startNode.currentPathLength = 0;
         startNode.directDistanceToGoal =  Utils.DistanceBetween(startNode, goalNode);
+        OsmNode closestNodeToGoal = startNode;
         bool stop = false;
 
         while (toVisit.Count > 0)
         {
-            OsmNode closestNodeToGoal = toVisit.Dequeue();
+            closestNodeToGoal = toVisit.Dequeue();
-            //Console.WriteLine($"{toVisit.Count:000} {closestNodeToGoal.directDistanceToGoal:#.00} current:{closestNodeToGoal}");
+            Console.WriteLine($"{toVisit.Count:000} {closestNodeToGoal.directDistanceToGoal:#.00} current:{closestNodeToGoal}");
 
             foreach (OsmEdge edge in closestNodeToGoal.edges)
             {
@@ -43,7 +44,6 @@ public static class Pathfinder
                         neighbor.previousPathNode = closestNodeToGoal;
                         neighbor.currentPathWeight = newPotentialWeight;
                         neighbor.currentPathLength = closestNodeToGoal.currentPathLength + Utils.DistanceBetween(closestNodeToGoal, neighbor);
-                        neighbor.directDistanceToGoal = Utils.DistanceBetween(neighbor, goalNode);
 
                         if (neighbor.Equals(goalNode) || closestNodeToGoal.directDistanceToGoal < 10)
                         {
@@ -52,6 +52,7 @@ public static class Pathfinder
                         }
                         else if(!stop)
                         {
+                            neighbor.directDistanceToGoal = Utils.DistanceBetween(neighbor, goalNode);
                             toVisit.Enqueue(neighbor, neighbor.directDistanceToGoal);
                         }
                     }
@@ -59,26 +60,23 @@ public static class Pathfinder
             }
         }
 
-        List<PathNode> path = new();
+        List<OsmNode> path = new();
         OsmNode? currentNode = goalNode;
-        while (currentNode is not null)
+        while (currentNode != null && !currentNode.Equals(startNode))
         {
-            path.Add(PathNode.FromOsmNode(currentNode)!);
+            path.Add(currentNode);
             currentNode = currentNode.previousPathNode;
         }
+        path.Add(startNode);
         path.Reverse();
         
-        calcTime = DateTime.Now - startTime;
+        return path;
-        return new ValueTuple<TimeSpan, List<PathNode>>(calcTime, path);
     }
     
-    public static OsmNode? ClosestNodeToCoordinates(Coordinates coordinates, Tag.SpeedType vehicle, ref RegionManager regionManager)
+    private static OsmNode? ClosestNodeToCoordinates(Coordinates coordinates, Region region, Tag.SpeedType vehicle, ref RegionManager regionManager)
     {
         OsmNode? closest = null;
         double distance = double.MaxValue;
-        Region? region = regionManager.GetRegion(coordinates);
-        if (region is null)
-            return null;
         foreach (OsmNode node in region.nodes)
         {
             bool hasConnectionUsingVehicle = false;

Server/Server.cs

@@ -13,21 +13,21 @@ public class Server
         Console.SetOut(newConsole);
         Console.SetError(newConsole);
        
-        RegionConverter.ConvertXMLToRegions("D:/stuttgart-regbez-latest.osm", "D:/stuttgart-regbez-latest");
+        //RegionConverter.ConvertXMLToRegions("D:/stuttgart-regbez-latest.osm", "D:/stuttgart-regbez-latest");
         //RegionConverter.ConvertXMLToRegions("D:/map.osm", "D:/map");
-        //RegionConverter.ConvertXMLToRegions("D:/germany-latest.osm", "D:/germany-latest");
+        Console.WriteLine("Loaded");
 
-        /*
+        
-        Coordinates start = new Coordinates(48.794567f, 9.820625f);
+        Coordinates start = new Coordinates(48.793319f, 9.832102f);
-        Coordinates finish = new Coordinates(48.79593f, 9.824013f);
+        Coordinates finish = new Coordinates(48.8407888f, 10.0676020f);
         DateTime startTime = DateTime.Now;
-        OsmNode[] path = Pathfinder.CustomAStar("D:/map", start, finish, Tag.SpeedType.car).ToArray();
+        OsmNode[] path = Pathfinder.CustomAStar("D:/stuttgart-regbez-latest", start, finish, Tag.SpeedType.car).ToArray();
         TimeSpan duration = DateTime.Now - startTime;
         Console.WriteLine($"Took {duration.TotalMilliseconds}ms ({duration:g})");
         for (int i = 0; i < path.Length - 1; i++)
         {
             Console.WriteLine(path[i]);
         }
-        Console.WriteLine();*/
+        Console.WriteLine();
     }
 }