Datastructure for ASTAR and OSM_Regions

.gitignore

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+bin/
+obj/
+/packages/
+riderModule.iml
+/_ReSharper.Caches/

.idea/.idea.OSM_Graph/.idea/.gitignore

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+# Default ignored files
+/shelf/
+/workspace.xml
+# Rider ignored files
+/projectSettingsUpdater.xml
+/.idea.OSM_Graph.iml
+/modules.xml
+/contentModel.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml

.idea/.idea.OSM_Graph/.idea/encodings.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Encoding" addBOMForNewFiles="with BOM under Windows, with no BOM otherwise" />
+</project>

.idea/.idea.OSM_Graph/.idea/indexLayout.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="UserContentModel">
+    <attachedFolders />
+    <explicitIncludes />
+    <explicitExcludes />
+  </component>
+</project>

.idea/.idea.OSM_Graph/.idea/vcs.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

Graph/Graph.cs

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+namespace Graph;
+
+public class Graph
+{
+    public readonly Dictionary<ulong, Node> Nodes = new();
+    public readonly Dictionary<ulong, Way> Ways = new ();
+
+    public void ConcatGraph(Graph graph)
+    {
+        foreach ((ulong id, Node n) in graph.Nodes)
+            this.Nodes.TryAdd(id, n);
+        foreach ((ulong id, Way w) in graph.Ways)
+            this.Ways.TryAdd(id, w);
+    }
+
+    public bool ContainsNode(Node node)
+    {
+        return Nodes.ContainsValue(node);
+    }
+
+    public bool ContainsNode(ulong nodeId)
+    {
+        return Nodes.ContainsKey(nodeId);
+    }
+
+    public bool ContainsWay(Way way)
+    {
+        return Ways.ContainsValue(way);
+    }
+
+    public bool ContainsWay(ulong wayId)
+    {
+        return Ways.ContainsKey(wayId);
+    }
+
+    public KeyValuePair<ulong, Node> ClosestNodeToCoordinates(float lat, float lon)
+    {
+        return Nodes.MinBy(n => n.Value.DistanceTo(lat, lon));
+    }
+
+    public override string ToString()
+    {
+        return $"Graph {Nodes.Count} Nodes {Ways.Count} Ways.";
+    }
+}

Graph/Graph.csproj

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+<Project Sdk="Microsoft.NET.Sdk">
+
+    <PropertyGroup>
+        <TargetFramework>net8.0</TargetFramework>
+        <ImplicitUsings>enable</ImplicitUsings>
+        <Nullable>enable</Nullable>
+    </PropertyGroup>
+
+</Project>

Graph/Node.cs

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+namespace Graph;
+
+public class Node(float lat, float lon, Dictionary<ulong, ulong>? neighbors = null)
+{
+    public readonly Dictionary<ulong, ulong> Neighbors = neighbors??new(); //nodeId, wayId
+    public readonly float Lat = lat, Lon = lon;
+
+    public double DistanceTo(Node n2) => Utils.NodeUtils.DistanceBetween(this, n2);
+    public double DistanceTo(float latitude, float longitude) => Utils.NodeUtils.DistanceBetween(this, latitude, longitude);
+    public bool HasEdgeTo(ulong neighbor) => this.Neighbors.ContainsKey(neighbor);
+
+    public override string ToString()
+    {
+        return $"Node {Lat:00.000000} {Lon:000.000000}";
+    }
+}

Graph/Utils/NodeUtils.cs

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+namespace Graph.Utils;
+
+public static class NodeUtils
+{
+    public const int EarthRadius = 6371000;
+    
+    /*
+     * Close enough
+     */
+    public static double DistanceBetween(float lat1, float lon1, float lat2, float lon2)
+    {
+        double radiansLat1 = DegreesToRadians(lat1);
+        double radiansLat2 = DegreesToRadians(lat2);
+        double deltaRadiansLon = DegreesToRadians(lon2 - lon1);
+        
+        double distance = Math.Acos(Math.Sin(radiansLat1) * Math.Sin(radiansLat2) + Math.Cos(radiansLat1) * Math.Cos(radiansLat2) * Math.Cos(deltaRadiansLon)) * EarthRadius;
+
+        return distance;
+    }
+
+    public static double DistanceBetween(Node n1, Node n2) => DistanceBetween(n1.Lat, n1.Lon, n2.Lat, n2.Lon);
+    public static double DistanceBetween(Node n1, float lat2, float lon2) => DistanceBetween(n1.Lat, n1.Lon, lat2, lon2);
+    public static double DistanceBetween(float lat1, float lon1, Node n2) => DistanceBetween(n2, lat1, lon1);
+    
+    /*
+     * From https://www.movable-type.co.uk/scripts/latlong.html
+     */
+    public static double DistanceBetweenHaversine(float lat1, float lon1, float lat2, float lon2)
+    {
+        double radiansLat1 = DegreesToRadians(lat1);
+        double radiansLat2 = DegreesToRadians(lat2);
+        double deltaRadiansLat = DegreesToRadians(lat2 - lat1);
+        double deltaRadiansLon = DegreesToRadians(lon2 - lon1);
+        double a = Math.Sin(deltaRadiansLat / 2) * Math.Sin(deltaRadiansLat / 2) + Math.Cos(radiansLat1) * Math.Cos(radiansLat2) * Math.Sin(deltaRadiansLon / 2) * Math.Sin(deltaRadiansLon / 2);
+        double c = 2 * Math.Atan2(Math.Sqrt(a), Math.Sqrt(1 - a));
+        double d = EarthRadius * c;
+        return d;
+    }
+    
+    public static double DegreesToRadians(float deg)
+    {
+        return deg * Math.PI /180;
+    }
+
+    public static double RadiansToDegrees(float rad)
+    {
+        return rad * 180 / Math.PI;
+    }
+}

Graph/Way.cs

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+namespace Graph;
+
+public class Way(Dictionary<string, string> tags)
+{
+    public readonly Dictionary<string, string> Tags = tags;
+
+    public override string ToString()
+    {
+        return $"Way\n" +
+               $"Tags:\t{string.Join("\n\t", Tags.Select(t => $"{t.Key,10}={t.Value,30}"))}";
+    }
+}

OSM_Graph.sln

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+
+Microsoft Visual Studio Solution File, Format Version 12.00
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "OSM_Graph", "OSM_Graph\OSM_Graph.csproj", "{82A1033D-89AD-4C05-9771-4CE48ABD006A}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Graph", "Graph\Graph.csproj", "{6B699841-C159-4A29-9574-3FAD6F364BCF}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{82A1033D-89AD-4C05-9771-4CE48ABD006A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{82A1033D-89AD-4C05-9771-4CE48ABD006A}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{82A1033D-89AD-4C05-9771-4CE48ABD006A}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{82A1033D-89AD-4C05-9771-4CE48ABD006A}.Release|Any CPU.Build.0 = Release|Any CPU
+		{6B699841-C159-4A29-9574-3FAD6F364BCF}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{6B699841-C159-4A29-9574-3FAD6F364BCF}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{6B699841-C159-4A29-9574-3FAD6F364BCF}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{6B699841-C159-4A29-9574-3FAD6F364BCF}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+EndGlobal

OSM_Graph/IOSMSerializable.cs

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+namespace OSM_Graph;
+
+public interface IOSMSerializable<out T>
+{
+    public abstract string Serialize();
+    public static abstract T Deserialize(string serialized);
+}

OSM_Graph/Node.cs

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+using System.Globalization;
+using System.Runtime.Serialization;
+
+namespace OSM_Graph;
+
+public class Node(ulong id, float lat, float lon, Dictionary<ulong, ulong>? neighbors = null) : Graph.Node(lat, lon, neighbors), IOSMSerializable<Node>
+{
+    public readonly ulong ID = id;
+    
+    public string Serialize()
+    {
+        return $"{this.ID}#{this.Lat.ToString(CultureInfo.InvariantCulture)}#{this.Lon.ToString(CultureInfo.InvariantCulture)}#{string.Join(',', this.Neighbors.Select(n => $"{n.Key}-{n.Value}"))}";
+    }
+
+    public static Node Deserialize(string serialized)
+    {
+        string[] parts = serialized.Split('#');
+        if (parts.Length != 4)
+            throw new SerializationException($"Can not deserialize String ({serialized}) to object of type ");
+        try
+        {
+            ulong id = ulong.Parse(parts[0]);
+            float lat = float.Parse(parts[1], NumberStyles.Float, CultureInfo.InvariantCulture);
+            float lon = float.Parse(parts[2], NumberStyles.Float, CultureInfo.InvariantCulture);
+                Dictionary<ulong, ulong> neighbors = parts[3].Length > 3
+                    ? parts[3].Split(',').ToDictionary(str => ulong.Parse(str.Split('-')[0]), str => ulong.Parse(str.Split('-')[1]))
+                    : new();
+            
+            return new Node(id, lat, lon, neighbors);
+        }
+        catch (Exception e)
+        {
+            throw new SerializationException($"Exception during Deserialization of OSM_Graph.Node ({serialized}):", e);
+        }
+
+    }
+}

OSM_Graph/OSM_Graph.csproj

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+<Project Sdk="Microsoft.NET.Sdk">
+
+    <PropertyGroup>
+        <TargetFramework>net8.0</TargetFramework>
+        <ImplicitUsings>enable</ImplicitUsings>
+        <Nullable>enable</Nullable>
+    </PropertyGroup>
+
+    <ItemGroup>
+      <ProjectReference Include="..\Graph\Graph.csproj" />
+    </ItemGroup>
+
+</Project>

OSM_Graph/Way.cs

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+using System.Runtime.Serialization;
+using System.Text.RegularExpressions;
+
+namespace OSM_Graph;
+
+public class Way(ulong id, Dictionary<string, string> tags, List<ulong> nodeIds) : Graph.Way(tags), IOSMSerializable<Way>
+{
+    public readonly ulong ID = id;
+    public readonly List<ulong> NodeIds = nodeIds;
+    
+    public string Serialize()
+    {
+        string tags = string.Join(',', Tags.Select(t =>
+            $"{t.Key.Replace("$", "Dollar")}${t.Value.Replace("$", "Dollar")}"
+                .Replace(',', '.')
+                .Replace("#", "No.")));
+        return $"{ID}#{string.Join(',', NodeIds)}#{Regex.Replace(tags, @"[^a-zA-Z0-9!%-\/:-@\[-_\{-\~$]", "")}";
+    }
+
+    public static Way Deserialize(string serialized)
+    {
+        string[] parts = serialized.Split('#');
+        if (parts.Length != 3)
+            throw new SerializationException($"Can not deserialize String ({serialized}) to OSM_Graph.Way");
+        try
+        {
+            ulong id = ulong.Parse(parts[0]);
+            List<ulong> nodes = parts[1].Split(',').Select(ulong.Parse).ToList();
+            Dictionary<string, string> t = parts[2].Length > 0 
+                ? parts[2].Split(',') .ToDictionary(str => str.Split('$')[0].Replace("Dollar", "$"), str => str.Split('$')[1].Replace("Dollar", "$"))
+                : new();
+            return new Way(id, t, nodes);
+        }
+        catch (Exception e)
+        {
+            throw new SerializationException($"Exception during Deserialization of OSM_Graph.Way ({serialized}):", e);
+        }
+    }
+}