private static void PathPlanning(string fileName)
{
INamedDirectedGraph <ICoordinateNode, IWeightedNamedDirectedEdge <ICoordinateNode> > graph;
using (var fs = new FileStream(fileName, FileMode.Open, FileAccess.Read, FileShare.Read)) {
graph = GraphFactory.NamedDirectedFromInput(fs);
}
Console.WriteLine("Map loaded, it contains " + graph.NodeCount + " nodes and " + graph.EdgeCount + " edges");
var heuristic = new StraightLineHeuristic();
var pathFinder = new AStarPathFinder <ICoordinateNode, IWeightedNamedDirectedEdge <ICoordinateNode> > (heuristic);
Console.WriteLine("Type exit to quit the program.");
Console.WriteLine();
while (true)
{
ICollection <ICoordinateNode> startNodes = null;
string read;
while (startNodes == null || startNodes.Count < 1)
{
Console.Write("Enter street names for starting point: ");
read = Console.ReadLine();
if (string.IsNullOrEmpty(read))
{
continue;
}
if (read == "quit")
{
ExitWithMsg(null);
}
// SktPedersStraede Larsbjoernsstraede
var parts = read.Split(new char[] { ' ' }, 2);
if (parts.Any(part => graph.GetEdgesByName(part).Count < 1))
{
Console.WriteLine("Invalid street name supplied");
continue;
}
startNodes = graph.GetNodesByEdgeNames(parts);
}
ICollection <ICoordinateNode> endNodes = null;
while (endNodes == null || endNodes.Count < 1)
{
Console.Write("Enter street names for ending point: ");
read = Console.ReadLine();
if (string.IsNullOrEmpty(read))
{
continue;
}
if (read == "quit")
{
ExitWithMsg(null);
}
// Studiestraede Larsbjoernsstraede
var parts = read.Split(new char[] { ' ' }, 2);
if (parts.Any(part => graph.GetEdgesByName(part).Count < 1))
{
Console.WriteLine("Invalid street name supplied");
continue;
}
endNodes = graph.GetNodesByEdgeNames(parts);
}
var path = pathFinder.ShortestPath(graph, startNodes.First(), endNodes.First());
if (path.Count == 1)
{
Console.WriteLine("Path found: Just stand still, you're already there");
}
else if (path.Count > 1)
{
var prev = path [0];
var prevName = string.Empty;
Console.WriteLine("Path found:");
for (var i = 1; i < path.Count; i++)
{
var edge = graph.GetEdge(prev, path [i]);
if (edge.Name != prevName)
{
Console.Write(edge.Name);
if (i + 1 < path.Count)
{
Console.Write(" -> ");
}
}
prev = path [i];
prevName = edge.Name;
}
}
else
{
Console.WriteLine("No path found");
}
Console.WriteLine();
}
}
