Updated Breadth-First-Search

src/de/tudarmstadt/maki/simonstrator/api/component/vehicular/roadnetwork/routing/BreadthFirstSearchRoutingAlgorithm.java

@@ -30,6 +30,7 @@ import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.Road
 import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.RoadNetworkRoute;
 
 public class BreadthFirstSearchRoutingAlgorithm implements RoutingAlgorithm {
+	private final int MAX_DEPTH = 10;
 
 	@Override
 	public RoadNetworkRoute findRoute(RoadNetwork pNetwork, RoadNetworkEdge pCurrentPosition, RoadNetworkEdge pDestination,
@@ -42,13 +43,17 @@ public class BreadthFirstSearchRoutingAlgorithm implements RoutingAlgorithm {
 			List<RoadNetworkRoute> pKnownRoutes, List<RoadNetworkEdge> pEdgesToAvoid) {
 		List<RoadNetworkEdge> visitedEdges = new ArrayList<>();
 		Queue<PathInformation> buffer = new LinkedList<>();
-		PathInformation rootPathInformation = new PathInformation(pCurrentPosition, null);
+		PathInformation rootPathInformation = new PathInformation(pCurrentPosition, null, 0);
 		buffer.add(rootPathInformation);
 		visitedEdges.add(pCurrentPosition);
 
 		outer:while (buffer.size() > 0) {
 			PathInformation pathInformation = buffer.poll();
 
+			if (pathInformation.getLength() >= MAX_DEPTH) {
+				continue;
+			}
+
 			RoadNetworkEdge edge = pathInformation.getEdge();
 
 			if (pEdgesToAvoid.contains(edge)) {
@@ -60,7 +65,8 @@ public class BreadthFirstSearchRoutingAlgorithm implements RoutingAlgorithm {
 			for (RoadNetworkEdge roadNetworkEdge : accessibleEdges) {
 				if (roadNetworkEdge.equals(pDestination)) {
 					List<RoadNetworkEdge> routeList = new ArrayList<>();
-					extractRoute(routeList, new PathInformation(roadNetworkEdge, pathInformation));
+					extractRoute(routeList,
+							new PathInformation(roadNetworkEdge, pathInformation, pathInformation.getLength() + 1));
 
 					RoadNetworkRoute route = new RoadNetworkRoute(routeList);
 
@@ -74,7 +80,8 @@ public class BreadthFirstSearchRoutingAlgorithm implements RoutingAlgorithm {
 						return route;
 					}
 				} else if (!visitedEdges.contains(roadNetworkEdge)) {
-					PathInformation childPathInformation = new PathInformation(roadNetworkEdge, pathInformation);
+					PathInformation childPathInformation = new PathInformation(roadNetworkEdge, pathInformation,
+							pathInformation.getLength() + 1);
 					buffer.add(childPathInformation);
 					visitedEdges.add(roadNetworkEdge);
 				}
@@ -91,13 +98,19 @@ public class BreadthFirstSearchRoutingAlgorithm implements RoutingAlgorithm {
 	}
 
 	private class PathInformation {
+		private final int _length;
 		private final RoadNetworkEdge _edge;
 		private final PathInformation _previousEdge;
 
 		public PathInformation(RoadNetworkEdge pEdge,
-				PathInformation pPreviousEdge) {
+				PathInformation pPreviousEdge, int pLenght) {
 			_edge = pEdge;
 			_previousEdge = pPreviousEdge;
+			_length = pLenght;
+		}
+
+		public int getLength() {
+			return _length;
 		}
 
 		public RoadNetworkEdge getEdge() {