feat: complete working navigation functions

lib/controllers/map_controller.dart

@@ -2,7 +2,6 @@ import 'dart:convert';
 
 import 'package:anyhow/anyhow.dart';
 import 'package:flutter_map/flutter_map.dart';
-import 'package:flutter_map/src/gestures/positioned_tap_detector_2.dart';
 import 'package:geojson_vi/geojson_vi.dart';
 import 'package:get/get.dart';
 import 'package:latlong2/latlong.dart';
@@ -95,8 +94,8 @@ class MyMapController extends GetxController {
         // print(feature?.properties);
         if (feature == null) continue;
         // print(feature.properties);
-        final parsed = parseFeature(
+        final parsed = parseFeature(feature.properties ?? <String, dynamic>{},
-            feature.properties ?? <String, dynamic>{}, feature.geometry);
+            feature.geometry, feature.id);
         if (parsed case Ok(:final ok)) {
           featuresList.add(ok);
         }

lib/data/geo/model.dart

@@ -20,6 +20,7 @@ class Feature with _$Feature {
     required GeoJSONGeometry geometry,
     int? level,
     String? building,
+    required String id,
   }) = _Feature;
 
   bool isPolygon() {

lib/data/geo/model.freezed.dart

@@ -22,6 +22,7 @@ mixin _$Feature {
   GeoJSONGeometry get geometry => throw _privateConstructorUsedError;
   int? get level => throw _privateConstructorUsedError;
   String? get building => throw _privateConstructorUsedError;
+  String get id => throw _privateConstructorUsedError;
 
   @JsonKey(ignore: true)
   $FeatureCopyWith<Feature> get copyWith => throw _privateConstructorUsedError;
@@ -38,7 +39,8 @@ abstract class $FeatureCopyWith<$Res> {
       String? description,
       GeoJSONGeometry geometry,
       int? level,
-      String? building});
+      String? building,
+      String id});
 
   $FeatureTypeCopyWith<$Res> get type;
 }
@@ -62,6 +64,7 @@ class _$FeatureCopyWithImpl<$Res, $Val extends Feature>
     Object? geometry = null,
     Object? level = freezed,
     Object? building = freezed,
+    Object? id = null,
   }) {
     return _then(_value.copyWith(
       name: null == name
@@ -88,6 +91,10 @@ class _$FeatureCopyWithImpl<$Res, $Val extends Feature>
           ? _value.building
           : building // ignore: cast_nullable_to_non_nullable
               as String?,
+      id: null == id
+          ? _value.id
+          : id // ignore: cast_nullable_to_non_nullable
+              as String,
     ) as $Val);
   }
 
@@ -113,7 +120,8 @@ abstract class _$$FeatureImplCopyWith<$Res> implements $FeatureCopyWith<$Res> {
       String? description,
       GeoJSONGeometry geometry,
       int? level,
-      String? building});
+      String? building,
+      String id});
 
   @override
   $FeatureTypeCopyWith<$Res> get type;
@@ -136,6 +144,7 @@ class __$$FeatureImplCopyWithImpl<$Res>
     Object? geometry = null,
     Object? level = freezed,
     Object? building = freezed,
+    Object? id = null,
   }) {
     return _then(_$FeatureImpl(
       name: null == name
@@ -162,6 +171,10 @@ class __$$FeatureImplCopyWithImpl<$Res>
           ? _value.building
           : building // ignore: cast_nullable_to_non_nullable
               as String?,
+      id: null == id
+          ? _value.id
+          : id // ignore: cast_nullable_to_non_nullable
+              as String,
     ));
   }
 }
@@ -175,7 +188,8 @@ class _$FeatureImpl extends _Feature {
       this.description,
       required this.geometry,
       this.level,
-      this.building})
+      this.building,
+      required this.id})
       : super._();
 
   @override
@@ -190,10 +204,12 @@ class _$FeatureImpl extends _Feature {
   final int? level;
   @override
   final String? building;
+  @override
+  final String id;
 
   @override
   String toString() {
-    return 'Feature(name: $name, type: $type, description: $description, geometry: $geometry, level: $level, building: $building)';
+    return 'Feature(name: $name, type: $type, description: $description, geometry: $geometry, level: $level, building: $building, id: $id)';
   }
 
   @override
@@ -209,12 +225,13 @@ class _$FeatureImpl extends _Feature {
                 other.geometry == geometry) &&
             (identical(other.level, level) || other.level == level) &&
             (identical(other.building, building) ||
-                other.building == building));
+                other.building == building) &&
+            (identical(other.id, id) || other.id == id));
   }
 
   @override
   int get hashCode => Object.hash(
-      runtimeType, name, type, description, geometry, level, building);
+      runtimeType, name, type, description, geometry, level, building, id);
 
   @JsonKey(ignore: true)
   @override
@@ -230,7 +247,8 @@ abstract class _Feature extends Feature {
       final String? description,
       required final GeoJSONGeometry geometry,
       final int? level,
-      final String? building}) = _$FeatureImpl;
+      final String? building,
+      required final String id}) = _$FeatureImpl;
   const _Feature._() : super._();
 
   @override
@@ -246,6 +264,8 @@ abstract class _Feature extends Feature {
   @override
   String? get building;
   @override
+  String get id;
+  @override
   @JsonKey(ignore: true)
   _$$FeatureImplCopyWith<_$FeatureImpl> get copyWith =>
       throw _privateConstructorUsedError;

lib/data/geo/parser.dart

@@ -4,7 +4,7 @@ import 'package:uninav/data/geo/model.dart';
 import 'package:yaml/yaml.dart';
 
 Result<Feature> parseFeature(
-    Map<String, dynamic> properties, GeoJSONGeometry geometry) {
+    Map<String, dynamic> properties, GeoJSONGeometry geometry, String id) {
   final name = properties['name'] as String?;
   final description_yaml = properties['description'] as String? ?? '';
   final layer = properties['layer'] as String?;
@@ -110,6 +110,7 @@ Result<Feature> parseFeature(
     geometry: geometry,
     level: level,
     building: building,
+    id: id,
   ));
 }
 

lib/nav/graph.dart

@@ -1,11 +1,11 @@
 import 'package:anyhow/anyhow.dart';
 import 'package:collection/collection.dart';
-import 'package:directed_graph/directed_graph.dart';
 import 'package:fast_immutable_collections/fast_immutable_collections.dart';
+import 'package:flutter/foundation.dart';
 import 'package:freezed_annotation/freezed_annotation.dart';
-import 'package:geojson_vi/geojson_vi.dart';
 import 'package:get/get.dart';
 import 'package:latlong2/latlong.dart';
+import 'package:rust_core/iter.dart';
 import 'package:uninav/data/geo/model.dart';
 import 'package:uninav/util/geojson_util.dart';
 import 'package:uninav/util/util.dart';
@@ -38,6 +38,12 @@ class GraphFeature with _$GraphFeature {
 
   double metersTo(GraphFeature other) => distanceTo(other, "meters");
 
+  String get id => when(
+        buildingFloor: (floor, building) => building.id,
+        portal: (fromFloor, from, toFloor, to, baseFeature) => baseFeature.id,
+        basicFeature: (floor, building, feature) => feature.id,
+      );
+
   @override
   String toString() {
     return when(
@@ -48,9 +54,102 @@ class GraphFeature with _$GraphFeature {
           'Feature (${formatFeatureTitle(feature)} ($building:$floor))',
     );
   }
+
+  @override
+  int get hashCode {
+    return when(
+      buildingFloor: (floor, building) => Object.hash(floor, building),
+      portal: (fromFloor, from, toFloor, to, baseFeature) =>
+          Object.hash(fromFloor, from, toFloor, to, baseFeature),
+      basicFeature: (floor, building, feature) =>
+          Object.hash(floor, building, feature),
+    );
   }
 
-bool eq(String? a, String? b) => a?.toLowerCase() == b?.toLowerCase();
+  @override
+  bool operator ==(Object other) {
+    if (identical(this, other)) return true;
+
+    return other is GraphFeature &&
+        other.when(
+          buildingFloor: (floor, building) =>
+              this is BuildingFloor &&
+              (this as BuildingFloor).floor == floor &&
+              (this as BuildingFloor).building == building,
+          portal: (fromFloor, from, toFloor, to, baseFeature) =>
+              this is Portal &&
+              (this as Portal).fromFloor == fromFloor &&
+              (this as Portal).from == from &&
+              (this as Portal).toFloor == toFloor &&
+              (this as Portal).to == to &&
+              (this as Portal).baseFeature == baseFeature,
+          basicFeature: (floor, building, feature) =>
+              this is BasicFeature &&
+              (this as BasicFeature).floor == floor &&
+              (this as BasicFeature).building == building &&
+              (this as BasicFeature).feature == feature,
+        );
+  }
+}
+
+class Graph {
+  final List<(GraphFeature, double, GraphFeature)> _edges = [];
+  final HashSet<GraphFeature> _nodes = HashSet();
+  final HashSet<(GraphFeature, GraphFeature)> _edgesSet = HashSet();
+
+  Iterable<GraphFeature> get nodes => _nodes.iter();
+
+  void addNode(GraphFeature node) {
+    _nodes.add(node);
+    if (node is BasicFeature && node.feature.name == 'H22') {
+      print(node);
+      print(node.hashCode);
+    }
+  }
+
+  void addEdge(GraphFeature from, GraphFeature to, double weight) {
+    addNode(from);
+    addNode(to);
+    if (!_edgesSet.contains((from, to))) {
+      _edgesSet.add((from, to));
+      _edges.add((from, weight, to));
+    }
+    if (!_edgesSet.contains((to, from))) {
+      _edgesSet.add((to, from));
+      _edges.add((to, weight, from));
+    }
+  }
+
+  List<(GraphFeature, double, GraphFeature)> getEdges(GraphFeature node) {
+    return _edges.where((edge) => edge.$1 == node).toList();
+  }
+
+  bool contains(GraphFeature node) {
+    return _nodes.contains(node);
+  }
+
+  bool containsEdge(GraphFeature from, GraphFeature to) {
+    return _edgesSet.contains((from, to));
+  }
+
+  @override
+  String toString() {
+    return 'Graph(_edges: $_edges, _nodes: $_nodes, _edgesSet: $_edgesSet)';
+  }
+
+  @override
+  bool operator ==(Object other) {
+    if (identical(this, other)) return true;
+
+    return other is Graph &&
+        listEquals(other._edges, _edges) &&
+        setEquals(other._nodes, _nodes) &&
+        setEquals(other._edgesSet, _edgesSet);
+  }
+
+  @override
+  int get hashCode => _edges.hashCode ^ _nodes.hashCode ^ _edgesSet.hashCode;
+}
 
 IList<GraphFeature> wrap(Feature feature, int floor, String buildingFrom) {
   return feature.type
@@ -60,7 +159,10 @@ IList<GraphFeature> wrap(Feature feature, int floor, String buildingFrom) {
         lift: (floors) => stairPortalGenerator(floors, floor, feature, 99),
         door: (connections) =>
             doorPortalGenerator(connections, floor, buildingFrom, feature),
-        orElse: () => [GraphFeature.basicFeature(floor, buildingFrom, feature)],
+        orElse: () => [
+          GraphFeature.basicFeature(
+              floor, feature.building ?? buildingFrom, feature)
+        ],
       )
       .lock;
 }
@@ -70,8 +172,7 @@ List<GraphFeature> doorPortalGenerator(
   final portals = <GraphFeature>[];
 
   for (final connection in connections.where((c) => !eq(c, from))) {
-    portals.add(GraphFeature.portal(
+    portals.add(GraphFeature.portal(floor, from, floor, connection, feature));
-        floor, from, floor, connection.toLowerCase(), feature));
   }
 
   return portals;
@@ -83,12 +184,12 @@ List<GraphFeature> stairPortalGenerator(
   final portals = <GraphFeature>[];
   for (int i = 1; i <= maxDist; i++) {
     if (floors.contains(floor - i)) {
-      portals.add(GraphFeature.portal(floor, feature.building!.toLowerCase(),
+      portals.add(GraphFeature.portal(
-          floor - i, feature.building!.toLowerCase(), feature));
+          floor, feature.building!, floor - i, feature.building!, feature));
     }
     if (floors.contains(floor + i)) {
-      portals.add(GraphFeature.portal(floor, feature.building!.toLowerCase(),
+      portals.add(GraphFeature.portal(
-          floor + i, feature.building!.toLowerCase(), feature));
+          floor, feature.building!, floor + i, feature.building!, feature));
     }
   }
   return portals;
@@ -142,117 +243,34 @@ List<GraphFeature> findAdjacent(
   return adjacentFeatures;
 }
 
-List<GraphFeature> createGraphList(
+Graph makeGraph(GraphFeature origin, List<Feature> allFeatures,
-    GraphFeature origin, List<Feature> allFeatures,
+    [Graph? graph]) {
-    [Set<GraphFeature>? visited]) {
   // final usedFeatures = <GraphFeature>[origin];
 
-  visited ??= <GraphFeature>{origin};
+  graph ??= Graph();
+  graph.addNode(origin);
 
   final adjacent = findAdjacent(origin, allFeatures);
-  for (final feature in adjacent.asSet()..removeAll(visited)) {
+  for (final feature in adjacent.asSet()..removeAll(graph.nodes)) {
-    visited.add(feature);
+    graph.addEdge(origin, feature, origin.metersTo(feature));
-    final deeper = createGraphList(feature, allFeatures, visited);
+    final _ = makeGraph(feature, allFeatures, graph);
-    visited.addAll(deeper);
+    // graph.addAll(deeper);
   }
 
-  return visited.toList();
-}
-
-Map<GraphFeature, Map<GraphFeature, double>> createGraphMap(
-    GraphFeature origin, List<Feature> allFeatures) {
-  final graphList = createGraphList(origin, allFeatures);
-  final graphMap = <GraphFeature, Map<GraphFeature, double>>{};
-  for (final node in graphList) {
-    final adjacents = node.when(
-      buildingFloor: (floor, building) {
-        return graphList
-            .where((f) =>
-                f is Portal &&
-                    eq(f.from, building.name) &&
-                    f.fromFloor == floor ||
-                f is BasicFeature &&
-                    eq(f.building, building.name) &&
-                    f.floor == floor)
-            .map((f) => f.when(
-                  portal: (fromFloor, from, toFloor, to, baseFeature) => (
-                    f,
-                    f.metersTo(node),
-                  ),
-                  basicFeature: (floor, building, feature) =>
-                      (f, f.metersTo(node)),
-                  buildingFloor: (floor, building) => throw StateError(
-                      "BUG: createGraphMap(): BuildingFloors shouldn't "
-                      "be matched by BuildingFloors"),
-                ));
-      },
-      portal: (fromFloor, from, toFloor, to, baseFeature) {
-        return graphList
-            .where((f) =>
-                f is BuildingFloor &&
-                eq(f.building.name, to) &&
-                f.floor == toFloor)
-            .map((f) => f.when(
-                  portal: (fromFloor, from, toFloor, to, baseFeature) =>
-                      throw StateError(
-                          "BUG: createGraphMap(): Portals shouldn't "
-                          "be matched by Portals"),
-                  basicFeature: (floor, building, feature) => throw StateError(
-                      "BUG: createGraphMap(): BasicFeatures shouldn't "
-                      "be matched by BasicFeatures"),
-                  buildingFloor: (floor, building) => (
-                    f,
-                    f.metersTo(node) +
-                        5 /* 5 extra meters for all portals. TODO: smarter!*/
-                  ),
-                ));
-      },
-      basicFeature: (floor, building, feature) {
-        return graphList
-            .where((f) =>
-                f is BuildingFloor &&
-                eq(f.building.name, building) &&
-                f.floor == floor)
-            .map((f) => f.when(
-                  portal: (fromFloor, from, toFloor, to, baseFeature) =>
-                      throw StateError(
-                          "BUG: createGraphMap(): Portal shouldn't be matched "
-                          "by BasicFeature"),
-                  basicFeature: (floor, building, feature) => throw StateError(
-                      "BUG: createGraphMap(): BasicFeatures shouldn't "
-                      "be matched by BasicFeatures"),
-                  buildingFloor: (floor, building) => (f, f.metersTo(node)),
-                ));
-      },
-    );
-
-    graphMap[node] =
-        Map.fromEntries(adjacents.map((tup) => MapEntry(tup.$1, tup.$2)));
-  }
-
-  return graphMap;
-}
-
-WeightedDirectedGraph<GraphFeature, double> createGraph(
-    GraphFeature origin, List<Feature> allFeatures) {
-  final map = createGraphMap(origin, allFeatures);
-  final graph = WeightedDirectedGraph<GraphFeature, double>(
-    map,
-    summation: sum,
-    zero: 0.0,
-    comparator: (a, b) => compareGraphFeatures(a, b),
-  );
   return graph;
 }
 
-Result<List<(GraphFeature, double)>> findShortestPath(
+Result<List<(GraphFeature, double)>> findShortestPath(GraphFeature origin,
-    GraphFeature origin, GraphFeature destination, List<Feature> allFeatures,
+    bool Function(GraphFeature) destinationSelector, List<Feature> allFeatures,
-    [heuristicVariant = "zero", heuristicMultiplier = 0.2]) {
+    {heuristicVariant = "zero", heuristicMultiplier = 0.2}) {
-  var graph = createGraphMap(origin, allFeatures);
+  Graph graph = makeGraph(origin, allFeatures);
 
-  if (!(graph.keys.contains(origin) &&
+  final GraphFeature? destination =
-      graph.values.firstWhereOrNull((vals) => vals.containsKey(destination)) !=
+      graph.nodes.firstWhereOrNull(destinationSelector);
-          null)) {
+
+  if (!(graph.contains(origin) &&
+      destination != null &&
+      graph.contains(destination))) {
     return bail("Origin or destination not in graph");
   }
 
@@ -299,10 +317,10 @@ Result<List<(GraphFeature, double)>> findShortestPath(
     }
 
     // expand node
-    final adjacents = graph[node]!;
+    final edges = graph.getEdges(node);
-    for (final entry in adjacents.entries) {
+    for (final entry in edges) {
-      final adjNode = entry.key;
+      final adjNode = entry.$3;
-      final adjCost = entry.value;
+      final adjCost = entry.$2;
 
       if (closedlist.contains(adjNode)) {
         continue;
@@ -349,77 +367,3 @@ Result<List<(GraphFeature, double)>> findShortestPath(
 
   return bail("No path found");
 }
-
-/// Compares two [GraphFeature] instances and determines their relative order.
-///
-/// The comparison is based on the specific subtypes and properties of the
-/// [GraphFeature] instances. The comparison logic is as follows:
-///
-/// 1. If both instances are [BuildingFloor], they are compared first by the
-///    building name and then by the floor number.
-/// 2. If one instance is a [Portal] and the other is a [BuildingFloor] or
-///    [BasicFeature], the [Portal] is considered greater.
-/// 3. If both instances are [Portal], they are compared first by the `from`
-///    property, then by the `to` property, and finally by the `baseFeature` name.
-/// 4. If one instance is a [BasicFeature] and the other is a [BuildingFloor] or
-///    [Portal], the [BasicFeature] is considered greater.
-/// 5. If both instances are [BasicFeature], they are compared first by the
-///    building name, then by the floor number, and finally by the feature name.
-///
-/// Returns a negative value if [a] is considered "less than" [b], a positive
-/// value if [a] is considered "greater than" [b], and zero if they are considered
-/// equal.
-///
-/// This function can be used as a comparator for sorting or ordering
-/// [GraphFeature] instances.
-int compareGraphFeatures(GraphFeature a, GraphFeature b) {
-  return a.when(
-    buildingFloor: (floorA, buildingA) {
-      return b.when(
-        buildingFloor: (floorB, buildingB) {
-          final buildingComparison = buildingA.name.compareTo(buildingB.name);
-          if (buildingComparison != 0) {
-            return buildingComparison;
-          }
-          return floorA.compareTo(floorB);
-        },
-        portal: (fromFloorB, fromB, toFloorB, toB, baseFeatureB) => -1,
-        basicFeature: (floorB, buildingB, featureB) => -1,
-      );
-    },
-    portal: (fromFloorA, fromA, toFloorA, toA, baseFeatureA) {
-      return b.when(
-        buildingFloor: (floorB, buildingB) => 1,
-        portal: (fromFloorB, fromB, toFloorB, toB, baseFeatureB) {
-          final fromComparison = fromA.compareTo(fromB);
-          if (fromComparison != 0) {
-            return fromComparison;
-          }
-          final toComparison = toA.compareTo(toB);
-          if (toComparison != 0) {
-            return toComparison;
-          }
-          return baseFeatureA.name.compareTo(baseFeatureB.name);
-        },
-        basicFeature: (floorB, buildingB, featureB) => -1,
-      );
-    },
-    basicFeature: (floorA, buildingA, featureA) {
-      return b.when(
-        buildingFloor: (floorB, buildingB) => 1,
-        portal: (fromFloorB, fromB, toFloorB, toB, baseFeatureB) => 1,
-        basicFeature: (floorB, buildingB, featureB) {
-          final buildingComparison = buildingA.compareTo(buildingB);
-          if (buildingComparison != 0) {
-            return buildingComparison;
-          }
-          final floorComparison = floorA.compareTo(floorB);
-          if (floorComparison != 0) {
-            return floorComparison;
-          }
-          return featureA.name.compareTo(featureB.name);
-        },
-      );
-    },
-  );
-}

lib/nav/graph.freezed.dart

@@ -144,24 +144,6 @@ class _$BuildingFloorImpl extends BuildingFloor {
   @override
   final Feature building;
 
-  @override
-  String toString() {
-    return 'GraphFeature.buildingFloor(floor: $floor, building: $building)';
-  }
-
-  @override
-  bool operator ==(Object other) {
-    return identical(this, other) ||
-        (other.runtimeType == runtimeType &&
-            other is _$BuildingFloorImpl &&
-            (identical(other.floor, floor) || other.floor == floor) &&
-            (identical(other.building, building) ||
-                other.building == building));
-  }
-
-  @override
-  int get hashCode => Object.hash(runtimeType, floor, building);
-
   @JsonKey(ignore: true)
   @override
   @pragma('vm:prefer-inline')
@@ -341,29 +323,6 @@ class _$PortalImpl extends Portal {
   @override
   final Feature baseFeature;
 
-  @override
-  String toString() {
-    return 'GraphFeature.portal(fromFloor: $fromFloor, from: $from, toFloor: $toFloor, to: $to, baseFeature: $baseFeature)';
-  }
-
-  @override
-  bool operator ==(Object other) {
-    return identical(this, other) ||
-        (other.runtimeType == runtimeType &&
-            other is _$PortalImpl &&
-            (identical(other.fromFloor, fromFloor) ||
-                other.fromFloor == fromFloor) &&
-            (identical(other.from, from) || other.from == from) &&
-            (identical(other.toFloor, toFloor) || other.toFloor == toFloor) &&
-            (identical(other.to, to) || other.to == to) &&
-            (identical(other.baseFeature, baseFeature) ||
-                other.baseFeature == baseFeature));
-  }
-
-  @override
-  int get hashCode =>
-      Object.hash(runtimeType, fromFloor, from, toFloor, to, baseFeature);
-
   @JsonKey(ignore: true)
   @override
   @pragma('vm:prefer-inline')
@@ -529,25 +488,6 @@ class _$BasicFeatureImpl extends BasicFeature {
   @override
   final Feature feature;
 
-  @override
-  String toString() {
-    return 'GraphFeature.basicFeature(floor: $floor, building: $building, feature: $feature)';
-  }
-
-  @override
-  bool operator ==(Object other) {
-    return identical(this, other) ||
-        (other.runtimeType == runtimeType &&
-            other is _$BasicFeatureImpl &&
-            (identical(other.floor, floor) || other.floor == floor) &&
-            (identical(other.building, building) ||
-                other.building == building) &&
-            (identical(other.feature, feature) || other.feature == feature));
-  }
-
-  @override
-  int get hashCode => Object.hash(runtimeType, floor, building, feature);
-
   @JsonKey(ignore: true)
   @override
   @pragma('vm:prefer-inline')

lib/util/util.dart

@@ -1,7 +1,8 @@
-import 'package:flutter/cupertino.dart';
 import 'package:flutter/material.dart';
 import 'package:uninav/data/geo/model.dart';
 
+bool eq(String? a, String? b) => a?.toLowerCase() == b?.toLowerCase();
+
 String formatDuration(Duration duration) {
   final days = duration.inDays;
   final hours = duration.inHours.remainder(24);

test/graph_tests.dart

@@ -22,6 +22,7 @@ String formatGraphFeature(GraphFeature feature) {
 
 void main() {
   TestWidgetsFlutterBinding.ensureInitialized();
+
   group('findAdjacent', () {
     late MyMapController mapController;
     late List<Feature> allFeatures;
@@ -34,6 +35,69 @@ void main() {
       allFeatures = mapController.features;
     });
 
+    test('generates a graph (new)', () {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final buildingFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      // final endFeature = allFeatures
+      //     .firstWhere((f) => f.type is Building && eq(f.name, 'o25'));
+
+      // final targetFeature = allFeatures
+      //     .firstWhere((f) => f.type is LectureHall && eq(f.name, 'H22'));
+
+      // final wrapped =
+      //     wrap(targetFeature, targetFeature.level!, targetFeature.building!);
+      // print(wrapped);
+
+      final graph = makeGraph(
+          wrap(buildingFeature, 2, buildingFeature.name).first, allFeatures);
+
+      final wrapped = [
+        graph.nodes.firstWhere((element) =>
+            element is BasicFeature && eq(element.feature.name, "H22"))
+      ];
+
+      print(graph.contains(wrapped.first)); // print(graph);
+      print(wrapped.first.hashCode); // print(graph);
+      // print(wrap(targetFeature, targetFeature.level!, targetFeature.building!)
+      //     .first
+      //     .hashCode);
+      // print(wrapped.first ==
+      //     wrap(targetFeature, targetFeature.level!, targetFeature.building!)
+      //         .first);
+
+      // print(graph.toString());
+    });
+
+    test('tries to find a path through the graph using own method', () async {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final startFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o25'));
+
+      // final endFeature = allFeatures
+      //     .firstWhere((f) => f.type is Building && eq(f.name, 'o25'));
+
+      final endFeature = allFeatures
+          .firstWhere((f) => f.type is LectureHall && eq(f.name, 'H22'));
+
+      print(endFeature);
+
+      final path = findShortestPath(
+        wrap(startFeature, 4, startFeature.name).first,
+        (f) => f is BasicFeature && eq(f.feature.name, 'H1'),
+        // wrap(endFeature, 2, "o28").first,
+        allFeatures,
+      );
+      print(path
+          .unwrap()
+          .map((e) => "${formatGraphFeature(e.$1)} (${e.$2}m)")
+          .join(' -> '));
+    });
+
+/*
     test('generates a graph', () {
       // Find a building feature
       // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
@@ -172,5 +236,6 @@ void main() {
       print(path.map(formatGraphFeature).join('\n'));
     });
     */
+    */
   });
 }