public void GetSwarm_Should_Call_IMazeCrawlerSpawner_Spawn_Based_On_Requestor(Direction direction)
{
var start = new Coordinates(1, 2);
var destination = new Coordinates(3, 4);
var floorPlan = new char[1][] { new char[] { Map.OCCPD, Map.MOVEW, Map.START, Map.DESTN } };
var map = new Map(floorPlan);
var maskedFloorPlan = new char[1][] { new char[] { Map.OCCPD, Map.OCCPD, Map.EMPTY, Map.EMPTY } };
_queen.ScanMap(start, destination, map);
MazeCrawlerContext context = null;
_spawner.Spawn(Arg.Do <MazeCrawlerContext>(c => context = c));
var crawlerState = Substitute.For <IMazeCrawlerState>();
crawlerState.CanMove(direction).Returns(true);
crawlerState.CurrentX.Returns(8);
crawlerState.CurrentY.Returns(9);
crawlerState.NavigationMode.Returns(CrawlerNavigationMode.Swarm);
_queen.GetSwarm(crawlerState);
_spawner.Received(1).Spawn(Arg.Any <MazeCrawlerContext>());
context.Start.X.Should().Be(crawlerState.CurrentX);
context.Start.Y.Should().Be(crawlerState.CurrentY);
context.Destination.Should().Be(destination);
context.NavigationMap.FloorPlan.Should().BeEquivalentTo(maskedFloorPlan, o => o.WithStrictOrdering());
context.NavigationMode.Should().Be(crawlerState.NavigationMode);
context.Coordinator.Should().Be(_queen);
}
public async void Navigate_On_Swarm_Mode_Should_Call_ISwarmCoordinator_GetSwarm_Only_When_There_Are_Forks(int startX, int startY, int destinationX, int destinationY, int numberOfCalls)
{
var swarmCoordinator = Substitute.For <ISwarmCoordinator>();
swarmCoordinator.GetSwarm(Arg.Any <IMazeCrawlerState>()).Returns(new IMazeCrawler[0]);
var crawlerCoordinator = Substitute.For <IMazeCrawlerCoordinator>();
crawlerCoordinator.RequestSwarm(Arg.Any <IMazeCrawlerState>()).Returns(swarmCoordinator);
var context = new MazeCrawlerContext
{
Start = new Coordinates(startX, startY),
Destination = new Coordinates(destinationX, destinationY),
NavigationMap = new Map(new char[][]
{
new [] { Map.EMPTY, Map.EMPTY, Map.EMPTY },
new [] { Map.OCCPD, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.EMPTY, Map.EMPTY }
}),
NavigationMode = CrawlerNavigationMode.Swarm,
Coordinator = crawlerCoordinator
};
var crawler = new MazeCrawler(context);
await crawler.Navigate();
swarmCoordinator.Received(numberOfCalls).GetSwarm(crawler);
}
public async void Navigate_On_Scout_Mode_Should_Recalibrate_After_Each_Fork(int startX, int startY, int destinationX, int destinationY, string expected)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(startX, startY),
Destination = new Coordinates(destinationX, destinationY),
NavigationMap = new Map(new char[][]
{
new [] { Map.EMPTY, Map.EMPTY, Map.EMPTY, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD, Map.EMPTY, Map.EMPTY },
new [] { Map.EMPTY, Map.EMPTY, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.EMPTY, Map.EMPTY, Map.EMPTY },
new [] { Map.EMPTY, Map.EMPTY, Map.EMPTY, Map.EMPTY },
new [] { Map.EMPTY, Map.EMPTY, Map.EMPTY, Map.EMPTY }
}),
NavigationMode = CrawlerNavigationMode.Scout,
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
var response = await crawler.Navigate();
response.Arrived.Should().BeTrue();
response.PathTaken.Should().Be(expected);
}
public async void Navigate_Should_Call_IMazeSpawner_Spawn()
{
var start = new Coordinates(1, 2);
var destination = new Coordinates(3, 4);
var floorPlan = new char[0][];
var map = new Map(floorPlan);
_queen.ScanMap(start, destination, map);
var crawler = Substitute.For <IMazeCrawler>();
crawler.Navigate().Returns(new NavigationDetails());
MazeCrawlerContext context = null;
_spawner.Spawn(Arg.Do <MazeCrawlerContext>(c => context = c)).Returns(crawler);
await _queen.Navigate();
_spawner.Received(1).Spawn(Arg.Any <MazeCrawlerContext>());
context.Start.Should().Be(start);
context.Destination.Should().Be(destination);
context.NavigationMode.Should().Be(CrawlerNavigationMode.Scout);
context.Coordinator.Should().Be(_queen);
}
public async void Navigate_On_Scout_Mode_Should_BackTrack_To_Alternate_Routes()
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(0, 0),
Destination = new Coordinates(1, 7),
NavigationMap = new Map(new char[][]
{
new [] { Map.EMPTY, Map.EMPTY, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD, Map.EMPTY },
new [] { Map.OCCPD, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.EMPTY, Map.EMPTY }
}),
NavigationMode = CrawlerNavigationMode.Scout,
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
var response = await crawler.Navigate();
response.Arrived.Should().BeTrue();
response.PathTaken.Should().Be("EESSSSSSSW");
}
public async void Navigate_Should_Handle_Single_Route_Maps(CrawlerNavigationMode mode, int startX, int startY, int destinationX, int destinationY, bool arrived, string path)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(startX, startY),
Destination = new Coordinates(destinationX, destinationY),
NavigationMap = new Map(new char[][]
{
new [] { Map.EMPTY, Map.OCCPD, Map.OCCPD, Map.OCCPD, Map.OCCPD },
new [] { Map.OCCPD, Map.OCCPD, Map.EMPTY, Map.EMPTY, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD, Map.EMPTY, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD, Map.EMPTY, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD, Map.EMPTY, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD, Map.EMPTY, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD, Map.OCCPD, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.EMPTY, Map.EMPTY, Map.EMPTY, Map.EMPTY }
}),
NavigationMode = mode,
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
var response = await crawler.Navigate();
response.Arrived.Should().Be(arrived);
response.PathTaken.Should().Be(path);
}
public async void Navigate_Should_Mask_Map_Passed_In_MazeCrawlerContext()
{
var floorPlan = new char[1][]
{
new char[] { Map.OCCPD, Map.MOVEW, Map.START, Map.DESTN }
};
var map = new Map(floorPlan);
var maskedFloorPlan = new char[1][]
{
new char[] { Map.OCCPD, Map.OCCPD, Map.EMPTY, Map.EMPTY }
};
_queen.ScanMap(new Coordinates(1, 2), new Coordinates(3, 4), map);
var crawler = Substitute.For <IMazeCrawler>();
crawler.Navigate().Returns(new NavigationDetails());
MazeCrawlerContext context = null;
_spawner.Spawn(Arg.Do <MazeCrawlerContext>(c => context = c)).Returns(crawler);
await _queen.Navigate();
_spawner.Received(1).Spawn(Arg.Any <MazeCrawlerContext>());
context.NavigationMap.FloorPlan.Should().BeEquivalentTo(maskedFloorPlan, o => o.WithStrictOrdering());
}
public void CanMove_Should_Return_Correctly(int startX, int startY, Direction direction, bool expected)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(startX, startY),
NavigationMap = _canMoveMap,
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.CanMove(direction).Should().Be(expected);
}
public async void Navigate_On_Swarm_Mode_Should_Return_The_First_Task_That_Completes_With_Arrived_True_Result()
{
var result1 = new NavigationDetails {
Arrived = true, PathTaken = "result1"
};
var task1 = Task.Run(() => { Task.Delay(300); return(result1); });
var crawler1 = Substitute.For <IMazeCrawler>();
crawler1.Navigate().Returns(task1);
var result2 = new NavigationDetails {
Arrived = true, PathTaken = "result2"
};
var task2 = Task.Run(() => { Task.Delay(500); return(result2); });
var crawler2 = Substitute.For <IMazeCrawler>();
crawler2.Navigate().Returns(task2);
var task3 = Task.Run(() => { Task.Delay(100); return(new NavigationDetails {
Arrived = false
}); });
var crawler3 = Substitute.For <IMazeCrawler>();
crawler3.Navigate().Returns(task3);
var crawlers = new [] { crawler1, crawler2, crawler3 };
var swarmCoordinator = Substitute.For <ISwarmCoordinator>();
swarmCoordinator.GetSwarm(Arg.Any <IMazeCrawlerState>()).Returns(crawlers);
var crawlerCoordinator = Substitute.For <IMazeCrawlerCoordinator>();
crawlerCoordinator.RequestSwarm(Arg.Any <IMazeCrawlerState>()).Returns(swarmCoordinator);
var context = new MazeCrawlerContext
{
Start = new Coordinates(0, 0),
Destination = new Coordinates(0, 1),
NavigationMap = new Map(new char[][]
{
new [] { Map.EMPTY, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD }
}),
NavigationMode = CrawlerNavigationMode.Swarm,
Coordinator = crawlerCoordinator
};
var crawler = new MazeCrawler(context);
var response = await crawler.Navigate();
response.Should().BeEquivalentTo(result1);
}
public void GetNextRoutes_Should_Return_Null_If_Current_Is_At_Destination()
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(6, 4),
Destination = new Coordinates(6, 4),
NavigationMap = new Map(new char[0][]),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.GetNextRoutes().Should().BeNull();
}
public MazeCrawler(MazeCrawlerContext context)
{
Id = Guid.NewGuid().ToString();
CrawlerMap = context.NavigationMap;
NavigationMode = context.NavigationMode;
_coordinator = context.Coordinator;
_start = _current = context.Start;
_destination = context.Destination;
_stepsTaken = new Queue <char>();
_preference = DirectionHelper.GetPreferences(_start, _destination);
}
public void Constructor_Should_Set_Current_Coordinate()
{
var x = 1;
var y = 3;
var context = new MazeCrawlerContext
{
Start = new Coordinates(x, y),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.CurrentX.Should().Be(x);
crawler.CurrentY.Should().Be(y);
}
public void MoveWest_Should_Move_Current_Coordinate_Appropriately(int currentX, int currentY, bool checkLegality, int expectedX, int expectedY)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(currentX, currentY),
NavigationMap = _moveMap,
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.MoveWest(checkLegality);
crawler.CurrentX.Should().Be(expectedX);
crawler.CurrentY.Should().Be(expectedY);
}
public void Constructor_Should_Set_CrawlerMap()
{
var map = new Map(new char[][]
{
new [] { Map.OCCPD }
});
var context = new MazeCrawlerContext
{
NavigationMap = map,
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.CrawlerMap.Should().Be(map);
}
public IEnumerable <IMazeCrawler> GetSwarm(IMazeCrawlerState requestor)
{
Trace($"Checking possible routes from crawler {requestor.Id} location.");
// Determines the next possible Direction that can be done from the requestor's current Coordinates.
// Create a MazeCrawler for each Direction.
var nextSteps = new List <Direction>();
if (requestor.CanMove(Direction.North))
{
Trace($"Crawler {requestor.Id} can move North."); nextSteps.Add(Direction.North);
}
if (requestor.CanMove(Direction.South))
{
Trace($"Crawler {requestor.Id} can move South."); nextSteps.Add(Direction.South);
}
if (requestor.CanMove(Direction.East))
{
Trace($"Crawler {requestor.Id} can move East."); nextSteps.Add(Direction.East);
}
if (requestor.CanMove(Direction.West))
{
Trace($"Crawler {requestor.Id} can move West."); nextSteps.Add(Direction.West);
}
var newStart = new Coordinates(requestor.CurrentX, requestor.CurrentY);
var newMap = MaskMap();
var crawlers = new List <IMazeCrawler>();
foreach (var direction in nextSteps)
{
var context = new MazeCrawlerContext
{
Start = newStart,
Destination = _destination,
NavigationMap = newMap,
Coordinator = this,
NavigationMode = requestor.NavigationMode
};
var crawler = _spawner.Spawn(context);
Trace($"Moving crawler {requestor.Id} into position.");
crawler.Move(direction);
crawlers.Add(crawler);
}
return(crawlers);
}
public void MoveEast_Should_Default_Unsupplied_Parameter_To_True(int x, int expectedX)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(x, 0),
NavigationMap = new Map(new char[][]
{
new [] { Map.EMPTY, Map.EMPTY }
}),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.MoveEast();
crawler.CurrentX.Should().Be(expectedX);
}
public void MoveEast_Should_Not_BackTrack()
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(0, 0),
NavigationMap = new Map(new char[][]
{
new [] { Map.EMPTY, Map.EMPTY }
}),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.MoveEast();
crawler.MoveWest();
crawler.CanMove(Direction.West).Should().BeFalse();
crawler.CurrentX.Should().Be(1);
}
public void TraceSteps_Should_Return_Correctly(int startX, int startY, bool checkLegality, string expected)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(startX, startY),
Destination = new Coordinates(5, 5),
NavigationMap = _canMoveMap,
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.MoveEast(checkLegality)
.MoveNorth(checkLegality)
.MoveWest(checkLegality)
.MoveWest(checkLegality)
.MoveSouth(checkLegality);
crawler.TraceSteps().Should().Be(expected);
}
public async void Navigate_On_Swarm_Mode_Should_Call_Each_IMazeCrawler_Navigate()
{
var crawler1 = Substitute.For <IMazeCrawler>();
crawler1.Navigate().Returns(Task.FromResult(new NavigationDetails()));
var crawler2 = Substitute.For <IMazeCrawler>();
crawler2.Navigate().Returns(Task.FromResult(new NavigationDetails()));
var crawler3 = Substitute.For <IMazeCrawler>();
crawler3.Navigate().Returns(Task.FromResult(new NavigationDetails()));
var crawlers = new [] { crawler1, crawler2, crawler3 };
var swarmCoordinator = Substitute.For <ISwarmCoordinator>();
swarmCoordinator.GetSwarm(Arg.Any <IMazeCrawlerState>()).Returns(crawlers);
var crawlerCoordinator = Substitute.For <IMazeCrawlerCoordinator>();
crawlerCoordinator.RequestSwarm(Arg.Any <IMazeCrawlerState>()).Returns(swarmCoordinator);
var context = new MazeCrawlerContext
{
Start = new Coordinates(0, 0),
Destination = new Coordinates(0, 1),
NavigationMap = new Map(new char[][]
{
new [] { Map.EMPTY, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD }
}),
NavigationMode = CrawlerNavigationMode.Swarm,
Coordinator = crawlerCoordinator
};
var crawler = new MazeCrawler(context);
await crawler.Navigate();
await crawler1.Received(1).Navigate();
await crawler2.Received(1).Navigate();
await crawler3.Received(1).Navigate();
}
public void Spawn_Should_Set_MazeCrawlerContext_Correctly()
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(1, 0),
NavigationMap = new Map(new char[1][]
{
new char[] { Map.OCCPD, Map.EMPTY, Map.EMPTY, Map.OCCPD }
}),
NavigationMode = CrawlerNavigationMode.Swarm,
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = (MazeCrawler)_spwaner.Spawn(context);
crawler.CurrentX.Should().Be(context.Start.X);
crawler.CurrentY.Should().Be(context.Start.Y);
crawler.CrawlerMap.FloorPlan.Should().BeEquivalentTo(context.NavigationMap.FloorPlan, o => o.WithStrictOrdering());
crawler.NavigationMode.Should().Be(context.NavigationMode);
}
public void MoveNorth_Should_Not_BackTrack()
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(0, 1),
NavigationMap = new Map(new char[][]
{
new [] { Map.EMPTY },
new [] { Map.EMPTY }
}),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.MoveNorth();
crawler.MoveSouth();
crawler.CanMove(Direction.South).Should().BeFalse();
crawler.CurrentY.Should().Be(0);
}
public async Task <NavigationDetails> Navigate()
{
var map = MaskMap();
var context = new MazeCrawlerContext
{
Start = _start,
Destination = _destination,
NavigationMap = map,
NavigationMode = CrawlerNavigationMode.Scout,
Coordinator = this
};
var crawler = _spawner.Spawn(context);
var response = await crawler.Navigate();
if (response.Arrived)
{
response.PathTaken = MapHelper.SimplifyPath(response.PathTaken);
}
return(response);
}
public void GetNextRoutes_Should_Return_Directions_Based_On_Preference(int startX, int startY, int destinationX, int destinationY, Direction[] expected)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(startX, startY),
Destination = new Coordinates(destinationX, destinationY),
NavigationMap = new Map(new char[][]
{
new char[] { Map.EMPTY, Map.EMPTY, Map.EMPTY },
new char[] { Map.EMPTY, Map.EMPTY, Map.EMPTY },
new char[] { Map.EMPTY, Map.EMPTY, Map.EMPTY }
}),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
var routes = crawler.GetNextRoutes();
routes.Should().HaveSameCount(expected);
routes.Should().Equal(expected);
}
public void GetNextRoutes_Should_Return_Empty_If_There_Are_No_Available_Routes()
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(0, 1),
Destination = new Coordinates(2, 3),
NavigationMap = new Map(new char[][]
{
new char[] { Map.OCCPD, Map.OCCPD, Map.EMPTY },
new char[] { Map.EMPTY, Map.OCCPD, Map.EMPTY },
new char[] { Map.OCCPD, Map.OCCPD, Map.EMPTY },
new char[] { Map.EMPTY, Map.EMPTY, Map.EMPTY }
}),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
var routes = crawler.GetNextRoutes();
routes.Should().BeEmpty();
}
public async void Navigate_On_Swarm_Mode_Should_Call_IMazeCrawlerCoordinator_Debrief(int startX, int startY, int destinationX, int destinationY)
{
var task = Task.Run(() => { Task.Delay(500); return(new NavigationDetails {
Arrived = false
}); });
var crawler = Substitute.For <IMazeCrawler>();
crawler.Navigate().Returns(task);
var crawlers = new [] { crawler };
var swarmCoordinator = Substitute.For <ISwarmCoordinator>();
swarmCoordinator.GetSwarm(Arg.Any <IMazeCrawlerState>()).Returns(crawlers);
var crawlerCoordinator = Substitute.For <IMazeCrawlerCoordinator>();
crawlerCoordinator.RequestSwarm(Arg.Any <IMazeCrawlerState>()).Returns(swarmCoordinator);
var context = new MazeCrawlerContext
{
Start = new Coordinates(startX, startY),
Destination = new Coordinates(destinationX, destinationY),
NavigationMap = new Map(new char[][]
{
new [] { Map.EMPTY, Map.EMPTY, Map.EMPTY },
new [] { Map.OCCPD, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.OCCPD, Map.EMPTY },
new [] { Map.EMPTY, Map.EMPTY, Map.EMPTY }
}),
NavigationMode = CrawlerNavigationMode.Swarm,
Coordinator = crawlerCoordinator
};
var mazeCrawler = new MazeCrawler(context);
await mazeCrawler.Navigate();
crawlerCoordinator.Received(1).Debrief(mazeCrawler);
}
public void GetNextRoutes_Should_Return_Directions_Based_On_Availability(int startX, int startY, int destinationX, int destinationY, Direction expected)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(startX, startY),
Destination = new Coordinates(destinationX, destinationY),
NavigationMap = new Map(new char[][]
{
new char[] { Map.OCCPD, Map.OCCPD, Map.EMPTY, Map.OCCPD },
new char[] { Map.EMPTY, Map.EMPTY, Map.EMPTY, Map.OCCPD },
new char[] { Map.OCCPD, Map.EMPTY, Map.EMPTY, Map.EMPTY },
new char[] { Map.OCCPD, Map.EMPTY, Map.OCCPD, Map.OCCPD }
}),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
var routes = crawler.GetNextRoutes();
routes.Should().HaveCount(1);
routes.First().Should().Be(expected);
}
public IMazeCrawler Spawn(MazeCrawlerContext context)
{
return(new MazeCrawler(context));
}
