public void RobotGroupEquality()
{
var lhs = new RobotGroup();
var rhs = new RobotGroup();
lhs.Equals(rhs).Should().BeTrue();
}
public void AllowRobotGroupToString(string expected, string userAgent, params string[] allowPaths)
{
var group = new RobotGroup
{
UserAgent = userAgent,
Allow = allowPaths
};
group.ToString().Should().Be(expected);
}
public void ReturnUserAgent_AndAllow_WhenAny_WihoutDisallow_WhenNone(string userAgent, string allow)
{
var group = new RobotGroup(userAgent, new[] { allow }, new string[0]);
string output = group.ToString();
string[] parts = output.Split(Environment.NewLine);
Assert.AreEqual($"User-agent: {group.UserAgent}", parts[0]);
Assert.AreEqual($"Allow: {allow}", parts[1]);
Assert.AreEqual(2, parts.Length);
}
public void ReturnOnlyUserAgent(string userAgent)
{
var group = new RobotGroup(userAgent);
string output = group.ToString();
var parts = output.Split(Environment.NewLine);
Assert.AreEqual($"User-agent: {group.UserAgent}", parts[0]);
Assert.AreEqual(1, parts.Length);
}
public void ReturnUserAgent_AndAllow_WhenAny_AndDisallow_WhenAny(string userAgent, string allow, string disallow)
{
var group = new RobotGroup(userAgent, new[] { allow }, new[] { disallow });
string output = group.ToString();
var parts = output.Split(Environment.NewLine);
Assert.AreEqual($"User-agent: {group.UserAgent}", parts[0]);
Assert.AreEqual($"Allow: {allow}", parts[1]);
Assert.AreEqual($"Disallow: {disallow}", parts[2]);
}
public async Task ReturnEachGroupOnOneLine()
{
var robotGroup = new RobotGroup("TestAgent");
var otherRobotGroup = new RobotGroup("AnotherTestAgent");
this.robotGroups.Add(robotGroup);
this.robotGroups.Add(otherRobotGroup);
string output = await this.writer.WriteAsync();
string[] parts = output.Split(Environment.NewLine);
Assert.AreEqual(5, parts.Length);
Assert.AreEqual(robotGroup.ToString(), parts[1]);
Assert.AreEqual(otherRobotGroup.ToString(), parts[3]);
}
public void RobotGroupEqualityDisallows(string userAgent, string lhsPaths, string rhsPaths, bool expected)
{
var lhs = new RobotGroup()
{
UserAgent = userAgent,
Disallow = lhsPaths.Split(";")
};
var rhs = new RobotGroup()
{
UserAgent = userAgent,
Disallow = rhsPaths.Split(";")
};
lhs.Equals(rhs).Should().Be(expected);
}
/// <summary>
/// For when we're fetching the details from the database
/// </summary>
/// <param name="ipAddress"></param>
/// <param name="authValue"></param>
public Robot(string ipAddress, AuthenticationHeaderValue authValue)
{
this.ipAddress = ipAddress;
this.authValue = authValue;
Registers = new List <Register>(new Register[200]);
s = new Status();
FireAlarm = new FireAlarms();
Group = new RobotGroup();
schedule = new Scheduler();
Missions = new List <Mission>(new Mission[80]);
currentJob = new Job();
for (int i = 0; i < 80; i++)
{
Missions[i] = new Mission();
}
isLive = true;
deadRobotAlarmNotTriggered = true;
}
/// <summary>
/// Initializes the robot fleet, Fleet Manager excluded
/// </summary>
/// /// <param name="sizeOfFleet">Number of robots in the fleet</param>
public Fleet(int sizeOfFleet)
{
robots = new Robot[sizeOfFleet];
// robotMapping = new int[2] { 4, 2 };
httpResponseTasks = new Task <HttpResponseMessage> [sizeOfFleet];
// Instantiates the group array
groups = new short[8] {
0, (short)sizeOfFleet, 0, 0, 0, 0, 0, 0
};
// Initialize the robot group
group = new RobotGroup[8];
for (int i = 0; i < 8; i++)
{
group[i] = new RobotGroup();
}
available = new ChargingGroup(2, "FullCharge", "/v2.0.0/charging_groups/2");
busy = new ChargingGroup(3, "EmptyCharge", "/v2.0.0/charging_groups/3");
instantiateRobots(sizeOfFleet);
}
/// <summary>
/// Generates all the farm stuff
/// </summary>
private void GenerateFarm()
{
backgroundName = "Farm";
_workspace = new Workspace(X_MIN, X_MAX, Y_MIN, Y_MAX) { Obstacles = GenerateBaseFarmObstacles() };
_workspace.GenerateEvenGraph((UInt16)(X_RANGE + 1), (UInt16)(Y_RANGE + 1));
List<Node> groundPatrolPath = new List<Node>() {
_workspace.GetNode(new HomeworkTwo.Point(18, 10)),
_workspace.GetNode(new HomeworkTwo.Point(18, 35)),
_workspace.GetNode(new HomeworkTwo.Point(28, 35)),
_workspace.GetNode(new HomeworkTwo.Point(28, 2)),
_workspace.GetNode(new HomeworkTwo.Point(28, 35)),
_workspace.GetNode(new HomeworkTwo.Point(18, 35))};
// Create our robot group with our agents
_robotGroup = new RobotGroup(
GeneratePursuers(new HomeworkTwo.Point(25, 38), _workspace, _workspace, groundPatrolPath),
GenerateTargets(new HomeworkTwo.Point(30, 39), _workspace, _workspace),
TIME_STEP_LENGTH,
TIME_HORIZON,
VISIBLITY_CRITERIA);
}
/// <summary>
/// Generates all the city stuff
/// </summary>
private void GenerateCity()
{
backgroundName = "City";
Obstacles obstacles = new Obstacles();
// Create obstacles
for (double i = 3.5; i <= 38; i = i + 5.5)
for (double j = 25.5; j <= 38; j = j + 5.5)
obstacles.Add(new RectangleObstacle(new HomeworkTwo.Point(j,i), 4, 4));
for (double i = 25.5; i <= 38; i = i + 5.5)
for (double j = 3.5; j <= 22; j = j + 5.5)
obstacles.Add(new RectangleObstacle(new HomeworkTwo.Point(j,i), 4, 4));
// Set up workspace and generate nodes
_workspace = new Workspace(X_MIN, X_MAX, Y_MIN, Y_MAX) { Obstacles = obstacles };
_workspace.GenerateEvenGraph((UInt16)(X_RANGE + 1), (UInt16)(Y_RANGE + 1));
Workspace airWorkspace = new Workspace(X_MIN, X_MAX, Y_MIN, Y_MAX) { };
airWorkspace.GenerateEvenGraph((UInt16)(X_RANGE + 1), (UInt16)(Y_RANGE + 1));
List<Node> groundPatrolPath = new List<Node>() {
airWorkspace.GetNode(new HomeworkTwo.Point(1, 20)),
airWorkspace.GetNode(new HomeworkTwo.Point(20, 20)),
airWorkspace.GetNode(new HomeworkTwo.Point(20, 1)),
airWorkspace.GetNode(new HomeworkTwo.Point(1, 1))};
List<Node> airPatrolPath = new List<Node>() {
airWorkspace.GetNode(new HomeworkTwo.Point(1, 39)),
airWorkspace.GetNode(new HomeworkTwo.Point(39, 39)),
airWorkspace.GetNode(new HomeworkTwo.Point(39, 1)),
airWorkspace.GetNode(new HomeworkTwo.Point(1, 1))};
// Create our agents
List<RobotBase> pursuerRobots = new List<RobotBase>() {
new GroundPursuer(GroundPursuerPatrol.TheInstance,
new HomeworkTwo.Point(1,1), // location
RADIUS, // radius
new Vector2D(), // intial velocity
MAX_SPEED * .8f, // max speed
new Vector2D(), // intial heading
MASS, // mass
new Vector2D(), // scale
TURN_RATE, // turn rate
MAX_FORCE, // max force
groundPatrolPath, // patrol path
_workspace, // traversability map
_workspace), // visibility map
new AerialPursuer(AerialPursuerPatrol.TheInstance,
new HomeworkTwo.Point(1,15), // location
RADIUS, // radius
new Vector2D(), // intial velocity
MAX_SPEED, // max speed
new Vector2D(), // intial heading
MASS, // mass
new Vector2D(), // scale
TURN_RATE, // turn rate
MAX_FORCE, // max force
airPatrolPath, // patrol path
airWorkspace, // traversability map
airWorkspace) }; // visibility map
List<Target> targetRobots = new List<Target>() { new Target(TargetPatrol.TheInstance,
new HomeworkTwo.Point(30,39), // location
RADIUS, // radius
new Vector2D(), // intial velocity
MAX_SPEED, // max speed
new Vector2D(), // intial heading
MASS, // mass
new Vector2D(), // scale
TURN_RATE, // turn rate
MAX_FORCE, // max force
new List<Node>(), // patrol path
_workspace, // traversability map
_workspace)}; // visibility map
// Create our robot group with our agents
_robotGroup = new RobotGroup(pursuerRobots, targetRobots, TIME_STEP_LENGTH, TIME_HORIZON, VISIBLITY_CRITERIA);
}
