public void Test_Get_Rover_Directional_Heading()
{
Rover rover = new Rover();
rover.PositionHeading = "N";
string headingReturned;
Navigation navigation = new Navigation(rover);
headingReturned = navigation.GetDirectionalHeading();
Assert.AreEqual("N", headingReturned);
}
public void Test_Rover_Turns_North()
{
Rover rover = new Rover();
rover.PositionHeading = "W";
Navigation navigation = new Navigation(rover);
rover.Command_Parser("R");
Assert.AreEqual("N", navigation.GetDirectionalHeading());
}
public void Test_Rover_Left_Turn_West_()
{
Rover rover = new Rover();
rover.PositionHeading = "N";
Navigation navigation = new Navigation(rover);
rover.Command_Receiver("L");
Assert.AreEqual("W", navigation.GetDirectionalHeading());
}
public void Test_For_Obstacle_Detection()
{
Rover rover = new Rover();
rover.PositionHeading = "E";
Navigation navigation = new Navigation(rover);
string headingIndex = navigation.GetDirectionalHeading();
rover.PositionY = 0;
rover.PositionX = 0;
rover.LandscapeHeight = 5;
rover.LandscapeWidth = 5;
Landscape landscape = new Landscape(rover);
landscape.BuildLandscapeGrid(false);
//set obstacle
Coordinates crd = new Coordinates{
xCoordinate = 1,
yCoordinate =0
};
Coordinates coor = (from Coordinates in rover.gridCoordinates
where Coordinates.xCoordinate == 1 && Coordinates.yCoordinate == 0
select Coordinates).FirstOrDefault<Coordinates>();
bool notNull = coor != null;
int indexOf = -1;
if(coor != null)
{
indexOf = rover.gridCoordinates.IndexOf(coor);
}
//int indexOf = rover.gridCoordinates.IndexOf(crd);
bool hasIndex = indexOf > 0;
if (hasIndex)
{
rover.gridCoordinates[indexOf].containsObstacle = true;
}
string rtnMessage = "";
char[] cmds = ("f").ToCharArray();
while (!rover.ReportObstacle)
{
foreach (char c in cmds)
{
rtnMessage = rover.Command_Parser(c.ToString());
}
//break;
}
Assert.AreEqual(true, rtnMessage.Contains("Obst"));
}
public void Test_Check_Grid_Is_Creating_The_Correct_Number_Of_Spaces()
{
Rover rover = new Rover();
rover.PositionHeading = "E";
Navigation navigation = new Navigation(rover);
string headingIndex = navigation.GetDirectionalHeading();
rover.PositionY = 0;
rover.PositionX = 0;
rover.LandscapeHeight = 5;
rover.LandscapeWidth = 5;
Landscape landscape = new Landscape(rover);
landscape.BuildLandscapeGrid(false);
Assert.AreEqual(25, rover.gridCoordinates.Count());
}
public void Drive_Forward()
{
Navigation _navigation = new Navigation(_rover);
try
{
switch (_navigation.GetDirectionalHeading())
{
case "N":
int testCoordinate_N = _rover.PositionY + 1;
if (testCoordinate_N > _rover._landscapeHeight)
{
testCoordinate_N = 0;
}
if (_navigation.IsDestinationFreeFromObstacle(_rover.PositionX, testCoordinate_N))
{
_rover.PositionY++;
}
if (_rover.PositionY > _rover._landscapeHeight)
{
_rover.PositionY = 0;
}
break;
case "E":
int testCoordinate_E = _rover.PositionX + 1;
if (testCoordinate_E > _rover._landscapeWidth)
{
testCoordinate_E = 0;
}
if (_navigation.IsDestinationFreeFromObstacle(testCoordinate_E, _rover.PositionY))
{
_rover.PositionX++;
}
if (_rover.PositionX > _rover._landscapeWidth)
{
_rover.PositionX = 0;
}
break;
case "S":
int testCoordinate_S = _rover.PositionY - 1;
if (testCoordinate_S < 0)
{
testCoordinate_S = _rover._landscapeHeight;
}
if (_navigation.IsDestinationFreeFromObstacle(_rover.PositionX, testCoordinate_S))
{
_rover.PositionY--;
}
if (_rover.PositionY < 0)
{
_rover.PositionY = _rover._landscapeHeight;
}
break;
case "W":
int testCoordinate_W = _rover.PositionX - 1;
if (testCoordinate_W < 0)
{
testCoordinate_W = _rover._landscapeWidth;
}
if (_navigation.IsDestinationFreeFromObstacle(testCoordinate_W, _rover.PositionY))
{
_rover.PositionX--;
}
if (_rover.PositionX < 0)
{
_rover.PositionX = _rover._landscapeWidth;
}
break;
default:
break;
}
}
catch (Exception ex)
{
throw new Exception("Drive_Forward error", ex);
}
}
public void Drive_Reverse()
{
Navigation _navigation = new Navigation(_rover);
switch (_navigation.GetDirectionalHeading())
{
case "N":
int testCoordinate_N = _rover.PositionY - 1;
if (testCoordinate_N < 0)
{
testCoordinate_N = _rover._landscapeHeight;
}
if (_navigation.IsDestinationFreeFromObstacle(_rover.PositionX, testCoordinate_N))
{
_rover.PositionY--;
}
if (_rover.PositionY < 0)
{
_rover.PositionY = _rover._landscapeHeight;
}
break;
case "E":
int testCoordinate_E = _rover.PositionX - 1;
if (testCoordinate_E < 0)
{
testCoordinate_E = _rover._landscapeWidth;
}
if (_navigation.IsDestinationFreeFromObstacle(testCoordinate_E, _rover.PositionY))
{
_rover.PositionX--;
}
if (_rover.PositionX < 0)
{
_rover.PositionX = _rover._landscapeWidth;
}
break;
case "S":
int testCoordinate_S = _rover.PositionY + 1;
if (testCoordinate_S > _rover._landscapeHeight)
{
testCoordinate_S = 0;
}
if (_navigation.IsDestinationFreeFromObstacle(_rover._position_X, testCoordinate_S))
{
_rover._position_Y++;
}
if (_rover._position_Y > _rover._landscapeHeight)
{
_rover._position_Y = 0;
}
break;
case "W":
int testCoordinate_W = _rover._position_X + 1;
if (testCoordinate_W > _rover._landscapeWidth)
{
testCoordinate_W = 0;
}
if (_navigation.IsDestinationFreeFromObstacle(testCoordinate_W, _rover.PositionY))
{
_rover.PositionX++;
}
if (_rover.PositionX > _rover._landscapeWidth)
{
_rover.PositionX = 0;
}
break;
default:
//todo throw exception
break;
}
}
public string Command_Parser(string command)
{
try
{
Command_Receiver(command);
}
catch
{
//return error message
return ReturnMessage;
}
//return coordinates and heading
if(ObstacleFound)
{
ReportObstacle = true;
return ReturnMessage;
}
Navigation navigation = new Navigation(this);
return string.Format("Rover's current position is: coordinate({0},{1}), heading {2}", PositionX, PositionY, navigation.GetDirectionalHeading());
}
public void Test_Rover_Turns_South()
{
Rover rover = new Rover();
rover.PositionHeading = "E";
Navigation navigation = new Navigation(rover);
rover.Command_Receiver("R");
Assert.AreEqual("S", navigation.GetDirectionalHeading());
}