private void ExecuteAllActionsOnNavigationEngine(NavigationEngine engine, NavigationContext context)
{
for (var i = 0; i < context.Rovers.Count(); i++)
{
engine.Guide(context.Rovers[i], context.NavigationActions[i].ToArray());
}
}
public async Task <IActionResult> InputNavigationString(string navigationString)
{
// Double check string is actually not sent, fixes potential environmental issues
if (string.IsNullOrEmpty(navigationString))
{
using (var reader = new StreamReader(Request.Body))
{
navigationString = await reader.ReadToEndAsync();
}
}
navigationString = navigationString.Trim();
if (!_navigationStringValidator.IsValidNavigationString(navigationString))
{
return(BadRequest("Unable to validate navigation string"));
}
var historicalIO = _memoryCache.GetOrCreate <List <KeyValuePair <string, NavigationContext> > >(CacheKey, (_) => new List <KeyValuePair <string, NavigationContext> >());
var cached = historicalIO.FirstOrDefault(kvp => kvp.Key.Equals(navigationString, StringComparison.OrdinalIgnoreCase));
if (cached.Value != default)
{
return(Ok(cached.Value));
}
var context = _navigationContextFactory.CreateFromNavigationString(navigationString);
var navigationEngine = new NavigationEngine(context.Plateau);
ExecuteAllActionsOnNavigationEngine(navigationEngine, context);
historicalIO.Add(new KeyValuePair <string, NavigationContext>(navigationString, context));
return(Ok(context));
}
public void GivenNavigationActionWouldRemoveRoverFromPlateauShouldThrow()
{
var plateau = new Plateau(new Point(5, 5));
var rover = new Rover(new Point(5, 4), Heading.East);
var navigationEngine = new NavigationEngine(plateau, rover);
Assert.That(() => navigationEngine.Guide(rover, NavigationAction.M), Throws.InvalidOperationException);
}
public void GivenValidInputShouldCreateNavigationEngine()
{
var plateau = new Plateau(new Point(5, 5));
var rover = new Rover(new Point(1, 2), Heading.North);
var navigationEngine = new NavigationEngine(plateau, rover);
Assert.That(navigationEngine.RoverActionsCache.Count, Is.EqualTo(1));
Assert.That(navigationEngine.Plateau, Is.Not.Null);
}
public NavigationTest(Client client) : base(client)
{
navEngine = new NavigationEngine();
if (!navEngine.SetCurrentMap(me.Memory.ReadInt32(IntPtr.Zero + Offset.MapId)))
{
throw new Exception();
}
this.Active = true;
}
public void GivenValidActionsShouldGuideRover(int roverX, int roverY, Heading roverHeading, int expectedX, int expectedY, Heading expectedHeading, params NavigationAction[] navigationActions)
{
var plateau = new Plateau(new Point(5, 5));
var rover = new Rover(new Point(roverX, roverY), roverHeading);
var navigationEngine = new NavigationEngine(plateau, rover);
navigationEngine.Guide(rover, navigationActions);
Assert.That(rover.CurrentCoordinates.X, Is.EqualTo(expectedX));
Assert.That(rover.CurrentCoordinates.Y, Is.EqualTo(expectedY));
Assert.That(rover.CurrentHeading, Is.EqualTo(expectedHeading));
}
private void Awake()
{
NavigationGraph = NavigationGraphAsset.InstanciateNavigationGraph();
NavigationGraphComponentContainer.UniqueNavigationGraphComponent = this;
for (int i = 0; i < NavigationGraph.NavigationNodes.Count; i++)
{
NavigationNodeGameRepresentation[NavigationGraph.NavigationNodes[i]] = NavigationNodeComponent.instanciateFromPrefab(transform, NavigationGraph.NavigationNodes[i], NavigationNodeComponentPrefab);
}
NavigationEngine = NavigationEngine.alloc();
}
public void Before()
{
TestEventQueue = EventQueue.alloc();
ExternalHooks.LogDebug = (string s) => { };
TurnTimeline.alloc();
NavigationEngine.alloc();
NavigationGraph l_navigationGraph = NavigationGraph.alloc();
NavigationGraphContainer.UniqueNavigationGraph = l_navigationGraph;
NavigationGraphBuild.CreateGridNavigation(l_navigationGraph, 4, 4);
NavigationGraph.takeSnapshot(l_navigationGraph);
}
public override void Execute(EventQueue p_eventQueue)
{
base.Execute(p_eventQueue);
NavigationNode l_oldNavigationNode = Entity.CurrentNavigationNode;
Entity.set_currentNavigationNode(Entity, NavigationNode);
List <AEvent> l_triggeredEvents = NavigationEngine.resolveEntityNavigationNodeChange(NavigationEngineContainer.UniqueNavigationEngine, Entity, l_oldNavigationNode, NavigationNode);
for (int i = l_triggeredEvents.Count - 1; i >= 0; i--)
{
EventQueue.insertEventAt(p_eventQueue, 0, l_triggeredEvents[i]);
}
}
public void GivenNavigationActionWouldMoveRoverShouldAddActionToCache()
{
var plateau = new Plateau(new Point(7, 7));
var initialX = 5;
var initialY = 4;
var initialHeading = Heading.East;
var rover = new Rover(new Point(initialX, initialY), initialHeading);
var navigationEngine = new NavigationEngine(plateau, rover);
navigationEngine.Guide(rover, NavigationAction.M);
Assert.That(navigationEngine.RoverActionsCache[rover], Is.Not.Empty);
}
public void After()
{
foreach (Entity l_entity in EntityContainer.Entities)
{
Entity.markForDestruction(l_entity);
EventQueue.enqueueEvent(TestEventQueue, EntityDestroyEvent.alloc(l_entity));
}
EventQueue.iterate(TestEventQueue);
EventQueue.clearAll(TestEventQueue);
_TurnTimeline.TurnTimeline.free(_TurnTimeline.TurnTimelineContainer.UniqueTurnTimeline);
NavigationEngine.free(NavigationEngineContainer.UniqueNavigationEngine);
NavigationGraph.free(NavigationGraphContainer.UniqueNavigationGraph);
TestEventQueue = null;
}
public void GivenNavigationActionWouldRemoveRoverFromPlateauShouldNotAddActionToCache()
{
var plateau = new Plateau(new Point(5, 5));
var initialX = 5;
var initialY = 4;
var initialHeading = Heading.East;
var rover = new Rover(new Point(initialX, initialY), initialHeading);
var navigationEngine = new NavigationEngine(plateau, rover);
try
{
navigationEngine.Guide(rover, NavigationAction.M);
}
catch (InvalidOperationException)
{
// Do nothing
}
Assert.That(navigationEngine.RoverActionsCache[rover], Is.Empty);
}
public void GivenNavigationActionWouldRemoveRoverFromPlateauShouldResetRoversPosition()
{
var plateau = new Plateau(new Point(5, 5));
var initialX = 5;
var initialY = 4;
var initialHeading = Heading.East;
var rover = new Rover(new Point(initialX, initialY), initialHeading);
var navigationEngine = new NavigationEngine(plateau, rover);
try
{
navigationEngine.Guide(rover, NavigationAction.M);
}
catch (InvalidOperationException)
{
// Do nothing
}
Assert.That(rover.CurrentCoordinates.X, Is.EqualTo(initialX));
Assert.That(rover.CurrentCoordinates.Y, Is.EqualTo(initialY));
Assert.That(rover.CurrentHeading, Is.EqualTo(initialHeading));
}
public TestBot(Nav.Navmesh navmesh, NavigationEngine navigator, ExplorationEngine explorer, Vec3 pos, Vec3 dest, bool explore = false, bool simulate_stuck = false, int dest_grid_id = -1, List <Vec3> waypoints = null)
{
m_Navmesh = navmesh;
//m_Navigator = new NavigationEngine(navmesh);
//m_Navigator.AddObserver(this);
m_Navigator = navigator;
m_Navigator.CurrentPos = pos;
m_Navigator.Precision = 2;
m_Navigator.EnableAntiStuck = true;
m_Navigator.DestinationGridsId = dest_grid_id != -1 ? new List <int>(new int[] { dest_grid_id }) : null;
if (waypoints != null)
{
m_Navigator.Waypoints = waypoints;
}
//m_Explorer = new Nav.ExploreEngine.Nearest(m_Navmesh, m_Navigator);
m_Explorer = explorer;
m_Explorer.Enabled = explore;
Destination = dest;
SimulateStuck = simulate_stuck;
Paused = false;
m_GotoPosUpdateTimer.Start();
}
public Nearest(Navmesh navmesh, NavigationEngine navigator, int explore_cell_size = 90)
: base(navmesh, navigator, explore_cell_size)
{
}
public Nearest(Navmesh navmesh, NavigationEngine navigator, int explore_cell_size = 90, bool ignore_small = true)
: base(navmesh, navigator, explore_cell_size, ignore_small)
{
}
