public void TestIsDistanceToGoal()
{
//Arrange
var unitOfWork = new UnitOfWork(new DtsContext());
var target = unitOfWork.NavigationPoints.GetSingle(Guid.Parse("FC284FE6-73E1-42AC-9409-6267F4BAB607"));
var drone = new Drone
{
CurrentPoint = new NavigationPoint
{
Id = target.Id,
XNeighbourId = target.XNeighbourId,
ZNeighbourId = target.ZNeighbourId
},
TargetPoint = new NavigationPoint
{
Id = Guid.Parse("B955D974-2D5C-45A3-AEBA-009AD23BAC3A"),
}
};
unitOfWork.Dispose();
//Act
var result = NavigationLogic.IsDistanceToGoal(drone);
//Assert
Assert.True(result, "The result came out false");
}
public void TestDetermineNextPoint()
{
//Arrange
var unitOfWork = new UnitOfWork(new DtsContext());
var droneOne = new Drone
{
CurrentPoint = new NavigationPoint(unitOfWork.NavigationPoints.GetSingle(Guid.Parse("B19C9EF8-3CF5-4A85-A0F7-4D516E9FD53C"))),
TargetPoint = new NavigationPoint(unitOfWork.NavigationPoints.GetSingle(Guid.Parse("B955D974-2D5C-45A3-AEBA-009AD23BAC3A")))
};
var xPointOne = new NavigationPoint(unitOfWork.NavigationPoints.GetSingle(droneOne.CurrentPoint.XNeighbourId));
var zPointOne = new NavigationPoint(unitOfWork.NavigationPoints.GetSingle(droneOne.CurrentPoint.ZNeighbourId));
var droneTwo = new Drone
{
CurrentPoint = new NavigationPoint(unitOfWork.NavigationPoints.GetSingle(Guid.Parse("EAFB1408-C53F-449D-9856-4B18BF32B861"))),
TargetPoint = new NavigationPoint(unitOfWork.NavigationPoints.GetSingle(Guid.Parse("B955D974-2D5C-45A3-AEBA-009AD23BAC3A")))
};
var xPointTwo = new NavigationPoint(unitOfWork.NavigationPoints.GetSingle(droneTwo.CurrentPoint.XNeighbourId));
var zPointTwo = new NavigationPoint(unitOfWork.NavigationPoints.GetSingle(droneTwo.CurrentPoint.ZNeighbourId));
unitOfWork.Dispose();
//Act
var resultOne = NavigationLogic.DetermineNextPoint(droneOne, xPointOne, zPointOne);
var resultTwo = NavigationLogic.DetermineNextPoint(droneTwo, xPointTwo, zPointTwo);
//Assert
Assert.IsNotNull(resultOne, "A navigation point was not selected for result one");
Assert.AreEqual(xPointOne, resultOne, "The x coordinate was selected");
Assert.IsNotNull(resultTwo, "A navigation point was not selected for result two");
Assert.AreEqual(zPointTwo, resultTwo, "The z coordinate was selected");
}
public void TestGenerateRoute()
{
//Arrange
var unitOfWork = new UnitOfWork(new DtsContext());
var drone = new Drone
{
TargetPoint = new NavigationPoint(unitOfWork.NavigationPoints.GetSingle(Guid.Parse("B955D974-2D5C-45A3-AEBA-009AD23BAC3A"))),
CurrentPoint = new NavigationPoint(unitOfWork.NavigationPoints.GetSingle(Guid.Parse("161E22AE-B152-4D7F-AC68-58201EF025DA")))
};
var route = new List <NavigationPoint>
{
drone.CurrentPoint,
drone.TargetPoint
};
var droneRandom = new Drone
{
TargetPoint = new NavigationPoint(unitOfWork.NavigationPoints.GetRandom(Guid.Parse("B955D974-2D5C-45A3-AEBA-009AD23BAC3A"))),
CurrentPoint = new NavigationPoint(unitOfWork.NavigationPoints.GetRandom(Guid.Parse("B955D974-2D5C-45A3-AEBA-009AD23BAC3A"))),
};
var routeRandom = new List <NavigationPoint>
{
droneRandom.CurrentPoint,
droneRandom.TargetPoint
};
File.AppendAllText(
@"C:\Users\Jack\Documents\Fourth Year\Fourth Year Project\2017-ca400-murpj238\docs\blog\RandomNavigationPoints.csv",
"TestGenerateNavigationPoint," + droneRandom.TargetPoint.Id + "," + droneRandom.TargetPoint.XPosition + "," +
droneRandom.TargetPoint.ZPosition + "," + droneRandom.TargetPoint.Id + "," +
droneRandom.CurrentPoint.XPosition + "," + droneRandom.CurrentPoint.ZPosition + "\n");
//Act
var result = NavigationLogic.GenerateRoute(drone, route,
unitOfWork.NavigationPoints.GetNaviationPoints().Where(x => x.Id != drone.TargetPoint.Id).ToList(), 0);
var resultRandom = NavigationLogic.GenerateRoute(droneRandom, routeRandom,
unitOfWork.NavigationPoints.GetNaviationPoints().Where(x => x.Id != droneRandom.TargetPoint.Id)
.ToList(), 0);
//Assert
Assert.IsNotEmpty(result, "The list does not contain any values");
Assert.AreEqual(result.Last(), drone.TargetPoint, "The last value should be the target point");
Assert.Greater(route.Count, 2, "The route only contains the start and finish points");
Assert.AreEqual(35, result.Count, "The list has too many or too few points");
Assert.True(result.Any(x => x.Id == Guid.Parse("e378a340-b368-4cc1-b412-28ed418a3d24")), "This point does not exist in the list");
Assert.IsNotEmpty(resultRandom, "The route returned empty");
Assert.True(result.Any(x => x.Id == Guid.Parse("B955D974-2D5C-45A3-AEBA-009AD23BAC3A")));
unitOfWork.Dispose();
}
//Generate a list of navigation points for the drones
public static List <NavigationPoint> GenerateRoute(Drone drone, List <NavigationPoint> result, List <NavigationPoints> navigationPoints, int targetReached)
{
if (result.Count == 2)
{
_originalList = navigationPoints;
}
var isDistanceToGoal = IsDistanceToGoal(drone);
targetReached = isDistanceToGoal ? Math.Abs(targetReached - 1) : targetReached + 0;
if (!isDistanceToGoal)
{
var xPoint = navigationPoints.Any(x => x.Id == drone.CurrentPoint.XNeighbourId)
? new NavigationPoint(navigationPoints.FirstOrDefault(x => x.Id == drone.CurrentPoint.XNeighbourId))
: null;
var zPoint = navigationPoints.Any(x => x.Id == drone.CurrentPoint.ZNeighbourId)
? new NavigationPoint(navigationPoints.FirstOrDefault(x => x.Id == drone.CurrentPoint.ZNeighbourId))
: null;
navigationPoints = navigationPoints.Where(x => x.Id != drone.CurrentPoint.Id).ToList();
if (xPoint == null && zPoint == null)
{
xPoint = drone.CurrentPoint.XNeighbourId.Equals(Guid.Empty)
? null
: new NavigationPoint(_originalList.Find(x => x.Id == drone.CurrentPoint.XNeighbourId));
zPoint = drone.CurrentPoint.ZNeighbourId.Equals(Guid.Empty)
? null
: new NavigationPoint(_originalList.Find(x => x.Id == drone.CurrentPoint.ZNeighbourId));
}
drone.CurrentPoint = DetermineNextPoint(drone, xPoint, zPoint);
result.Insert(result.Count - 1, drone.CurrentPoint);
}
if (targetReached == 1)
{
drone.CurrentPoint = drone.TargetPoint;
drone.TargetPoint = result.First();
targetReached *= -1;
navigationPoints = _originalList;
result.Add(drone.TargetPoint);
}
return(targetReached == 2 ? result : GenerateRoute(drone, result, navigationPoints, targetReached));
}
//Check has the goal been reached yet
public static bool IsDistanceToGoal(Drone drone)
{
return(drone.CurrentPoint.XNeighbourId.Equals(drone.TargetPoint.Id) ||
drone.CurrentPoint.ZNeighbourId.Equals(drone.TargetPoint.Id));
}
//Determine the next point to choose
public static NavigationPoint DetermineNextPoint(Drone drone, NavigationPoint xPoint, NavigationPoint zPoint)
{
if (xPoint == null)
{
return(zPoint);
}
if (zPoint == null)
{
return(xPoint);
}
var currentStreets = drone.CurrentPoint.Streets;
var targetStreets = drone.TargetPoint.Streets;
if (drone.TargetPoint.XPosition < drone.CurrentPoint.XPosition &&
drone.TargetPoint.ZPosition < drone.CurrentPoint.ZPosition)
{
if (currentStreets.Any(x => x.Direction.Equals("Right")) &&
currentStreets.Any(x => x.Direction.Equals("Up")))
{
return(NearestToTargetPoint(drone.TargetPoint, xPoint, zPoint));
}
if (currentStreets.Any(x => x.Direction.Equals("Left")) &&
currentStreets.Any(x => x.Direction.Equals("Up")))
{
return(zPoint);
}
if (currentStreets.Any(x => x.Direction.Equals("Right")) &&
currentStreets.Any(x => x.Direction.Equals("Down")))
{
return(xPoint);
}
return(targetStreets.Any(x => x.Direction.Equals("Down") && x.Direction.Equals("Right"))
? zPoint
: xPoint);
}
if (drone.TargetPoint.XPosition > drone.CurrentPoint.XPosition &&
drone.TargetPoint.ZPosition < drone.CurrentPoint.ZPosition)
{
if (currentStreets.Any(x => x.Direction.Equals("Right")) &&
currentStreets.Any(x => x.Direction.Equals("Down")))
{
return(NearestToTargetPoint(drone.TargetPoint, xPoint, zPoint));
}
if (currentStreets.Any(x => x.Direction.Equals("Left")) &&
currentStreets.Any(x => x.Direction.Equals("Down")))
{
return(zPoint);
}
if (currentStreets.Any(x => x.Direction.Equals("Right")) &&
currentStreets.Any(x => x.Direction.Equals("Up")))
{
return(xPoint);
}
return(targetStreets.Any(x => x.Direction.Equals("Left")) ? xPoint : zPoint);
}
if (drone.TargetPoint.XPosition < drone.CurrentPoint.XPosition &&
drone.TargetPoint.ZPosition > drone.CurrentPoint.ZPosition)
{
if (currentStreets.Any(x => x.Direction.Equals("Left")) &&
currentStreets.Any(x => x.Direction.Equals("Up")))
{
return(NearestToTargetPoint(drone.TargetPoint, xPoint, zPoint));
}
if (currentStreets.Any(x => x.Direction.Equals("Right")) &&
currentStreets.Any(x => x.Direction.Equals("Up")))
{
return(zPoint);
}
if (currentStreets.Any(x => x.Direction.Equals("Left")) &&
currentStreets.Any(x => x.Direction.Equals("Down")))
{
return(xPoint);
}
return(targetStreets.Any(x => x.Direction.Equals("Right") && x.Direction.Equals("Down"))
? xPoint
: zPoint);
}
if (drone.TargetPoint.XPosition > drone.CurrentPoint.XPosition &&
drone.TargetPoint.ZPosition > drone.CurrentPoint.ZPosition)
{
if (currentStreets.Any(x => x.Direction.Equals("Left")) &&
currentStreets.Any(x => x.Direction.Equals("Down")))
{
return(NearestToTargetPoint(drone.TargetPoint, xPoint, zPoint));
}
if (currentStreets.Any(x => x.Direction.Equals("Right")) &&
currentStreets.Any(x => x.Direction.Equals("Down")))
{
return(zPoint);
}
if (currentStreets.Any(x => x.Direction.Equals("Left")) &&
currentStreets.Any(x => x.Direction.Equals("Up")))
{
return(xPoint);
}
return(targetStreets.Any(x => x.Direction.Equals("Left") && x.Direction.Equals("Up")) ? zPoint : xPoint);
}
return(NearestToTargetPoint(drone.TargetPoint, xPoint, zPoint));
}
