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_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_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 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 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);
}