public static void TestBearingShouldMakeYouMoveToRightPosition()
{
Random rand;
double x1, y1, x2, y2;
rand = new Random();
x1 = rand.NextDouble();
y1 = rand.NextDouble();
x2 = rand.NextDouble();
y2 = rand.NextDouble();
Point2D orig = new Point2D(x1, y1);
Point2D dest = new Point2D(x2, y2);
double angle = orig.AbsoluteBearing(dest);
MyRobot r = new MyRobot(orig, angle);
double distance = orig.Norm(dest);
r.MoveRobot(r.CalculateRobotNextPositionPolar(orig, angle, distance));
r.Position.X.Should().BeApproximately(x2, 0.001);
r.Position.Y.Should().BeApproximately(y2, 0.001);
}
private bool EvitarParedes()
{
if ((MyRobot.X >= MyRobot.BattleFieldWidth - (margin + MyRobot.Height)))
{
MyRobot.TurnRight(Utils.NormalRelativeAngleDegrees(-MyRobot.Heading - 90));
MyRobot.Ahead(dist - 20);
return(true);
}
else if (MyRobot.Y >= MyRobot.BattleFieldHeight - (margin + MyRobot.Height))
{
MyRobot.TurnRight(Utils.NormalRelativeAngleDegrees(-MyRobot.Heading - 180));
MyRobot.Ahead(dist - 20);
return(true);
}
else if (MyRobot.Y <= (margin + MyRobot.Height))
{
MyRobot.TurnRight(Utils.NormalRelativeAngleDegrees(-MyRobot.Heading));
MyRobot.Ahead(dist - 20);
return(true);
}
else if (MyRobot.X <= (margin + MyRobot.Height))
{
MyRobot.TurnRight(Utils.NormalRelativeAngleDegrees(-MyRobot.Heading + 90));
MyRobot.Ahead(dist - 20);
return(true);
}
return(false);
}
public static void Test_robot_should_follow_trajectory()
{
Random rand;
double x, y;
rand = new Random();
int numberWayPoints = rand.Next(5, 10);
List <Point2D> WayPoints = new List <Point2D>();
for (int i = 0; i < numberWayPoints; i++)
{
x = rand.NextDouble() * 10000;
y = rand.NextDouble() * 10000;
Point2D wayPoint = new Point2D(x, y);
WayPoints.Add(wayPoint);
}
MyRobot robot = new MyRobot(WayPoints[0], 0);
List <Point2D> trajectory = robot.CalculateIntermediatePointsBetweenWayPoints(WayPoints, 1.55);
robot.Trajectory = WayPoints;
robot.Speed = 1;
for (int i = 0; i < 100; i++)
{
robot.MoveRobot(new Point2D(robot.Position.X + 1, robot.Position.Y + 1));
}
}
public static void Test_robot_acceleration_inferior_1g()
{
Random rand;
double x, y;
rand = new Random();
int numberWayPoints = rand.Next(5, 10);
List <Point2D> WayPoints = new List <Point2D>();
for (int i = 0; i < numberWayPoints; i++)
{
x = rand.NextDouble() * 10000;
y = rand.NextDouble() * 10000;
Point2D wayPoint = new Point2D(x, y);
WayPoints.Add(wayPoint);
}
MyRobot robot = new MyRobot(WayPoints[0], WayPoints[0].AbsoluteBearing(WayPoints[1]));
List <Point2D> trajectory = robot.CalculateIntermediatePointsBetweenWayPoints(WayPoints, 1.55);
robot.Trajectory = WayPoints;
robot.Speed = 0;
double lastSpeed = 0;
for (int i = 0; i < 100; i++)
{
robot.MoveRobot(new Point2D(robot.Position.X + 100, robot.Position.Y));
(robot.Speed - lastSpeed).Should().BeLessThan(9.81);
lastSpeed = robot.Speed;
}
}
public override void ActionMove()
{
MyRobot.IsAdjustGunForRobotTurn = true;
MyRobot.IsAdjustRadarForGunTurn = true;
MyRobot.IsAdjustRadarForRobotTurn = true;
MyRobot.SetTurnRadarRight(double.PositiveInfinity);
if (MyRobot.Heading % 90 > 0)
{
MyRobot.TurnRight(-MyRobot.Heading);
}
if (Utils.IsNear(MyRobot.HeadingRadians, 5D) || Utils.IsNear(MyRobot.HeadingRadians, Math.PI))
{
MyRobot.Ahead((Math.Max(MyRobot.BattleFieldHeight - MyRobot.Y, MyRobot.Y) - margin) * dir);
}
else
{
MyRobot.Ahead((Math.Max(MyRobot.BattleFieldWidth - MyRobot.X, MyRobot.X) - margin) * dir);
}
MyRobot.TurnRight(90 * dir);
//if (!EvitarParedes())
//{
// dir *= -1;
// MyRobot.SetTurnRight(ang * dir);
// MyRobot.SetAhead(dist);
//}
}
private void DoFire(Enemy e)
{
if (e.distance < 100 && MyRobot.Energy > 50)
{
MyRobot.SetFire(Rules.MAX_BULLET_POWER);
}
else if (e.distance < 200 && MyRobot.Energy > 50)
{
MyRobot.SetFire(2);
}
else
{
MyRobot.SetFire(1);
}
}
public override void ActionFire(Enemy e)
{
Random randonGen = new Random();
MyRobot.BodyColor = Color.FromArgb(randonGen.Next(255), randonGen.Next(255),
randonGen.Next(255));
MyRobot.BulletColor = Color.FromArgb(randonGen.Next(255), randonGen.Next(255),
randonGen.Next(255));
MyRobot.GunColor = Color.FromArgb(randonGen.Next(255), randonGen.Next(255),
randonGen.Next(255));
MyRobot.RadarColor = Color.FromArgb(randonGen.Next(255), randonGen.Next(255),
randonGen.Next(255));
MyRobot.ScanColor = Color.FromArgb(randonGen.Next(255), randonGen.Next(255),
randonGen.Next(255));
MyRobot.IsAdjustGunForRobotTurn = true;
if (NearTarget == null || (NearTarget.name != e.name && NearTarget.distance > e.distance) ||
(NearTarget.name == e.name))
{
this.NearTarget = e;
}
else
{
return;
}
double absBearing = Utils.ToRadians(NearTarget.bearing) + MyRobot.HeadingRadians;
double radarTurn = absBearing - MyRobot.RadarHeadingRadians;
MyRobot.MaxVelocity = Rules.MAX_VELOCITY;
MyRobot.SetTurnGunRightRadians(Utils.NormalRelativeAngle(absBearing - MyRobot.GunHeadingRadians));
Shots++;
DoFire(NearTarget);
//MyRobot.SetTurnRadarRightRadians(Utils.NormalRelativeAngle(radarTurn)*2);
if (MyRobot.Others == 1)
{
MyRobot.SetTurnRadarRightRadians(Utils.NormalRelativeAngle(radarTurn) * 2); // make the radar lock on
}
else
{
MyRobot.SetTurnRadarRight(double.PositiveInfinity);
}
}
private void DoFire(Enemy e)
{
if (e.distance < 100 && MyRobot.Energy > 50)
{
MyRobot.SetFire(Rules.MAX_BULLET_POWER);
shots++;
}
else if (e.distance < 200 && MyRobot.Energy > 50)
{
MyRobot.SetFire(2);
shots++;
}
else if (shots % hits < 2 || e.distance < 200 || e.speed == 0)
{
MyRobot.SetFire(1);
shots++;
}
}
public override void ActionFire(Enemy e)
{
Random randonGen = new Random();
MyRobot.BodyColor = Color.FromArgb(randonGen.Next(255), randonGen.Next(255),
randonGen.Next(255));
MyRobot.BulletColor = Color.FromArgb(randonGen.Next(255), randonGen.Next(255),
randonGen.Next(255));
MyRobot.GunColor = Color.FromArgb(randonGen.Next(255), randonGen.Next(255),
randonGen.Next(255));
MyRobot.RadarColor = Color.FromArgb(randonGen.Next(255), randonGen.Next(255),
randonGen.Next(255));
MyRobot.ScanColor = Color.FromArgb(randonGen.Next(255), randonGen.Next(255),
randonGen.Next(255));
MyRobot.SetTurnGunRight(Utils.NormalRelativeAngleDegrees(MyRobot.Heading + e.bearing - MyRobot.GunHeading));
DoFire(e);
}
public void TestFunctions()
{
MyRobot myRobot = new MyRobot();
myRobot.ProcessRequest("PlaCE 0,0,NOrtH");
myRobot.ProcessRequest(" MovE");
Assert.AreEqual(myRobot.ProcessReportReq(), "Output: 0,1,NORTH");
myRobot.ProcessRequest(" PLACE 0,0,NORTH");
myRobot.ProcessRequest("left ");
Assert.AreEqual(myRobot.ProcessReportReq(), "Output: 0,0,WEST");
myRobot.ProcessRequest("PLACE 1,2,EAST ");
myRobot.ProcessRequest("MOVE");
myRobot.ProcessRequest("MOVE");
myRobot.ProcessRequest("LEFT");
myRobot.ProcessRequest("MOVE");
Assert.AreEqual(myRobot.ProcessReportReq(), "Output: 3,3,NORTH");
}
public override void ActionMove()
{
MyRobot.IsAdjustGunForRobotTurn = true;
MyRobot.IsAdjustRadarForGunTurn = true;
MyRobot.IsAdjustRadarForRobotTurn = true;
if (EvitarParedes())
{
return;
}
if (Math.Abs(currentHeading - MyRobot.Heading) < 10 && Math.Abs(currentHeading - MyRobot.Heading) > 1)
{
dir = -dir;
currentHeading = MyRobot.Heading;
MyRobot.TurnRight(ang * dir);
}
MyRobot.SetTurnRight(ang * dir);
MyRobot.SetAhead(desplazar);
MyRobot.Execute();
}
/// <summary> /// Turns the robot 90 degrees to the right /// </summary> public void Right() => MyRobot.Right();
/// <summary> /// Turns the robot 90 degrees to the left /// </summary> public void Left() => MyRobot.Left();
/// <summary> /// Reports the robot's x,y co-ordinates and the direction it's facing /// </summary> public string Report() => MyRobot.Report();
public void TestExceptions5()
{
MyRobot myRobot = new MyRobot();
myRobot.ProcessRequest("PLACE 1 , 2 , EAST");
}
public void TestExceptions4()
{
MyRobot myRobot = new MyRobot();
myRobot.ProcessRequest("REPORT");
}
public void TestExceptions3()
{
MyRobot myRobot = new MyRobot();
myRobot.ProcessRequest("RIGHT");
}
public void TestExceptions2()
{
MyRobot myRobot = new MyRobot();
myRobot.ProcessRequest("LEFT");
}
public void TestExceptions1()
{
MyRobot myRobot = new MyRobot();
myRobot.ProcessRequest("MOVE");
}
public override void ActionHitByBullet(HitByBulletEvent ev)
{
MyRobot.TurnRadarRight(360);
}
static void Main()
{
MyRobot myRobot = new MyRobot();
myRobot.ReadUserInput();
}
public override void ActionMoveRadar()
{
MyRobot.SetTurnRadarRight(360);
}
