static void Run(int port)
{
var strategy = new Strategy(new CVARCTranslator()).MoveTo(-60, -55).End();
form = new ClientForm();
new Thread(
() =>
{
Control(port, strategy);
}).Start();
Application.Run(form);
}
public Strategy Else(Strategy planB)
{
var pointer = last;
while (pointer.Alternative == null)
{
pointer.Alternative = planB;
planB.First.Previous = pointer;
if (pointer.Previous != null) pointer = pointer.Previous;
else break;
}
return this;
}
public void TestStrategy(Strategy strategy, World environment, StrategyTesterReport start, List<PointD> expectedPoints, List<double> expectedAngles, List<bool> expectedResults)
{
var curReport = start;
var reports = new List<StrategyTesterReport>();
while (true)
{
var newAction = strategy.GetNextState(curReport);
var movesList = newAction.Item1;
if (newAction.Item2 is EndOfStrategy) break;
curReport = environment.TryMove(curReport, movesList, true);
reports.Add(curReport);
}
CollectionAssert.AreEqual(reports.Select(x => x.Coords).ToList(), expectedPoints);
CollectionAssert.AreEqual(reports.Select(x => x.AngleInRadians).ToList(), expectedAngles, new DoubleComaperer());
CollectionAssert.AreEqual(reports.Select(x => x.Success).ToList(), expectedResults);
}
static void Main()
{
var planB = new Strategy()
.MoveTo(300, 300)
.MoveTo(400, 400)
.StopAt(500, 500, 90)
.End();
var strategy = new Strategy(new StrategyTesterTranslator())
.MoveTo(100, 100)
.MoveTo(200, 100)
.Else(planB)
.MoveTo(200, 200)
.StopAt(100, 200, 0)
.End();
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
Application.Run(new SimulationForm(strategy, new PointD(20, 20)));
}
public void TestStrategyWithObstacles()
{
var planB = new Strategy()
.MoveTo(300, 300)
.MoveTo(400, 400)
.StopAt(500, 500, 90)
.End();
var strategy = new Strategy(new StrategyTesterTranslator())
.MoveTo(100, 100)
.MoveTo(200, 100)
.Else(planB)
.MoveTo(200, 200)
.StopAt(100, 200, 0)
.End();
var start = new StrategyTesterReport(0, new PointD(20, 20), true);
var environment = new World(start.Coords, 0);
environment.Objects.Add(new Polygon(new Point(150, 90), new Size(10, 20)));
TestStrategy(
strategy,
environment,
start,
new List<PointD>
{
new PointD(100, 100),
new PointD(100, 100),
new PointD(300, 300),
new PointD(400, 400),
new PointD(500, 500)
},
new List<double>
{
Math.PI * 2 - Math.PI / 4,
Math.PI * 2 - Math.PI / 4,
Math.PI * 2 - Math.PI / 4,
Math.PI * 2 - Math.PI / 4,
Math.PI / 2
},
new List<bool> { true, false, true, true, true }
);
environment = new World(start.Coords, 0);
environment.Objects.Add(new Polygon(new Point(182, 140), new Size(30, 10)));
strategy.GoToPreviousState(6);
TestStrategy(
strategy,
environment,
start,
new List<PointD>
{
new PointD(100, 100),
new PointD(200, 100),
new PointD(200, 100),
new PointD(300, 300),
new PointD(400, 400),
new PointD(500, 500)
},
new List<double>
{
Math.PI * 2 - Math.PI / 4,
0,
0,
AngleCaculator.CalculateAngle(new PointD(200, 100), new PointD(300, 300)),
Math.PI * 2 - Math.PI / 4,
Math.PI / 2
},
new List<bool> { true, true, false, true, true, true }
);
}
public void TestStrategyWithoutObstacles()
{
var strategy = new Strategy(new StrategyTesterTranslator())
.MoveTo(100, 100)
.MoveTo(200, 100)
.MoveTo(200, 200)
.StopAt(100, 200, 0)
.End();
var start = new StrategyTesterReport(0, new PointD(20, 20), true);
TestStrategy(
strategy,
new World(start.Coords, 0),
start,
new List<PointD>
{
new PointD(100, 100),
new PointD(200, 100),
new PointD(200, 200),
new PointD(100, 200)
},
new List<double> { Math.PI * 2 - Math.PI / 4, 0, Math.PI * 2 - Math.PI / 2, 0 },
new List<bool> { true, true, true, true }
);
}
