public void ProcessSensor_Should_Add_GivenSensorFiveByFiveSensorData_To_ExploredMap()
{
ExploredMap exploredMap = new ExploredMap(new Vector2Int(30, 30), new Vector2Int(2, 2));
int[,] sensorData =
{
{ -1, -1, -1, -1, -1 },
{ -1, 1, 0, 1, -1 },
{ -1, 0, 2, 1, -1 },
{ -1, 0, 0, 1, -1 },
{ -1, 1, 0, 1, 1 }
};
exploredMap.ProcessSensor(sensorData);
int[,] expectedData =
{
{ -1, -1, -1, -1, -1 },
{ -1, 1, 0, 1, -1 },
{ -1, 0, 2, 1, -1 },
{ -1, 0, 0, 1, -1 },
{ -1, 1, 0, 1, 1 }
};
var mazeArray = exploredMap.GetMazeArray();
var saveData = new int[5, 5];
for (var i = 0; i < 5; i++)
{
for (var j = 0; j < 5; j++)
{
saveData[i, j] = mazeArray[i, j];
}
}
Assert.That(expectedData, Is.EqualTo(saveData));
}
public void GetSensorRobotPosition_Should_Return_Position_For_ProximitySensor()
{
var exploredMap = new ExploredMap(new Vector2Int(30, 30), new Vector2Int(1, 1));
var array = new int[3, 3] {
{ -1, 1, -1 }, { 1, 2, 1 }, { -1, 0, -1 }
}; //Data like proximity sensor
var result = exploredMap.GetSensorRobotPosition(array);
Assert.That(result, Is.EqualTo(new Vector2Int(1, 1)));
}
public void GetSensorRobotPosition_Should_Return_OneOne_For_FiveByFiveSensor()
{
ExploredMap exploredMap = new ExploredMap(new Vector2Int(30, 30), new Vector2Int(1, 1));
int[,] sensorData = { { 0, 0, 0, 0, 0 }, { 0, 0, 0, 0, 0 }, { 0, 0, 2, 0, 0 }, { 0, 0, 0, 0, 0 }, { 0, 0, 0, 0, 0 } };
Vector2Int result = exploredMap.GetSensorRobotPosition(sensorData);
Vector2Int expected = new Vector2Int(2, 2);
Assert.That(result, Is.EqualTo(expected));
}
public void ProcessSensor_Should_Add_GivenSensorThreeByThreeSensorData_To_ExploredMap()
{
ExploredMap exploredMap = new ExploredMap(new Vector2Int(30, 30), new Vector2Int(1, 1));
int[,] sensorData = { { -1, 1, 0 }, { 0, 2, 1 }, { -1, -1, 1 } };
exploredMap.ProcessSensor(sensorData);
var mazeArray = exploredMap.GetMazeArray();
var saveData = new int[3, 3];
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
saveData[i, j] = mazeArray[i, j];
}
}
Assert.That(sensorData, Is.EqualTo(saveData));
}
//update explored maze on UI
void updateExplored()
{
if (mazeWidth == 50)
{
mazeOffset = 190;
}
exploredMaze = exploration.GetExploredMap();
for (int i = 0; i < exploredMazeObjects.Length; i++)
{
Destroy(exploredMazeObjects[i]);
}
counter = 0;
for (int i = 0; i < mazeHeight; i++)
{
for (int j = 0; j < mazeWidth; j++)
{
Vector3 tempVector = new Vector3(xStart + (xSpace * j) + mazeOffset, 0, yStart - (ySpace * i));
MazeCell mazeCell = exploredMaze.GetCell(new Vector2Int(i, j));
if (mazeCell == null)
{
continue;
}
if (mazeCell.IsWallCell() == true)
{
exploredMazeObjects[counter++] = Instantiate(wallPrefab, tempVector, Quaternion.identity);
}
else if (mazeCell.IsVisited() == false)
{
exploredMazeObjects[counter++] = Instantiate(floorPrefab, tempVector, Quaternion.identity);
}
else if (exploredMaze.GetCell(new Vector2Int(i, j)).IsVisited())
{
exploredMazeObjects[counter++] = Instantiate(visitedFloorPrefab, tempVector, Quaternion.identity);
}
}
}
Vector2Int vector = exploredMaze.GetCurrentPosition();
Vector3 robotPosition = new Vector3(xStart + (xSpace * vector.y) + mazeOffset, 0, yStart - (ySpace * vector.x));
exploredMazeObjects[counter] = Instantiate(robotPrefab, robotPosition, Quaternion.identity);
exploringRobot = exploredMazeObjects[counter++];
}
void moveInDirection(string direction)
{
batteryLife--;
exploredMaze = exploration.GetExploredMap();
if (direction == "North")
{
if (maze[currentX - 1, currentY + 0] == 1)
{
return;
}
exploredMaze.MoveRelative(Vector2Int.left);
move(-1, 0);
robot.transform.Rotate(0.0f, 270f, 0.0f, Space.Self);
}
else if (direction == "East")
{
if (maze[currentX, currentY + 1] == 1)
{
return;
}
exploredMaze.MoveRelative(Vector2Int.up);
move(0, 1);
robot.transform.Rotate(0.0f, 0f, 0.0f, Space.Self);
}
else if (direction == "West")
{
if (maze[currentX, currentY - 1] == 1)
{
return;
}
exploredMaze.MoveRelative(Vector2Int.down);
move(0, -1);
robot.transform.Rotate(0.0f, -180.0f, 0.0f, Space.Self);
}
else if (direction == "South")
{
if (maze[currentX + 1, currentY + 0] == 1)
{
return;
}
exploredMaze.MoveRelative(Vector2Int.right);
move(1, 0);
robot.transform.Rotate(0.0f, 90.0f, 0.0f, Space.Self);
}
else if (direction == "RNorth")
{
robotDirection = "North";
robot.transform.Rotate(0.0f, 270f, 0.0f, Space.Self);
}
else if (direction == "RSouth")
{
robotDirection = "South";
robot.transform.Rotate(0.0f, 90.0f, 0.0f, Space.Self);
}
else if (direction == "REast")
{
robotDirection = "East";
robot.transform.Rotate(0.0f, 0.0f, 0.0f, Space.Self);
}
else if (direction == "RWest")
{
robotDirection = "West";
robot.transform.Rotate(0.0f, -180.0f, 0.0f, Space.Self);
}
}
public void Initialize()
{
_map = new ExploredMap(new Vector2Int(3, 3), new Vector2Int(1, 1));
}
