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_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_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);
}
static void Main(string[] args)
{
var rMF = new MazeFile("RPAMaze.txt");
RPAMaze oMaze = new RPAMaze(rMF.extractHeight(), rMF.extractWidth());
rMF.printMaze2Console();
string[] mMatrix = rMF.getMatrixStringLines();
oMaze.initializeMaze(mMatrix);
int numberOfArguments = args.Length;
MazeCoords mazeStartCoords;
if (numberOfArguments == 2)
{
mazeStartCoords = new MazeCoords();
mazeStartCoords.aquireValues(Int32.Parse(args[0]), Int32.Parse(args[1]), true, false);
}
else
{
System.Console.WriteLine("Incorrect ammount or no Arguments passed.");
mazeStartCoords = oMaze.getMazeStart();
}
MazeCrawler nervousJeff = new MazeCrawler(mazeStartCoords, oMaze);
List <MazeCoords> path2Victory = new List <MazeCoords>();
path2Victory = nervousJeff.findPath2Finish(path2Victory, mazeStartCoords);
if (path2Victory.Count == 0)
{
System.Console.WriteLine("I am trapped in this \"MAZE\". Why did you trap me in here?");
}
rMF.logMazeSolution(path2Victory);
}
public void CanMove_Should_Return_Correctly(int startX, int startY, Direction direction, bool expected)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(startX, startY),
NavigationMap = _canMoveMap,
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.CanMove(direction).Should().Be(expected);
}
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 void GetNextRoutes_Should_Return_Null_If_Current_Is_At_Destination()
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(6, 4),
Destination = new Coordinates(6, 4),
NavigationMap = new Map(new char[0][]),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.GetNextRoutes().Should().BeNull();
}
public void Constructor_Should_Set_Current_Coordinate()
{
var x = 1;
var y = 3;
var context = new MazeCrawlerContext
{
Start = new Coordinates(x, y),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.CurrentX.Should().Be(x);
crawler.CurrentY.Should().Be(y);
}
public void MoveWest_Should_Move_Current_Coordinate_Appropriately(int currentX, int currentY, bool checkLegality, int expectedX, int expectedY)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(currentX, currentY),
NavigationMap = _moveMap,
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.MoveWest(checkLegality);
crawler.CurrentX.Should().Be(expectedX);
crawler.CurrentY.Should().Be(expectedY);
}
public void Constructor_Should_Set_CrawlerMap()
{
var map = new Map(new char[][]
{
new [] { Map.OCCPD }
});
var context = new MazeCrawlerContext
{
NavigationMap = map,
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.CrawlerMap.Should().Be(map);
}
public void MoveEast_Should_Default_Unsupplied_Parameter_To_True(int x, int expectedX)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(x, 0),
NavigationMap = new Map(new char[][]
{
new [] { Map.EMPTY, Map.EMPTY }
}),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.MoveEast();
crawler.CurrentX.Should().Be(expectedX);
}
public void MoveEast_Should_Not_BackTrack()
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(0, 0),
NavigationMap = new Map(new char[][]
{
new [] { Map.EMPTY, Map.EMPTY }
}),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.MoveEast();
crawler.MoveWest();
crawler.CanMove(Direction.West).Should().BeFalse();
crawler.CurrentX.Should().Be(1);
}
public void TraceSteps_Should_Return_Correctly(int startX, int startY, bool checkLegality, string expected)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(startX, startY),
Destination = new Coordinates(5, 5),
NavigationMap = _canMoveMap,
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.MoveEast(checkLegality)
.MoveNorth(checkLegality)
.MoveWest(checkLegality)
.MoveWest(checkLegality)
.MoveSouth(checkLegality);
crawler.TraceSteps().Should().Be(expected);
}
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 void MoveNorth_Should_Not_BackTrack()
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(0, 1),
NavigationMap = new Map(new char[][]
{
new [] { Map.EMPTY },
new [] { Map.EMPTY }
}),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
crawler.MoveNorth();
crawler.MoveSouth();
crawler.CanMove(Direction.South).Should().BeFalse();
crawler.CurrentY.Should().Be(0);
}
public void GetNextRoutes_Should_Return_Directions_Based_On_Preference(int startX, int startY, int destinationX, int destinationY, Direction[] expected)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(startX, startY),
Destination = new Coordinates(destinationX, destinationY),
NavigationMap = new Map(new char[][]
{
new char[] { Map.EMPTY, Map.EMPTY, Map.EMPTY },
new char[] { Map.EMPTY, Map.EMPTY, Map.EMPTY },
new char[] { Map.EMPTY, Map.EMPTY, Map.EMPTY }
}),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
var routes = crawler.GetNextRoutes();
routes.Should().HaveSameCount(expected);
routes.Should().Equal(expected);
}
public void GetNextRoutes_Should_Return_Empty_If_There_Are_No_Available_Routes()
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(0, 1),
Destination = new Coordinates(2, 3),
NavigationMap = new Map(new char[][]
{
new char[] { Map.OCCPD, Map.OCCPD, Map.EMPTY },
new char[] { Map.EMPTY, Map.OCCPD, Map.EMPTY },
new char[] { Map.OCCPD, Map.OCCPD, Map.EMPTY },
new char[] { Map.EMPTY, Map.EMPTY, Map.EMPTY }
}),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
var routes = crawler.GetNextRoutes();
routes.Should().BeEmpty();
}
public void GetNextRoutes_Should_Return_Directions_Based_On_Availability(int startX, int startY, int destinationX, int destinationY, Direction expected)
{
var context = new MazeCrawlerContext
{
Start = new Coordinates(startX, startY),
Destination = new Coordinates(destinationX, destinationY),
NavigationMap = new Map(new char[][]
{
new char[] { Map.OCCPD, Map.OCCPD, Map.EMPTY, Map.OCCPD },
new char[] { Map.EMPTY, Map.EMPTY, Map.EMPTY, Map.OCCPD },
new char[] { Map.OCCPD, Map.EMPTY, Map.EMPTY, Map.EMPTY },
new char[] { Map.OCCPD, Map.EMPTY, Map.OCCPD, Map.OCCPD }
}),
Coordinator = Substitute.For <IMazeCrawlerCoordinator>()
};
var crawler = new MazeCrawler(context);
var routes = crawler.GetNextRoutes();
routes.Should().HaveCount(1);
routes.First().Should().Be(expected);
}
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);
}
