public void RequestPath_SingleThread_NoExceptions()
{
var multithreadedPathfinder = PathfinderSetup.Create(1);
multithreadedPathfinder.Start();
var pathRequest = PathRequest.Create(multithreadedPathfinder, null, null);
pathRequest.WaitHandle.WaitOne(1000);
Assert.AreEqual(PathRequestStatus.Solved, pathRequest.Status);
}
public void Setup()
{
var factory = new DefinitionNodeGridFactory();
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, 320, 200);
_definitionNodeGrid = new DefinitionNodeGrid(nodeGrid, new Vector2(1, 1));
_dijkstraNodeGrid = new DijkstraNodeGrid(_definitionNodeGrid, 1);
_algorithm = new DijkstraAlgorithm(_definitionNodeGrid.NodeCount);
_pathRequest = PathRequest.Create(Substitute.For <IPathfinder <NodePath> >(),
_definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(319, 199));
_nodeNetwork = _dijkstraNodeGrid.GetCollisionLayerNetwork(_pathRequest.CollisionCategory);
}
public void RequestPath_SingleThread_NoExceptions()
{
var manager = new PathfindaxManager(Substitute.For <IUpdatableSynchronizationContext>());
var multithreadedPathfinder = PathfinderSetup.Create(manager, 1);
multithreadedPathfinder.Start();
var pathRequest = PathRequest.Create(multithreadedPathfinder, -1, -1);
pathRequest.WaitHandle.WaitOne(1000);
Assert.AreEqual(PathRequestStatus.Solved, pathRequest.Status);
}
private PotentialField RunPotentialField(DefinitionNodeGrid definitionNodeGrid, Point2 gridStart, Point2 gridEnd, out bool succes)
{
var potentialFieldAlgorithm = new PotentialFieldAlgorithm(0, definitionNodeGrid.NodeCount);
var start = definitionNodeGrid.NodeGrid.ToIndex(gridStart.X, gridStart.Y);
var end = definitionNodeGrid.NodeGrid.ToIndex(gridEnd.X, gridEnd.Y);
var pathfindingNetwork = new DijkstraNodeGrid(definitionNodeGrid, 5);
var pathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), start, end, PathfindaxCollisionCategory.Cat1);
return(potentialFieldAlgorithm.FindPath(pathfindingNetwork, pathRequest, out succes));
}
private NodePath RunAstar(DefinitionNodeGrid definitionNodeGrid, Point2 gridStart, Point2 gridEnd, out bool succes)
{
var aStarAlgorithm = new AStarAlgorithm(definitionNodeGrid.NodeCount, new EuclideanDistance());
var start = definitionNodeGrid.NodeGrid.ToIndex(gridStart.X, gridStart.Y);
var end = definitionNodeGrid.NodeGrid.ToIndex(gridEnd.X, gridEnd.Y);
var pathfindingNetwork = new AstarNodeNetwork(definitionNodeGrid, new BrushfireClearanceGenerator(definitionNodeGrid, 5));
var pathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), start, end, PathfindaxCollisionCategory.Cat1);
return(aStarAlgorithm.FindPath(pathfindingNetwork, pathRequest, out succes));
}
public void Integration_StatusFlowToNoPathFound()
{
var manager = new PathfindaxManager(Substitute.For <IUpdatableSynchronizationContext>());
var pathfinder = PathfinderSetup.Create(manager, 1, false);
var request = PathRequest.Create <IPath>(-1, -1);
Assert.AreEqual(PathRequestStatus.Created, request.Status);
pathfinder.RequestPath(request);
Assert.AreEqual(PathRequestStatus.Solving, request.Status);
pathfinder.Start();
request.WaitHandle.WaitOne(1000);
Assert.AreEqual(PathRequestStatus.NoPathFound, request.Status);
}
private WaypointPath RunDijkstra(DefinitionNodeGrid definitionNodeGrid, Point2 gridStart, Point2 gridEnd)
{
var dijkstraAlgorithm = new DijkstraAlgorithm(definitionNodeGrid.NodeCount);
var start = definitionNodeGrid.NodeGrid.ToIndex(gridStart.X, gridStart.Y);
var end = definitionNodeGrid.NodeGrid.ToIndex(gridEnd.X, gridEnd.Y);
var pathfindingNetwork = new DijkstraNodeGrid(definitionNodeGrid, 5);
var pathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), start, end, PathfindaxCollisionCategory.Cat1);
var path = dijkstraAlgorithm.FindPath(pathfindingNetwork, pathRequest);
return(path);
}
public void Setup()
{
var factory = new DefinitionNodeGridFactory();
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, 320, 200);
_definitionNodeGrid = new DefinitionNodeGrid(nodeGrid, new Vector2(1, 1));
_astarNodeNetwork = new AstarNodeNetwork(_definitionNodeGrid, new BrushfireClearanceGenerator(_definitionNodeGrid, 1));
_algorithm = new AStarAlgorithm(_definitionNodeGrid.NodeCount, new ManhattanDistance());
_longPathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), _definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(319, 199));
_shortPathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), _definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(20, 20));
_veryShortPathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), _definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(1, 0));
_zeroLengthPathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), _definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(0, 0));
}
public PathRequest <PotentialField> CreatePathRequest(IPathfinder <PotentialField> pathfinder, IDefinitionNodeNetwork definitionNodes, float x1, float y1, float x2, float y2, PathfindaxCollisionCategory collisionLayer = PathfindaxCollisionCategory.None, byte agentSize = 1)
{
switch (definitionNodes)
{
case IDefinitionNodeGrid definitionNodeGrid:
var offset = -GridClearanceHelper.GridNodeOffset(agentSize, definitionNodeGrid.Transformer.Scale);
var startNode = definitionNodeGrid.GetNode(x1 + offset.X, y1 + offset.Y);
var endNode = definitionNodeGrid.GetNode(x2 + offset.X, y2 + offset.Y);
return(PathRequest.Create(pathfinder, startNode, endNode, collisionLayer, agentSize));
default:
throw new NotSupportedException($"{definitionNodes.GetType()} is not supported");
}
}
public void Integration_AddCallbackAfterPathIsSolved_CallbackIsCalled()
{
var pathfinder = PathfinderSetup.Create(1);
pathfinder.Start();
var request = PathRequest.Create(pathfinder, Substitute.For <IDefinitionNode>(), Substitute.For <IDefinitionNode>());
request.WaitHandle.WaitOne(1000);
var done = false;
request.AddCallback(x => done = true);
Assert.AreEqual(true, done);
}
public void Integration_AddCallbackAfterPathIsSolved_CallbackIsCalled()
{
var manager = new PathfindaxManager(Substitute.For <IUpdatableSynchronizationContext>());
var pathfinder = PathfinderSetup.Create(manager, 1);
pathfinder.Start();
var request = PathRequest.Create(pathfinder, -1, -1);
request.WaitHandle.WaitOne(1000);
var done = false;
request.AddCallback(x => done = true);
Assert.AreEqual(true, done);
}
public void Integration_AddCallbackBeforePathIsSolved_CallbackIsCalled()
{
var pathfinder = PathfinderSetup.Create(1);
pathfinder.Start();
var request = PathRequest.Create <IPath>(Substitute.For <IDefinitionNode>(), Substitute.For <IDefinitionNode>());
var done = false;
request.AddCallback(x => done = true);
request.StartSolvePath(pathfinder);
request.WaitHandle.WaitOne(1000);
pathfinder.ProcessPaths(); //This should call the callback if the path is finished.
Assert.AreEqual(true, done);
}
public void Integration_AddCallbackBeforePathIsSolved_CallbackIsCalled()
{
var manager = new PathfindaxManager(new UpdatableSynchronizationContext());
var pathfinder = PathfinderSetup.Create(manager, 1);
pathfinder.Start();
var request = PathRequest.Create <IPath>(-1, -1);
var done = false;
request.AddCallback(x => done = true);
pathfinder.RequestPath(request);
request.WaitHandle.WaitOne(1000);
manager.Update(1f); //This should call the callback if the path is finished.
Assert.AreEqual(true, done);
}
private void RequestNewPath(int x, int y, int tx, int ty)
{
if (Request != null)
{
if (Request.State != PathRequestState.IDLE)
{
Debug.LogError("New path requested when the last path was in queue or processing! Not valid!");
return;
}
}
if (!HasControl)
{
Debug.LogError("New bot path was requested when the bot naviagtion system was not in control!");
}
Request = PathRequest.Create(x, y, tx, ty, PathDone);
}
public void RequestPath_MultipleThreads_NoExceptions()
{
var multithreadedPathfinder = PathfinderSetup.Create(4);
multithreadedPathfinder.Start();
var pathRequests = new PathRequest <IPath> [64];
for (var i = 0; i < pathRequests.Length; i++)
{
pathRequests[i] = PathRequest.Create(multithreadedPathfinder, null, null);;
}
WaitHandle.WaitAll(pathRequests.Select(x => x.WaitHandle).ToArray(), 2000);
foreach (var pathRequest in pathRequests)
{
Assert.AreEqual(PathRequestStatus.Solved, pathRequest.Status);
}
}
public void RequestPath_MultipleThreads_NoExceptions()
{
var manager = new PathfindaxManager(Substitute.For <IUpdatableSynchronizationContext>());
var multithreadedPathfinder = PathfinderSetup.Create(manager, 4);
multithreadedPathfinder.Start();
var pathRequests = new PathRequest <IPath> [64];
for (var i = 0; i < pathRequests.Length; i++)
{
pathRequests[i] = PathRequest.Create(multithreadedPathfinder, -1, -1);;
}
WaitHandle.WaitAll(pathRequests.Select(x => x.WaitHandle).ToArray(), 2000);
foreach (var pathRequest in pathRequests)
{
Assert.AreEqual(PathRequestStatus.Solved, pathRequest.Status);
}
}