public static double runTrial(int memoryType, int probability) {
HashMap<Point, EnergySource> energySources = new HashMap<>();
int sources = 40, width = 200, height = 200, energy = 125;
Point location = new Point(0, 0);
Random generator = new Random();
Robot<EnergySource> robot;
EnergySource energySource;
double amount;
// Generate all the energy sources and the robot
while (energySources.size() < sources) {
location = new Point(generator.nextInt(width), generator.nextInt(height));
if (isFarEnough(location, energySources)) {
energySources.put(location, new EnergySource(location, energy));
}
}
while (!isFarEnough(location, energySources)) {
location = new Point(generator.nextInt(width), generator.nextInt(height));
}
robot = new Robot<>(location, memoryType);
// Program loop
while (robot.getEnergy() > 0) {
if (robot.isCurious()) {
robot.moveRandomly(width, height);
} else {
energySource = robot.retrieveEnergySource(probability);
if (energySource != null) {
robot.moveToLocation(energySource.getLocation());
} else {
robot.moveRandomly(width, height);
}
energySource = energySources.get(robot.getLocation());
if (energySource != null) {
if (robot.getMaxEnergy() - robot.getEnergy() < energySource.getEnergy()) {
amount = robot.getMaxEnergy() - robot.getEnergy();
} else {
amount = energySource.getEnergy();
}
robot.increaseEnergy(amount);
energySource.decreaseEnergy(amount);
if (energySource.getEnergy() <= 0) {
robot.forgetEnergySource(energySource);
energySources.remove(robot.getLocation());
}
}
}
robot.detectEnergySources(energySources);
}
return robot.getTravelDistance();
}
@Test
public void testShoot() {
Board board = facade.createBoard(35, 47);
Energy enoughEnergy = new Energy(5000, unitOfPower.Ws);
Energy enoughEnergy2 = new Energy(5000, unitOfPower.Ws);
Energy notEnoughEnergy = new Energy(500, unitOfPower.Ws);
Robot robotEnoughEnergy = new Robot(enoughEnergy, Orientation.RIGHT);
Robot robotNotEnoughEnergy = new Robot(notEnoughEnergy, Orientation.LEFT);
Robot robotShootAtBoardEdge = new Robot(enoughEnergy2, Orientation.LEFT);
Position positionRobotEnoughEnergy = Position.newPosition(0, 0, board);
Position positionRobotNotEnoughEnergy = Position.newPosition(20, 0, board);
Position positionRobotShootAtBoardEdge = Position.newPosition(3, 2, board);
robotEnoughEnergy.setPosition(positionRobotEnoughEnergy);
robotNotEnoughEnergy.setPosition(positionRobotNotEnoughEnergy);
robotShootAtBoardEdge.setPosition(positionRobotShootAtBoardEdge);
assertTrue(positionRobotEnoughEnergy.equals(robotEnoughEnergy.getPosition()));
try {
facade.shoot(robotNotEnoughEnergy);
} catch (AssertionError ae) {
System.err.println("testShoot(facadetest): This assertionerror is to be expected.");
}
assertTrue(positionRobotEnoughEnergy.equals(robotEnoughEnergy.getPosition()));
assertTrue(positionRobotNotEnoughEnergy.equals(robotNotEnoughEnergy.getPosition()));
assertEquals(
notEnoughEnergy.getAmountOfEnergy(), robotNotEnoughEnergy.getAmountOfEnergy(), epsilon);
assertEquals(enoughEnergy.getAmountOfEnergy(), robotEnoughEnergy.getAmountOfEnergy(), epsilon);
facade.shoot(robotEnoughEnergy);
assertTrue(positionRobotEnoughEnergy.equals(robotEnoughEnergy.getPosition()));
assertEquals(
notEnoughEnergy.getAmountOfEnergy(), robotNotEnoughEnergy.getAmountOfEnergy(), epsilon);
assertEquals(16000, robotNotEnoughEnergy.getMaxEnergy().getAmountOfEnergy(), epsilon);
assertEquals(4000, robotEnoughEnergy.getAmountOfEnergy(), epsilon);
facade.shoot(robotShootAtBoardEdge);
assertEquals(4000, robotShootAtBoardEdge.getAmountOfEnergy(), epsilon);
}