@Test
public void testSameZone() {
final Zone zone = zones[0][0];
final NdPoint zLocation = zone.getLocation();
NdPoint begin = new NdPoint(zLocation.getX() + 2, zLocation.getY() + 1);
NdPoint end = new NdPoint(zLocation.getX() + 3, zLocation.getY() - 4);
Queue<NdPoint> expected = new ArrayDeque<>();
expected.add(end);
Queue<NdPoint> actual = NavigatingRobot.planPath(begin, end, zone, zone, graph);
assertEqual(expected, actual);
}
/** We create a 3x3 Grid of Zones with a room in the center that connects to the top. */
@BeforeClass
public static void setupNavigationGrid() {
for (int row = 0; row < zones.length; row++) {
for (int col = 0; col < zones[row].length; col++) {
Zone zone = mock(Zone.class);
if (col == 1 && row == 1) {
zone = mock(Room.class);
}
when(zone.getLocation()).thenReturn(new NdPoint((row + 1) * 5, (col + 1) * 5));
zones[row][col] = zone;
graph.add(zone);
}
}
}
@Test(expected = IllegalArgumentException.class)
public void testNoConnectionZone() {
final Zone bzone = zones[2][0];
final Zone ezone = zones[1][1];
NdPoint begin = new NdPoint(bzone.getLocation().getX(), bzone.getLocation().getY());
NdPoint end = new NdPoint(ezone.getLocation().getX() + 1, ezone.getLocation().getY() - 1);
// disconnect the middle zone
when(zones[0][1].getNeighbours())
.thenReturn(new HashSet<Zone>(Arrays.asList(zones[0][2], zones[0][0])));
when(ezone.getNeighbours()).thenReturn(new HashSet<Zone>());
NavigatingRobot.planPath(begin, end, bzone, ezone, graph);
}
@Test
public void testBreakRoom() {
final Zone bzone = zones[1][1];
final Zone ezone = zones[0][1];
NdPoint begin = new NdPoint(bzone.getLocation().getX() - 1, bzone.getLocation().getY() + 3);
NdPoint end = new NdPoint(ezone.getLocation().getX() + 1, ezone.getLocation().getY() - 1);
assertTrue(bzone instanceof Room);
Queue<NdPoint> expected = new ArrayDeque<>();
expected.add(bzone.getLocation());
expected.add(ezone.getLocation());
expected.add(end);
Queue<NdPoint> actual = NavigatingRobot.planPath(begin, end, bzone, ezone, graph);
assertEqual(expected, actual);
}
@Test
public void testRoundZone() {
final Zone bzone = zones[2][0];
final Zone ezone = zones[1][1];
NdPoint begin = new NdPoint(bzone.getLocation().getX(), bzone.getLocation().getY());
NdPoint end = new NdPoint(ezone.getLocation().getX() + 1, ezone.getLocation().getY() - 1);
Queue<NdPoint> expected = new ArrayDeque<>();
expected.add(zones[1][0].getLocation());
expected.add(zones[0][0].getLocation());
expected.add(zones[0][1].getLocation());
expected.add(ezone.getLocation());
expected.add(end);
Queue<NdPoint> actual = NavigatingRobot.planPath(begin, end, bzone, ezone, graph);
assertEqual(expected, actual);
}