def test_givenEmptyMazeAndRobotRadius_whenAddObstacle_thenRobotRadiusIsTakenIntoAccountWhenAddingObstacle(
self, ):
expected_maze = Maze(
np.array([
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
]))
obstacle_position = Position(13, 9)
actual_maze = self.maze_factory.create_from_shape((17, 20, 0))
actual_maze.add_obstacle(obstacle_position, self.A_ROBOT_RADIUS,
self.AN_OBSTACLE_RADIUS)
self.assertEqual(expected_maze, actual_maze)
def create_from_shape(self, shape: Tuple[int, int, int]) -> Maze:
width, height, *_ = shape
array = np.zeros((width, height))
for i in range(width):
for j in range(height):
if i == 0 or j == 0 or i == width - 1 or j == height - 1:
array[i][j] = 1
return Maze(array)
def test_givenPuckObstacle_whenRemovePuckAsObstacle_thenObstacleIsRemove(
self):
expected_maze = self.maze_factory.create_from_shape((8, 10, 0))
actual_maze = Maze(
np.array([
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 1, 1, 1, 0, 0, 0, 1],
[1, 0, 0, 1, 1, 1, 0, 0, 0, 1],
[1, 0, 0, 1, 1, 1, 0, 0, 0, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
]))
actual_maze.remove_puck_as_obstacle(Position(5, 4), obstacle_radius=2)
self.assertEqual(actual_maze, expected_maze)
def test_whenCreateFromShape_thenMazeHasBorderOfOnesAndRightShape(self, ):
maze_width = 5
maze_height = 10
shape = (maze_width, maze_height, 0)
expected_maze = Maze(
np.array([
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
]))
maze = self.maze_factory.create_from_shape(shape)
self.assertEqual(maze, expected_maze)
def test_givenObstacleCloseToEdge_whenAddObstacle_thenDontRaiseIndexOufOfBoundsException(
self, ):
expected_maze = Maze(
np.array([
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
]))
obstacle_position = Position(6, 8)
actual_maze = self.maze_factory.create_from_shape((8, 10, 0))
actual_maze.add_obstacle(obstacle_position, self.A_ROBOT_RADIUS,
self.AN_OBSTACLE_RADIUS)
self.assertEqual(expected_maze, actual_maze)
def _validate_maze(self, maze: Maze) -> Maze:
if maze.get_shape() != (0, ) and len(maze.get_shape()) <= 2:
return maze
raise InvalidMazeException
class TestAStarShortestPathAlgorithm(TestCase):
A_BAD_MAZE = Maze(array=np.array([]))
A_MAZE = Maze(array=np.array([
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
]))
AN_HORIZONTALLY_OUT_OF_BOUND_POSITION = Position(1, 25)
A_VERTICALLY_OUT_OF_BOUND_POSITION = Position(12, 1)
A_NEGATIVE_HORIZONTAL_POSITION = Position(1, -1)
A_NEGATIVE_VERTICAL_POSITION = Position(-1, 1)
A_VALID_POSITION = Position(1, 1)
ANOTHER_VALID_POSITION = Position(2, 2)
AN_OBSTACLE_POSITION = Position(4, 0)
def setUp(self) -> None:
self.a_start_algorithm = AStarShortestPathAlgorithm()
self.a_start_algorithm.set_maze(self.A_MAZE)
def test_givenABadMaze_whenInitializingAlgorithm_thenRaiseInvalidMazeException(
self, ):
algorithm = AStarShortestPathAlgorithm()
with self.assertRaises(InvalidMazeException):
algorithm.set_maze(self.A_BAD_MAZE)
def test_givenNoneMazeSet_whenFindPath_thenRaiseInvalidMazeException(self):
algorithm = AStarShortestPathAlgorithm()
with self.assertRaises(InvalidMazeException):
algorithm.find_shortest_path_with_cartesian_coordinates(
self.A_VALID_POSITION, self.ANOTHER_VALID_POSITION)
def test_givenStartPositionWithNegativeCoordinate_whenFindPath_thenRaiseInvalidStartPointException(
self, ):
with self.assertRaises(InvalidStartPointException):
self.a_start_algorithm.find_shortest_path_with_cartesian_coordinates(
self.A_NEGATIVE_VERTICAL_POSITION, self.A_VALID_POSITION)
def test_givenHorizontallyOutOfBoundsStartPosition_whenFindPath_thenRaiseInvalidStartPointException(
self, ):
with self.assertRaises(InvalidStartPointException):
self.a_start_algorithm.find_shortest_path_with_cartesian_coordinates(
self.AN_HORIZONTALLY_OUT_OF_BOUND_POSITION,
self.A_VALID_POSITION)
def test_givenVerticallyOutOfBoundsStartPosition_whenFindPath_thenRaiseInvalidStartPointException(
self, ):
with self.assertRaises(InvalidStartPointException):
self.a_start_algorithm.find_shortest_path_with_cartesian_coordinates(
self.A_VERTICALLY_OUT_OF_BOUND_POSITION, self.A_VALID_POSITION)
def test_givenEndPositionWithNegativeCoordinate_whenFindPath_thenRaiseInvalidStartPointException(
self, ):
with self.assertRaises(InvalidStartPointException):
self.a_start_algorithm.find_shortest_path_with_cartesian_coordinates(
self.A_NEGATIVE_HORIZONTAL_POSITION, self.A_VALID_POSITION)
def test_givenHorizontallyOutOfBoundsEndingPosition_whenFindPath_thenRaiseInvalidDestinationException(
self, ):
with self.assertRaises(InvalidDestinationException):
self.a_start_algorithm.find_shortest_path_with_cartesian_coordinates(
self.A_VALID_POSITION,
self.AN_HORIZONTALLY_OUT_OF_BOUND_POSITION)
def test_givenVerticallyOutOfBoundsEndingPosition_whenFindPath_thenRaiseInvalidDestinationException(
self, ):
with self.assertRaises(InvalidDestinationException):
self.a_start_algorithm.find_shortest_path_with_cartesian_coordinates(
self.A_VALID_POSITION, self.A_VERTICALLY_OUT_OF_BOUND_POSITION)
def test_givenAMaze_whenFindPathWithObstacleAsDestination_thenRaiseInvalidDestinationException(
self, ):
with self.assertRaises(InvalidDestinationException):
self.a_start_algorithm.find_shortest_path_with_cartesian_coordinates(
self.A_VALID_POSITION, self.AN_OBSTACLE_POSITION)
def test_givenAMaze_whenFindPathWithObstacleAsStartPoint_thenRaiseInvalidDestinationException(
self, ):
with self.assertRaises(InvalidStartPointException):
self.a_start_algorithm.find_shortest_path_with_cartesian_coordinates(
self.AN_OBSTACLE_POSITION, self.A_VALID_POSITION)
def test_givenStartAndEndPosition_whenFindPathWithCartesianCoordinates_thenFlipsCoordinatesAndFindsPath(
self, ):
starting_position = Position(2, 1)
ending_position = Position(5, 1)
expected_path = Path([
Position(2, 1),
Position(3, 1),
Position(3, 2),
Position(3, 3),
Position(3, 4),
Position(3, 5),
Position(3, 6),
Position(4, 6),
Position(5, 6),
Position(5, 5),
Position(5, 4),
Position(5, 3),
Position(5, 2),
Position(5, 1),
])
actual_path = (self.a_start_algorithm.
find_shortest_path_with_cartesian_coordinates(
starting_position, ending_position))
self.assertEqual(expected_path, actual_path)
class TestMaze(TestCase):
A_ROBOT_RADIUS = 2
AN_OBSTACLE_RADIUS = 3
A_MAZE_ARRAY = np.array([
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
])
AN_INDEX = 2
def setUp(self) -> None:
self.maze_factory = MazeFactory(self.A_ROBOT_RADIUS,
self.AN_OBSTACLE_RADIUS)
self.maze = Maze(self.A_MAZE_ARRAY)
def test_whenGetShape_thenReturnNumpyShape(self) -> None:
expected_shape = self.A_MAZE_ARRAY.shape
actual_shape = self.maze.get_shape()
self.assertEqual(expected_shape, actual_shape)
def test_whenGetItem_thenReturnItemInNumpyArray(self) -> None:
expected_item = self.A_MAZE_ARRAY[self.AN_INDEX][self.AN_INDEX]
actual_item = self.maze[self.AN_INDEX][self.AN_INDEX]
self.assertEqual(expected_item, actual_item)
def test_givenEmptyMazeAndRobotRadius_whenAddObstacle_thenRobotRadiusIsTakenIntoAccountWhenAddingObstacle(
self, ):
expected_maze = Maze(
np.array([
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
]))
obstacle_position = Position(13, 9)
actual_maze = self.maze_factory.create_from_shape((17, 20, 0))
actual_maze.add_obstacle(obstacle_position, self.A_ROBOT_RADIUS,
self.AN_OBSTACLE_RADIUS)
self.assertEqual(expected_maze, actual_maze)
def test_givenObstacleCloseToEdge_whenAddObstacle_thenDontRaiseIndexOufOfBoundsException(
self, ):
expected_maze = Maze(
np.array([
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
]))
obstacle_position = Position(6, 8)
actual_maze = self.maze_factory.create_from_shape((8, 10, 0))
actual_maze.add_obstacle(obstacle_position, self.A_ROBOT_RADIUS,
self.AN_OBSTACLE_RADIUS)
self.assertEqual(expected_maze, actual_maze)
def test_givenPuckObstacle_whenRemovePuckAsObstacle_thenObstacleIsRemove(
self):
expected_maze = self.maze_factory.create_from_shape((8, 10, 0))
actual_maze = Maze(
np.array([
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 1, 1, 1, 0, 0, 0, 1],
[1, 0, 0, 1, 1, 1, 0, 0, 0, 1],
[1, 0, 0, 1, 1, 1, 0, 0, 0, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
]))
actual_maze.remove_puck_as_obstacle(Position(5, 4), obstacle_radius=2)
self.assertEqual(actual_maze, expected_maze)
def setUp(self) -> None:
self.maze_factory = MazeFactory(self.A_ROBOT_RADIUS,
self.AN_OBSTACLE_RADIUS)
self.maze = Maze(self.A_MAZE_ARRAY)