SweptAreaCoverageResolverOrientedRectangleTests.cs
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using System.Reflection;
using Rcs.Application.Services;
using Rcs.Domain.Enums;
using Rcs.Infrastructure.PathFinding.Services;
using Rcs.Infrastructure.Services;
using Xunit;
namespace Rcs.Infrastructure.Tests;
public class SweptAreaCoverageResolverOrientedRectangleTests
{
[Fact]
public void ExpandFromMapWithOrientedRectangle_ThetaZero_CoversExpectedNodes()
{
var map = new MapCacheData
{
Nodes = new List<MapNodeCache>
{
CreateNode("N_CENTER", 0d, 0d),
CreateNode("N_IN", 0.4d, 0.2d),
CreateNode("N_OUT", 0.7d, 0d)
}
};
var coverage = SweptAreaCoverageResolver.ExpandFromMapWithOrientedRectangle(
map,
new SweepPoint(0d, 0d),
theta: 0d,
length: 1d,
width: 0.6d,
safetyDistance: 0d);
Assert.Contains("N_CENTER", coverage.NodeCodes);
Assert.Contains("N_IN", coverage.NodeCodes);
Assert.DoesNotContain("N_OUT", coverage.NodeCodes);
}
[Fact]
public void ExpandFromMapWithOrientedRectangle_ThetaNinetyDegrees_RotatesLongAxis()
{
var map = new MapCacheData
{
Nodes = new List<MapNodeCache>
{
CreateNode("N_LONG_AXIS", 0d, 0.45d),
CreateNode("N_WIDTH_OUT", 0.45d, 0d)
}
};
var coverage = SweptAreaCoverageResolver.ExpandFromMapWithOrientedRectangle(
map,
new SweepPoint(0d, 0d),
theta: Math.PI / 2d,
length: 1d,
width: 0.6d,
safetyDistance: 0d);
Assert.Contains("N_LONG_AXIS", coverage.NodeCodes);
Assert.DoesNotContain("N_WIDTH_OUT", coverage.NodeCodes);
}
[Fact]
public void ExpandFromMapWithOrientedRectangle_CoversIntersectingEdgesOnly()
{
var n1 = CreateNode("N1", -2d, 0d);
var n2 = CreateNode("N2", 2d, 0d);
var n3 = CreateNode("N3", -2d, 1d);
var n4 = CreateNode("N4", 2d, 1d);
var map = new MapCacheData
{
Nodes = new List<MapNodeCache> { n1, n2, n3, n4 },
Edges = new List<MapEdgeCache>
{
CreateStraightEdge("E_HIT", n1.NodeId, n2.NodeId),
CreateStraightEdge("E_MISS", n3.NodeId, n4.NodeId)
}
};
var coverage = SweptAreaCoverageResolver.ExpandFromMapWithOrientedRectangle(
map,
new SweepPoint(0d, 0d),
theta: 0d,
length: 1d,
width: 0.6d,
safetyDistance: 0d);
Assert.Contains("E_HIT", coverage.EdgeCodes);
Assert.DoesNotContain("E_MISS", coverage.EdgeCodes);
}
[Fact]
public void ExpandFromMapWithOrientedRectangle_SafetyDistanceExpandsCoverage()
{
var map = new MapCacheData
{
Nodes = new List<MapNodeCache>
{
CreateNode("N_MARGIN", 0.55d, 0d)
}
};
var noSafetyCoverage = SweptAreaCoverageResolver.ExpandFromMapWithOrientedRectangle(
map,
new SweepPoint(0d, 0d),
theta: 0d,
length: 1d,
width: 0.6d,
safetyDistance: 0d);
var safetyCoverage = SweptAreaCoverageResolver.ExpandFromMapWithOrientedRectangle(
map,
new SweepPoint(0d, 0d),
theta: 0d,
length: 1d,
width: 0.6d,
safetyDistance: 0.1d);
Assert.DoesNotContain("N_MARGIN", noSafetyCoverage.NodeCodes);
Assert.Contains("N_MARGIN", safetyCoverage.NodeCodes);
}
[Fact]
public void RobotCacheService_ResolveSweepTheta_FallsBackToPreviousTheta()
{
var method = typeof(RobotCacheService).GetMethod(
"ResolveSweepTheta",
BindingFlags.NonPublic | BindingFlags.Static);
Assert.NotNull(method);
var resolved = (double?)method!.Invoke(null, new object?[] { null, 1.23d });
Assert.Equal(1.23d, resolved);
}
[Fact]
public void RobotCacheService_BuildLiveSweepBindingId_ContainsThetaBucketAndChangesWithHeading()
{
var method = typeof(RobotCacheService).GetMethod(
"BuildLiveSweepBindingId",
BindingFlags.NonPublic | BindingFlags.Static);
Assert.NotNull(method);
var id1 = (string?)method!.Invoke(null, new object[] { 100d, 200d, 0d, 1d });
var id2 = (string?)method!.Invoke(null, new object[] { 100d, 200d, 20d * Math.PI / 180d, 1d });
Assert.False(string.IsNullOrWhiteSpace(id1));
Assert.False(string.IsNullOrWhiteSpace(id2));
Assert.Contains(":T", id1);
Assert.NotEqual(id1, id2);
}
private static MapNodeCache CreateNode(string code, double x, double y)
{
return new MapNodeCache
{
NodeId = Guid.NewGuid(),
NodeCode = code,
X = x,
Y = y,
Active = true
};
}
private static MapEdgeCache CreateStraightEdge(string code, Guid fromNode, Guid toNode)
{
return new MapEdgeCache
{
EdgeId = Guid.NewGuid(),
EdgeCode = code,
FromNode = fromNode,
ToNode = toNode,
Active = true,
CurveType = MapEdgeCurveType.Straight
};
}
}