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describe("Lua star", function()
-- start is always top left (1,1)
-- goal is always bottom right (10, 10)
local start = { x = 1, y = 1 }
local goal = { x = 10, y = 10 }
local map = nil
-- define some test maps (10 x 10)
local mapsize = 10
local openmap = [[
0000000000
0000000000
0000000000
0000000000
0000000000
0000000000
0000000000
0000000000
0000000000
0000000000
]]
local openmapSolution = {
{ x = 1, y = 1 },
{ x = 2, y = 2 },
{ x = 3, y = 3 },
{ x = 4, y = 4 },
{ x = 5, y = 5 },
{ x = 6, y = 6 },
{ x = 7, y = 7 },
{ x = 8, y = 8 },
{ x = 9, y = 9 },
{ x = 10, y = 10 },
}
local simplemap = [[
0000000000
0000000110
0000001110
0000011100
0000111000
0001110000
0011100000
0111000000
0000000000
0000000000
]]
local simplemapSolution = {
{ x = 1, y = 1 },
{ x = 2, y = 2 },
{ x = 3, y = 3 },
{ x = 4, y = 4 },
{ x = 4, y = 5 },
{ x = 3, y = 6 },
{ x = 2, y = 7 },
{ x = 1, y = 8 },
{ x = 2, y = 9 },
{ x = 3, y = 10 },
{ x = 4, y = 10 },
{ x = 5, y = 10 },
{ x = 6, y = 10 },
{ x = 7, y = 10 },
{ x = 8, y = 10 },
{ x = 9, y = 10 },
{ x = 10, y = 10 },
}
local simplemapDiagonalSolution = {
{ x = 1, y = 1 },
{ x = 1, y = 2 },
{ x = 1, y = 3 },
{ x = 1, y = 4 },
{ x = 1, y = 5 },
{ x = 1, y = 6 },
{ x = 1, y = 7 },
{ x = 1, y = 8 },
{ x = 1, y = 9 },
{ x = 2, y = 9 },
{ x = 3, y = 9 },
{ x = 4, y = 9 },
{ x = 5, y = 9 },
{ x = 6, y = 9 },
{ x = 7, y = 9 },
{ x = 8, y = 9 },
{ x = 9, y = 9 },
{ x = 9, y = 10 },
{ x = 10, y = 10 },
}
local complexmap = [[
0000000000
1111111110
0000000000
0111111111
0100110000
0101010100
0001010110
1111011010
0000000010
0000000010
]]
local complexmapSolution = {
{ x = 1, y = 1 },
{ x = 2, y = 1 },
{ x = 3, y = 1 },
{ x = 4, y = 1 },
{ x = 5, y = 1 },
{ x = 6, y = 1 },
{ x = 7, y = 1 },
{ x = 8, y = 1 },
{ x = 9, y = 1 },
{ x = 10, y = 2 },
{ x = 9, y = 3 },
{ x = 8, y = 3 },
{ x = 7, y = 3 },
{ x = 6, y = 3 },
{ x = 5, y = 3 },
{ x = 4, y = 3 },
{ x = 3, y = 3 },
{ x = 2, y = 3 },
{ x = 1, y = 4 },
{ x = 1, y = 5 },
{ x = 1, y = 6 },
{ x = 2, y = 7 },
{ x = 3, y = 6 },
{ x = 4, y = 5 },
{ x = 5, y = 6 },
{ x = 5, y = 7 },
{ x = 5, y = 8 },
{ x = 6, y = 9 },
{ x = 7, y = 9 },
{ x = 8, y = 8 },
{ x = 7, y = 7 },
{ x = 7, y = 6 },
{ x = 8, y = 5 },
{ x = 9, y = 6 },
{ x = 10, y = 7 },
{ x = 10, y = 8 },
{ x = 10, y = 9 },
{ x = 10, y = 10 },
}
local unsolvablemap = [[
0000000000
0000000000
0000000000
0000000000
1111111111
0000000000
0000000000
0000000000
0000000000
0000000000
]]
-- convert a string map into a table
local function makemap(template)
map = { }
template:gsub(".", function(c)
if c == "0" or c == "1" then
table.insert(map, c)
end
end)
end
-- get the value at position xy on a map
local function mapTileIsOpen(x, y)
return map[ ((y-1) * 10) + x ] == "0"
end
local function printSolution(path)
print(#path, "points")
for i, v in ipairs(path) do
print(string.format("{ x = %d, y = %d },", v.x, v.y))
end
for h=1, mapsize do
for w=1, mapsize do
local walked = false
for _, p in ipairs(path) do
if p.x == w and p.y == h then
walked = true
end
end
if walked then
io.write(".")
else
io.write("#")
end
end
io.write("\n")
end
end
-- begin tests
it("find a path with no obstacles", function()
local luastar = require("lua-star")
makemap(openmap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen)
--printSolution(path)
assert.are.equal(10, #path)
assert.are.same(openmapSolution, path)
end)
it("find a path on a simple map", function()
local luastar = require("lua-star")
makemap(simplemap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen)
--printSolution(path)
assert.are.equal(17, #path)
assert.are.same(simplemapSolution, path)
end)
it("find a path on a simple map without diagonam movement", function ()
local luastar = require("lua-star")
local excludeDiagonals = true
makemap(simplemap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen, false, excludeDiagonals)
--printSolution(path)
assert.are.equal(19, #path)
assert.are.same(simplemapDiagonalSolution, path)
end)
it("find a path on a complex map", function()
local luastar = require("lua-star")
makemap(complexmap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen)
--printSolution(path)
assert.are.equal(38, #path)
assert.are.same(complexmapSolution, path)
end)
it("find no path", function()
local luastar = require("lua-star")
makemap(unsolvablemap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen)
assert.is_false(path)
end)
it("find no diagonal path", function()
local luastar = require("lua-star")
local excludeDiagonals = true
makemap(unsolvablemap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen, false, excludeDiagonals)
assert.is_false(path)
end)
it("find no diagonal path on a complex map", function()
local luastar = require("lua-star")
local excludeDiagonals = true
makemap(complexmap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen, false, excludeDiagonals)
assert.is_false(path)
end)
it("does not cache paths by default", function()
local luastar = require("lua-star")
makemap(openmap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen)
local samepath = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen)
assert.is_not.equal(path, samepath)
end)
it("caches paths", function()
local luastar = require("lua-star")
makemap(openmap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen, true)
local samepath = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen, true)
assert.are.equal(path, samepath)
end)
it("clears cached paths", function()
local luastar = require("lua-star")
makemap(openmap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen, true)
luastar:clearCached()
assert.is_nil(luastar.cache)
end)
end)
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