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Move bearing into proto file

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This commit is contained in:
Marc Di Luzio 2020-07-19 12:54:41 +01:00
parent 3796ee09a3
commit 4e0e55af88
10 changed files with 281 additions and 306 deletions
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24
cmd/rove/main.go
View file

@ -10,7 +10,6 @@ import (
"path/filepath"
"time"
"github.com/mdiluz/rove/pkg/maths"
"github.com/mdiluz/rove/pkg/version"
"github.com/mdiluz/rove/proto/roveapi"
"golang.org/x/net/context"
@ -123,6 +122,21 @@ func checkAccount(a Account) error {
return nil
}
// StringToBearing converts a string to a bearing
func StringToBearing(s string) roveapi.Bearing {
switch s {
case "N":
return roveapi.Bearing_North
case "E":
return roveapi.Bearing_East
case "S":
return roveapi.Bearing_South
case "W":
return roveapi.Bearing_West
}
return roveapi.Bearing_BearingUnknown
}
// InnerMain wraps the main function so we can test it
func InnerMain(command string, args ...string) error {
@ -214,13 +228,15 @@ func InnerMain(command string, args ...string) error {
i++
if len(args) == i {
return fmt.Errorf("move command must be passed bearing")
} else if _, err := maths.BearingFromString(args[i]); err != nil {
return err
}
var b roveapi.Bearing
if b = StringToBearing(args[i]); b == roveapi.Bearing_BearingUnknown {
return fmt.Errorf("unrecognised bearing: %s", args[i])
}
commands = append(commands,
&roveapi.Command{
Command: roveapi.CommandType_move,
Data: &roveapi.Command_Bearing{Bearing: args[i]},
Data: &roveapi.Command_Bearing{Bearing: b},
},
)
case "broadcast":

97
pkg/maths/bearing.go
View file

@ -1,97 +0,0 @@
package maths
import (
"fmt"
"strings"
)
// Bearing describes a compass direction
type Bearing int
const (
// North describes a 0,1 vector
North Bearing = iota
// NorthEast describes a 1,1 vector
NorthEast
// East describes a 1,0 vector
East
// SouthEast describes a 1,-1 vector
SouthEast
// South describes a 0,-1 vector
South
// SouthWest describes a -1,-1 vector
SouthWest
// West describes a -1,0 vector
West
// NorthWest describes a -1,1 vector
NorthWest
)
// bearingString simply describes the strings associated with a direction
type bearingString struct {
Long string
Short string
}
// bearingStrings is the set of strings for each direction
var bearingStrings = []bearingString{
{"North", "N"},
{"NorthEast", "NE"},
{"East", "E"},
{"SouthEast", "SE"},
{"South", "S"},
{"SouthWest", "SW"},
{"West", "W"},
{"NorthWest", "NW"},
}
// String converts a Direction to a String
func (d Bearing) String() string {
return bearingStrings[d].Long
}
// ShortString converts a Direction to a short string version
func (d Bearing) ShortString() string {
return bearingStrings[d].Short
}
// BearingFromString gets the Direction from a string
func BearingFromString(s string) (Bearing, error) {
for i, d := range bearingStrings {
if strings.EqualFold(d.Long, s) || strings.EqualFold(d.Short, s) {
return Bearing(i), nil
}
}
return -1, fmt.Errorf("unknown bearing: %s", s)
}
var bearingVectors = []Vector{
{X: 0, Y: 1}, // N
{X: 1, Y: 1}, // NE
{X: 1, Y: 0}, // E
{X: 1, Y: -1}, // SE
{X: 0, Y: -1}, // S
{X: -1, Y: -1}, // SW
{X: -1, Y: 0}, // W
{X: -1, Y: 1}, // NW
}
// Vector converts a Direction to a Vector
func (d Bearing) Vector() Vector {
return bearingVectors[d]
}
// IsCardinal returns if this is a cardinal (NESW)
func (d Bearing) IsCardinal() bool {
switch d {
case North:
fallthrough
case East:
fallthrough
case South:
fallthrough
case West:
return true
}
return false
}

31
pkg/maths/bearing_test.go
View file

@ -1,31 +0,0 @@
package maths
import (
"testing"
"github.com/stretchr/testify/assert"
)
func TestDirection(t *testing.T) {
dir := North
assert.Equal(t, "North", dir.String())
assert.Equal(t, "N", dir.ShortString())
assert.Equal(t, Vector{X: 0, Y: 1}, dir.Vector())
dir, err := BearingFromString("N")
assert.NoError(t, err)
assert.Equal(t, North, dir)
dir, err = BearingFromString("n")
assert.NoError(t, err)
assert.Equal(t, North, dir)
dir, err = BearingFromString("north")
assert.NoError(t, err)
assert.Equal(t, North, dir)
dir, err = BearingFromString("NorthWest")
assert.NoError(t, err)
assert.Equal(t, NorthWest, dir)
}

18
pkg/maths/vector.go
View file

@ -2,6 +2,8 @@ package maths
import (
"math"
"github.com/mdiluz/rove/proto/roveapi"
)
// Vector desribes a 3D vector
@ -81,3 +83,19 @@ func Min2(v1 Vector, v2 Vector) Vector {
func Max2(v1 Vector, v2 Vector) Vector {
return Vector{Max(v1.X, v2.X), Max(v1.Y, v2.Y)}
}
// BearingToVector converts a bearing to a vector
func BearingToVector(b roveapi.Bearing) Vector {
switch b {
case roveapi.Bearing_North:
return Vector{Y: 1}
case roveapi.Bearing_East:
return Vector{X: 1}
case roveapi.Bearing_South:
return Vector{Y: -1}
case roveapi.Bearing_West:
return Vector{X: -1}
}
return Vector{}
}

2
pkg/rove/command.go
View file

@ -7,7 +7,7 @@ type Command struct {
Command roveapi.CommandType `json:"command"`
// Used in the move command
Bearing string `json:"bearing,omitempty"`
Bearing roveapi.Bearing `json:"bearing,omitempty"`
// Used in the broadcast command
Message []byte `json:"message,omitempty"`

4
pkg/rove/command_test.go
View file

@ -21,7 +21,7 @@ func TestCommand_Move(t *testing.T) {
assert.NoError(t, err, "Failed to set position for rover")
// Try the move command
moveCommand := Command{Command: roveapi.CommandType_move, Bearing: "N"}
moveCommand := Command{Command: roveapi.CommandType_move, Bearing: roveapi.Bearing_North}
assert.NoError(t, world.Enqueue(a, moveCommand), "Failed to execute move command")
// Tick the world
@ -47,7 +47,7 @@ func TestCommand_Recharge(t *testing.T) {
assert.NoError(t, err, "Failed to set position for rover")
// Move to use up some charge
moveCommand := Command{Command: roveapi.CommandType_move, Bearing: "N"}
moveCommand := Command{Command: roveapi.CommandType_move, Bearing: roveapi.Bearing_North}
assert.NoError(t, world.Enqueue(a, moveCommand), "Failed to queue move command")
// Tick the world

12
pkg/rove/world.go
View file

@ -277,7 +277,7 @@ func (w *World) WarpRover(rover string, pos maths.Vector) error {
}
// MoveRover attempts to move a rover in a specific direction
func (w *World) MoveRover(rover string, b maths.Bearing) (maths.Vector, error) {
func (w *World) MoveRover(rover string, b roveapi.Bearing) (maths.Vector, error) {
w.worldMutex.Lock()
defer w.worldMutex.Unlock()
@ -293,7 +293,7 @@ func (w *World) MoveRover(rover string, b maths.Bearing) (maths.Vector, error) {
i.Charge--
// Try the new move position
newPos := i.Pos.Added(b.Vector())
newPos := i.Pos.Added(maths.BearingToVector(b))
// Get the tile and verify it's empty
_, obj := w.Atlas.QueryPosition(newPos)
@ -426,9 +426,7 @@ func (w *World) Enqueue(rover string, commands ...Command) error {
for _, c := range commands {
switch c.Command {
case roveapi.CommandType_move:
if b, err := maths.BearingFromString(c.Bearing); err != nil {
return fmt.Errorf("unknown bearing: %s", c.Bearing)
} else if !b.IsCardinal() {
if c.Bearing == roveapi.Bearing_BearingUnknown {
return fmt.Errorf("bearing must be cardinal")
}
case roveapi.CommandType_broadcast:
@ -507,9 +505,7 @@ func (w *World) ExecuteCommand(c *Command, rover string) (err error) {
switch c.Command {
case roveapi.CommandType_move:
if dir, err := maths.BearingFromString(c.Bearing); err != nil {
return err
} else if _, err := w.MoveRover(rover, dir); err != nil {
if _, err := w.MoveRover(rover, c.Bearing); err != nil {
return err
}

14
pkg/rove/world_test.go
View file

@ -78,7 +78,7 @@ func TestWorld_GetSetMovePosition(t *testing.T) {
assert.NoError(t, err, "Failed to set position for rover")
assert.Equal(t, pos, newPos, "Failed to correctly set position for rover")
b := maths.North
b := roveapi.Bearing_North
newPos, err = world.MoveRover(a, b)
assert.NoError(t, err, "Failed to set position for rover")
pos.Add(maths.Vector{X: 0, Y: 1})
@ -223,7 +223,7 @@ func TestWorld_RoverDamage(t *testing.T) {
world.Atlas.SetObject(maths.Vector{X: 0.0, Y: 1.0}, atlas.Object{Type: roveapi.Object_RockLarge})
vec, err := world.MoveRover(a, maths.North)
vec, err := world.MoveRover(a, roveapi.Bearing_North)
assert.NoError(t, err, "Failed to move rover")
assert.Equal(t, pos, vec, "Rover managed to move into large rock")
@ -260,7 +260,7 @@ func TestWorld_RoverRepair(t *testing.T) {
world.Atlas.SetObject(maths.Vector{X: 0.0, Y: 1.0}, atlas.Object{Type: roveapi.Object_RockLarge})
// Try and bump into the rock
vec, err := world.MoveRover(a, maths.North)
vec, err := world.MoveRover(a, roveapi.Bearing_North)
assert.NoError(t, err, "Failed to move rover")
assert.Equal(t, pos, vec, "Rover managed to move into large rock")
@ -307,13 +307,13 @@ func TestWorld_Charge(t *testing.T) {
assert.NoError(t, err, "Failed to get position for rover")
// Ensure the path ahead is empty
world.Atlas.SetTile(initialPos.Added(maths.North.Vector()), roveapi.Tile_Rock)
world.Atlas.SetObject(initialPos.Added(maths.North.Vector()), atlas.Object{Type: roveapi.Object_ObjectUnknown})
world.Atlas.SetTile(initialPos.Added(maths.BearingToVector(roveapi.Bearing_North)), roveapi.Tile_Rock)
world.Atlas.SetObject(initialPos.Added(maths.BearingToVector(roveapi.Bearing_North)), atlas.Object{Type: roveapi.Object_ObjectUnknown})
// Try and move north (along unblocked path)
newPos, err := world.MoveRover(a, maths.North)
newPos, err := world.MoveRover(a, roveapi.Bearing_North)
assert.NoError(t, err, "Failed to set position for rover")
assert.Equal(t, initialPos.Added(maths.North.Vector()), newPos, "Failed to correctly move position for rover")
assert.Equal(t, initialPos.Added(maths.BearingToVector(roveapi.Bearing_North)), newPos, "Failed to correctly move position for rover")
// Ensure rover lost charge
rover, err := world.GetRover(a)

372
proto/roveapi/roveapi.pb.go
View file

@ -98,6 +98,62 @@ func (CommandType) EnumDescriptor() ([]byte, []int) {
return file_roveapi_roveapi_proto_rawDescGZIP(), []int{0}
}
type Bearing int32
const (
// BearingUnknown an unknown invalid bearing
Bearing_BearingUnknown Bearing = 0
Bearing_North Bearing = 1
Bearing_East Bearing = 2
Bearing_South Bearing = 3
Bearing_West Bearing = 4
)
// Enum value maps for Bearing.
var (
Bearing_name = map[int32]string{
0: "BearingUnknown",
1: "North",
2: "East",
3: "South",
4: "West",
}
Bearing_value = map[string]int32{
"BearingUnknown": 0,
"North": 1,
"East": 2,
"South": 3,
"West": 4,
}
)
func (x Bearing) Enum() *Bearing {
p := new(Bearing)
*p = x
return p
}
func (x Bearing) String() string {
return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
}
func (Bearing) Descriptor() protoreflect.EnumDescriptor {
return file_roveapi_roveapi_proto_enumTypes[1].Descriptor()
}
func (Bearing) Type() protoreflect.EnumType {
return &file_roveapi_roveapi_proto_enumTypes[1]
}
func (x Bearing) Number() protoreflect.EnumNumber {
return protoreflect.EnumNumber(x)
}
// Deprecated: Use Bearing.Descriptor instead.
func (Bearing) EnumDescriptor() ([]byte, []int) {
return file_roveapi_roveapi_proto_rawDescGZIP(), []int{1}
}
// Types of objects
type Object int32
@ -139,11 +195,11 @@ func (x Object) String() string {
}
func (Object) Descriptor() protoreflect.EnumDescriptor {
return file_roveapi_roveapi_proto_enumTypes[1].Descriptor()
return file_roveapi_roveapi_proto_enumTypes[2].Descriptor()
}
func (Object) Type() protoreflect.EnumType {
return &file_roveapi_roveapi_proto_enumTypes[1]
return &file_roveapi_roveapi_proto_enumTypes[2]
}
func (x Object) Number() protoreflect.EnumNumber {
@ -152,7 +208,7 @@ func (x Object) Number() protoreflect.EnumNumber {
// Deprecated: Use Object.Descriptor instead.
func (Object) EnumDescriptor() ([]byte, []int) {
return file_roveapi_roveapi_proto_rawDescGZIP(), []int{1}
return file_roveapi_roveapi_proto_rawDescGZIP(), []int{2}
}
type Tile int32
@ -195,11 +251,11 @@ func (x Tile) String() string {
}
func (Tile) Descriptor() protoreflect.EnumDescriptor {
return file_roveapi_roveapi_proto_enumTypes[2].Descriptor()
return file_roveapi_roveapi_proto_enumTypes[3].Descriptor()
}
func (Tile) Type() protoreflect.EnumType {
return &file_roveapi_roveapi_proto_enumTypes[2]
return &file_roveapi_roveapi_proto_enumTypes[3]
}
func (x Tile) Number() protoreflect.EnumNumber {
@ -208,7 +264,7 @@ func (x Tile) Number() protoreflect.EnumNumber {
// Deprecated: Use Tile.Descriptor instead.
func (Tile) EnumDescriptor() ([]byte, []int) {
return file_roveapi_roveapi_proto_rawDescGZIP(), []int{2}
return file_roveapi_roveapi_proto_rawDescGZIP(), []int{3}
}
// ServerStatusRequest is an empty placeholder
@ -551,11 +607,11 @@ func (m *Command) GetData() isCommand_Data {
return nil
}
func (x *Command) GetBearing() string {
func (x *Command) GetBearing() Bearing {
if x, ok := x.GetData().(*Command_Bearing); ok {
return x.Bearing
}
return ""
return Bearing_BearingUnknown
}
func (x *Command) GetMessage() []byte {
@ -570,9 +626,9 @@ type isCommand_Data interface {
}
type Command_Bearing struct {
// A bearing, example: NE
// A bearing
// Used with MOVE
Bearing string `protobuf:"bytes,2,opt,name=bearing,proto3,oneof"`
Bearing Bearing `protobuf:"varint,2,opt,name=bearing,proto3,enum=roveapi.Bearing,oneof"`
}
type Command_Message struct {
@ -1137,109 +1193,115 @@ var file_roveapi_roveapi_proto_rawDesc = []byte{
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}
var (
@ -1254,55 +1316,57 @@ func file_roveapi_roveapi_proto_rawDescGZIP() []byte {
return file_roveapi_roveapi_proto_rawDescData
}
var file_roveapi_roveapi_proto_enumTypes = make([]protoimpl.EnumInfo, 3)
var file_roveapi_roveapi_proto_enumTypes = make([]protoimpl.EnumInfo, 4)
var file_roveapi_roveapi_proto_msgTypes = make([]protoimpl.MessageInfo, 14)
var file_roveapi_roveapi_proto_goTypes = []interface{}{
(CommandType)(0), // 0: roveapi.CommandType
(Object)(0), // 1: roveapi.Object
(Tile)(0), // 2: roveapi.Tile
(*ServerStatusRequest)(nil), // 3: roveapi.ServerStatusRequest
(*ServerStatusResponse)(nil), // 4: roveapi.ServerStatusResponse
(*RegisterRequest)(nil), // 5: roveapi.RegisterRequest
(*Account)(nil), // 6: roveapi.Account
(*RegisterResponse)(nil), // 7: roveapi.RegisterResponse
(*Command)(nil), // 8: roveapi.Command
(*CommandRequest)(nil), // 9: roveapi.CommandRequest
(*CommandResponse)(nil), // 10: roveapi.CommandResponse
(*RadarRequest)(nil), // 11: roveapi.RadarRequest
(*RadarResponse)(nil), // 12: roveapi.RadarResponse
(*StatusRequest)(nil), // 13: roveapi.StatusRequest
(*Log)(nil), // 14: roveapi.Log
(*Vector)(nil), // 15: roveapi.Vector
(*StatusResponse)(nil), // 16: roveapi.StatusResponse
(Bearing)(0), // 1: roveapi.Bearing
(Object)(0), // 2: roveapi.Object
(Tile)(0), // 3: roveapi.Tile
(*ServerStatusRequest)(nil), // 4: roveapi.ServerStatusRequest
(*ServerStatusResponse)(nil), // 5: roveapi.ServerStatusResponse
(*RegisterRequest)(nil), // 6: roveapi.RegisterRequest
(*Account)(nil), // 7: roveapi.Account
(*RegisterResponse)(nil), // 8: roveapi.RegisterResponse
(*Command)(nil), // 9: roveapi.Command
(*CommandRequest)(nil), // 10: roveapi.CommandRequest
(*CommandResponse)(nil), // 11: roveapi.CommandResponse
(*RadarRequest)(nil), // 12: roveapi.RadarRequest
(*RadarResponse)(nil), // 13: roveapi.RadarResponse
(*StatusRequest)(nil), // 14: roveapi.StatusRequest
(*Log)(nil), // 15: roveapi.Log
(*Vector)(nil), // 16: roveapi.Vector
(*StatusResponse)(nil), // 17: roveapi.StatusResponse
}
var file_roveapi_roveapi_proto_depIdxs = []int32{
6, // 0: roveapi.RegisterResponse.account:type_name -> roveapi.Account
7, // 0: roveapi.RegisterResponse.account:type_name -> roveapi.Account
0, // 1: roveapi.Command.command:type_name -> roveapi.CommandType
6, // 2: roveapi.CommandRequest.account:type_name -> roveapi.Account
8, // 3: roveapi.CommandRequest.commands:type_name -> roveapi.Command
6, // 4: roveapi.RadarRequest.account:type_name -> roveapi.Account
2, // 5: roveapi.RadarResponse.tiles:type_name -> roveapi.Tile
1, // 6: roveapi.RadarResponse.objects:type_name -> roveapi.Object
6, // 7: roveapi.StatusRequest.account:type_name -> roveapi.Account
15, // 8: roveapi.StatusResponse.position:type_name -> roveapi.Vector
8, // 9: roveapi.StatusResponse.incomingCommands:type_name -> roveapi.Command
8, // 10: roveapi.StatusResponse.queuedCommands:type_name -> roveapi.Command
14, // 11: roveapi.StatusResponse.logs:type_name -> roveapi.Log
3, // 12: roveapi.Rove.ServerStatus:input_type -> roveapi.ServerStatusRequest
5, // 13: roveapi.Rove.Register:input_type -> roveapi.RegisterRequest
9, // 14: roveapi.Rove.Command:input_type -> roveapi.CommandRequest
11, // 15: roveapi.Rove.Radar:input_type -> roveapi.RadarRequest
13, // 16: roveapi.Rove.Status:input_type -> roveapi.StatusRequest
4, // 17: roveapi.Rove.ServerStatus:output_type -> roveapi.ServerStatusResponse
7, // 18: roveapi.Rove.Register:output_type -> roveapi.RegisterResponse
10, // 19: roveapi.Rove.Command:output_type -> roveapi.CommandResponse
12, // 20: roveapi.Rove.Radar:output_type -> roveapi.RadarResponse
16, // 21: roveapi.Rove.Status:output_type -> roveapi.StatusResponse
17, // [17:22] is the sub-list for method output_type
12, // [12:17] is the sub-list for method input_type
12, // [12:12] is the sub-list for extension type_name
12, // [12:12] is the sub-list for extension extendee
0, // [0:12] is the sub-list for field type_name
1, // 2: roveapi.Command.bearing:type_name -> roveapi.Bearing
7, // 3: roveapi.CommandRequest.account:type_name -> roveapi.Account
9, // 4: roveapi.CommandRequest.commands:type_name -> roveapi.Command
7, // 5: roveapi.RadarRequest.account:type_name -> roveapi.Account
3, // 6: roveapi.RadarResponse.tiles:type_name -> roveapi.Tile
2, // 7: roveapi.RadarResponse.objects:type_name -> roveapi.Object
7, // 8: roveapi.StatusRequest.account:type_name -> roveapi.Account
16, // 9: roveapi.StatusResponse.position:type_name -> roveapi.Vector
9, // 10: roveapi.StatusResponse.incomingCommands:type_name -> roveapi.Command
9, // 11: roveapi.StatusResponse.queuedCommands:type_name -> roveapi.Command
15, // 12: roveapi.StatusResponse.logs:type_name -> roveapi.Log
4, // 13: roveapi.Rove.ServerStatus:input_type -> roveapi.ServerStatusRequest
6, // 14: roveapi.Rove.Register:input_type -> roveapi.RegisterRequest
10, // 15: roveapi.Rove.Command:input_type -> roveapi.CommandRequest
12, // 16: roveapi.Rove.Radar:input_type -> roveapi.RadarRequest
14, // 17: roveapi.Rove.Status:input_type -> roveapi.StatusRequest
5, // 18: roveapi.Rove.ServerStatus:output_type -> roveapi.ServerStatusResponse
8, // 19: roveapi.Rove.Register:output_type -> roveapi.RegisterResponse
11, // 20: roveapi.Rove.Command:output_type -> roveapi.CommandResponse
13, // 21: roveapi.Rove.Radar:output_type -> roveapi.RadarResponse
17, // 22: roveapi.Rove.Status:output_type -> roveapi.StatusResponse
18, // [18:23] is the sub-list for method output_type
13, // [13:18] is the sub-list for method input_type
13, // [13:13] is the sub-list for extension type_name
13, // [13:13] is the sub-list for extension extendee
0, // [0:13] is the sub-list for field type_name
}
func init() { file_roveapi_roveapi_proto_init() }
@ -1489,7 +1553,7 @@ func file_roveapi_roveapi_proto_init() {
File: protoimpl.DescBuilder{
GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
RawDescriptor: file_roveapi_roveapi_proto_rawDesc,
NumEnums: 3,
NumEnums: 4,
NumMessages: 14,
NumExtensions: 0,
NumServices: 1,

13
proto/roveapi/roveapi.proto
View file

@ -101,15 +101,24 @@ enum CommandType {
broadcast = 5;
}
enum Bearing {
// BearingUnknown an unknown invalid bearing
BearingUnknown = 0;
North = 1;
East = 2;
South = 3;
West = 4;
}
// Command is a single command for a rover
message Command {
// The command type
CommandType command = 1;
oneof data {
// A bearing, example: NE
// A bearing
// Used with MOVE
string bearing = 2;
Bearing bearing = 2;
// A simple message, must be composed of printable ASCII glyphs (32-126)
// maximum of three characters