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Merge b0e7364 into 16c4d93
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@krisl
krisl committed Oct 7, 2023
2 parents 16c4d93 + b0e7364 commit 7d9dd21
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Showing 2 changed files with 228 additions and 81 deletions.
126 changes: 100 additions & 26 deletions src/graph.test.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -386,9 +386,9 @@ describe('ngraph', () => {
// ^
// /
// B
graph.addLink('a', 'c', creator.makeLock('ac'))
graph.addLink('b', 'c', creator.makeLock('bc'))
graph.addLink('c', 'd', creator.makeLock('cd'))
graph.addLink('a', 'c', creator.makeLinkLock('a', 'c'))
graph.addLink('b', 'c', creator.makeLinkLock('b', 'c'))
graph.addLink('c', 'd', creator.makeLinkLock('c', 'd'))

const pathFinder = ngraphPath.aStar(graph, { oriented: true })
const s1Path = pathFinder.find('a', 'd').reverse()
Expand Down Expand Up @@ -759,11 +759,11 @@ describe('ngraph', () => {

s1LockNext.arrivedAt(s1Path.indexOf(nodeC))
expect(s1ForwardPath).toEqual([{index: 2, node: 'c'}, {index: 3, node: 'e'}])
// agent2 obtains nodeD just before stepping off bidir lane
expect(s2ForwardPath).toEqual([{index: 0, node: 'd'}])
expect(s2ForwardPath).toEqual([])

s1LockNext.arrivedAt(s1Path.indexOf(nodeE))
expect(s1ForwardPath).toEqual([{index: 3, node: 'e'}])
// agent2 obtains nodeD and C after stepping off bidir lane
expect(s2ForwardPath).toEqual([{index: 0, node: 'd'}, {index: 1, node: 'c'}])
})

Expand Down Expand Up @@ -1054,15 +1054,18 @@ describe('ngraph', () => {

agent1at('e')
expect(nextNodes1).toEqual([{index: 4, node: 'e'}, {index: 5, node: 'z'}])
expect(nextNodes2).toEqual([{index: 0, node: 'g'}, {index: 1, node: 'f'}]) // seems a little early to obtain nodeF
expect(nextNodes2).toEqual([{index: 0, node: 'g'}])

agent1at('z')
expect(nextNodes1).toEqual([{index: 5, node: 'z'}])
expect(nextNodes2).toEqual([{index: 0, node: 'g'}, {index: 1, node: 'f'}]) // now we can move to F
agent2at('f')
expect(nextNodes1).toEqual([{index: 4, node: 'e'}, {index: 5, node: 'z'}])
expect(nextNodes2).toEqual([{index: 1, node: 'f'}]) // cant get E because agent1 is tehre
expect(nextNodes1).toEqual([{index: 5, node: 'z'}])
expect(nextNodes2).toEqual([{index: 1, node: 'f'}, {index: 2, node: 'e'}])

agent1at('z')
agent2at('e')
expect(nextNodes1).toEqual([{index: 5, node: 'z'}])
expect(nextNodes2).toEqual([{index: 1, node: 'f'}, {index: 2, node: 'e'}]) // now we can move to E
expect(nextNodes2).toEqual([{index: 2, node: 'e'}, {index: 3, node: 'd'}])
})
// TODO add test that shows we are waiting on distant edge
//test('two robots opposing directions in a narrow corridor', () => {
Expand Down Expand Up @@ -1153,6 +1156,73 @@ describe('ngraph', () => {
lockNext.arrivedAt(i)
}
})
test('agent encountered on bidir path with reversal', () => {
const graph = ngraphCreateGraph<Lock, LinkLock>()
const creator = new Graferse<Node<Lock>>(node => node.id)

const makeNode = (id: string) => graph.addNode(id, creator.makeLock(id))
const nodeA = makeNode('a')
const nodeB = makeNode('b')
const nodeC = makeNode('c')
const nodeD = makeNode('d')

// A ----> B <----> C
// |
// v
// D

const lockAB = creator.makeLinkLock('a', 'b', false)
const lockBC = creator.makeLinkLock('b', 'c', true)
const lockCD = creator.makeLinkLock('b', 'd', false)

const linkAB = graph.addLink('a', 'b', lockAB)
const linkBC = graph.addLink('b', 'c', lockBC)
const linkBD = graph.addLink('b', 'd', lockCD)

const linkDB = graph.addLink('d', 'b', lockCD)
const linkCB = graph.addLink('c', 'b', lockBC)
const linkBA = graph.addLink('b', 'a', lockAB)

const s1Path = [nodeA, nodeB, nodeC, nodeB, nodeD]

const makeLocker = creator.makeMakeLocker(node => node.data, getLockForLink)
var s1ForwardPath: Array<NextNode> = []
const s1LockNext = makeLocker("agent1").makePathLocker(s1Path)((nextNodes) => { s1ForwardPath = nextNodes })

//console.dir({nodeC}, {depth: null})
expect(nodeC.data.requestLock('agent2', 'static')).toBeTruthy()
// all nodes are unlocked
expect(nodeA.data.isLocked()).toBeFalsy()
expect(nodeB.data.isLocked()).toBeFalsy()
expect(nodeC.data.isLocked()).toBeTruthy() // locked by static agent2
expect(nodeD.data.isLocked()).toBeFalsy()
// all links are unlocked
expect(linkAB.data.isLocked()).toBeFalsy()
expect(linkBC.data.isLocked()).toBeFalsy()
expect(linkBD.data.isLocked()).toBeFalsy()
expect(linkDB.data.isLocked()).toBeFalsy()
expect(linkCB.data.isLocked()).toBeFalsy()
expect(linkBA.data.isLocked()).toBeFalsy()

expect(s1ForwardPath).toEqual([])

s1LockNext.arrivedAt(s1Path.indexOf(nodeA))
// its current and next nodes are locked
// nodeB omitted becuase agent encountered on bidir path
expect(s1ForwardPath).toEqual([{index: 0, node: 'a'}/*, {index: 1, node: 'b'}*/])
expect(nodeA.data.isLocked()).toBeTruthy()
expect(nodeB.data.isLocked()).toBeFalsy()
expect(nodeC.data.isLocked()).toBeTruthy() // still locked by agent2
expect(nodeD.data.isLocked()).toBeFalsy()

// all links are locked until path ends
expect(linkAB.data.isLocked()).toBeFalsy() // its oneway, never locked
expect(linkBC.data.isLocked()).toBeFalsy()
expect(linkBD.data.isLocked()).toBeFalsy()
expect(linkDB.data.isLocked()).toBeFalsy()
expect(linkCB.data.isLocked()).toBeFalsy()
expect(linkBA.data.isLocked()).toBeFalsy() // its oneway, never locked
})
})

describe('Components', () => {
Expand All @@ -1173,7 +1243,7 @@ describe('Components', () => {
const linkLock = creator.makeLinkLock('up', 'down') // by default is directed edge
expect(logSpyWarn).not.toHaveBeenCalled()
expect(logSpyError).not.toHaveBeenCalled()
expect(linkLock.requestLock('test', 'up')).toEqual("FREE")
expect(linkLock.requestLock('test', 'up')).toBeTruthy()
expect(logSpyWarn).toHaveBeenCalled()
expect(logSpyError).toHaveBeenCalled()

Expand All @@ -1186,29 +1256,33 @@ describe('Components', () => {
test('single owner can lock both directions', () => {
const creator = new Graferse<Node>(node => node.id)
const linkLock = creator.makeLinkLock('up', 'down', true) // is bidirectional
expect(linkLock.requestLock('agent1', 'up')).toEqual("FREE")
expect(linkLock.requestLock('agent1', 'down')).toEqual("FREE")
expect(linkLock.requestLock('agent1', 'up')).toBeTruthy()
expect(linkLock.requestLock('agent1', 'down')).toBeTruthy()
})
test('owner cannot lock both directions if multiple owners', () => {
const creator = new Graferse<Node>(node => node.id)
const linkLock = creator.makeLinkLock('up', 'down', true) // is bidirectional
expect(linkLock.requestLock('agent1', 'up')).toEqual("FREE")
expect(linkLock.requestLock('agent2', 'up')).toEqual("PRO")
expect(linkLock.requestLock('agent1', 'down')).toEqual("CON")
expect(linkLock.requestLock('agent1', 'up')).toBeTruthy()
expect(linkLock.requestLock('agent2', 'up')).toBeTruthy()
expect(linkLock.requestLock('agent1', 'down')).toBeFalsy()
expect(linkLock.isWaiting('agent1')).toBeTruthy()
})
test('agent cannot lock if both directions already locked', () => {
const creator = new Graferse<Node>(node => node.id)
const linkLock = creator.makeLinkLock('up', 'down', true) // is bidirectional
expect(linkLock.requestLock('agent1', 'up')).toEqual("FREE")
expect(linkLock.requestLock('agent1', 'down')).toEqual("FREE")
expect(linkLock.requestLock('agent2', 'up')).toEqual("CON")

linkLock.unlock('agent1', 'up')
expect(linkLock.requestLock('agent2', 'up')).toEqual("CON")

expect(linkLock.requestLock('agent1', 'up')).toEqual("FREE")
linkLock.unlock('agent1', 'down')
expect(linkLock.requestLock('agent2', 'up')).toEqual("PRO")
expect(linkLock.requestLock('agent1', 'up')).toBeTruthy()
expect(linkLock.requestLock('agent1', 'down')).toBeTruthy()
expect(linkLock.requestLock('agent2', 'up')).toBeFalsy()
expect(linkLock.isWaiting('agent2')).toBeTruthy()

expect(linkLock.unlock('agent1', 'up')).toEqual(new Set())
expect(linkLock.requestLock('agent2', 'up')).toBeFalsy()
expect(linkLock.isWaiting('agent2')).toBeTruthy()

expect(linkLock.requestLock('agent1', 'up')).toBeTruthy()
expect(linkLock.unlock('agent1', 'down')).toEqual(new Set(["agent2"]))
expect(linkLock.requestLock('agent2', 'up')).toBeTruthy()
expect(linkLock.isWaiting('agent2')).toBeFalsy()
})
})
})
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