Initial commit

2026-07-13 09:25:40 +07:00
parent c08ff54676
commit bccfb156d7
1938 changed files with 641646 additions and 0 deletions
--- a/srcs/RobotNet10/Tests/RobotNet10.NavigationTune.Test/Scenarios/StraightLineScenarioTests.cs
+++ b/srcs/RobotNet10/Tests/RobotNet10.NavigationTune.Test/Scenarios/StraightLineScenarioTests.cs
@@ -0,0 +1,109 @@
+using FluentAssertions;
+using Xunit;
+using RobotNet10.NavigationTune.Shared.Models;
+using RobotNet10.NavigationTune.Scenarios;
+using RobotNet10.NavigationTune.Test.Helpers;
+
+namespace RobotNet10.NavigationTune.Test.Scenarios;
+
+public class StraightLineScenarioTests
+{
+    [Fact]
+    public void GenerateReferencePath_ShouldGenerateStraightPath()
+    {
+        // Arrange
+        var scenario = TestHelpers.CreateStraightLineScenario(10.0);
+
+        // Act
+        var path = scenario.GenerateReferencePath();
+
+        // Assert
+        path.Should().NotBeNull();
+        path.Count.Should().BeGreaterThan(0);
+        
+        // First point should be at origin
+        path[0].X.Should().BeApproximately(0.0, 0.01);
+        path[0].Y.Should().BeApproximately(0.0, 0.01);
+        
+        // Last point should be at length
+        path[^1].X.Should().BeApproximately(10.0, 0.01);
+        path[^1].Y.Should().BeApproximately(0.0, 0.01);
+    }
+
+    [Fact]
+    public void GenerateReferencePath_ShouldHaveCorrectDirection()
+    {
+        // Arrange
+        var scenario = TestHelpers.CreateStraightLineScenario(10.0);
+
+        // Act
+        var path = scenario.GenerateReferencePath();
+
+        // Assert
+        // All points should have FORWARD direction (straight line)
+        foreach (var point in path)
+        {
+            point.Direction.Should().Be(RobotDirection.FORWARD);
+        }
+    }
+
+    [Fact]
+    public void IsGoalReached_WithPoseAtGoal_ShouldReturnTrue()
+    {
+        // Arrange
+        var scenario = TestHelpers.CreateStraightLineScenario(10.0);
+        var goalPose = scenario.GetGoalPose();
+        var poseAtGoal = new Pose2D(goalPose.X, goalPose.Y, goalPose.Theta);
+
+        // Act
+        var result = scenario.IsGoalReached(poseAtGoal);
+
+        // Assert
+        result.Should().BeTrue();
+    }
+
+    [Fact]
+    public void IsGoalReached_WithPoseFarFromGoal_ShouldReturnFalse()
+    {
+        // Arrange
+        var scenario = TestHelpers.CreateStraightLineScenario(10.0);
+        var poseFarAway = new Pose2D(0.0, 0.0, 0.0);
+
+        // Act
+        var result = scenario.IsGoalReached(poseFarAway);
+
+        // Assert
+        result.Should().BeFalse();
+    }
+
+    [Fact]
+    public void GetGoalPose_ShouldReturnCorrectGoal()
+    {
+        // Arrange
+        var scenario = TestHelpers.CreateStraightLineScenario(10.0);
+
+        // Act
+        var goalPose = scenario.GetGoalPose();
+
+        // Assert
+        goalPose.X.Should().BeApproximately(10.0, 0.01);
+        goalPose.Y.Should().BeApproximately(0.0, 0.01);
+        goalPose.Theta.Should().BeApproximately(0.0, 0.01);
+    }
+
+    [Fact]
+    public void GenerateReferencePath_WithDifferentLengths_ShouldGenerateCorrectPaths()
+    {
+        // Arrange
+        var scenario1 = TestHelpers.CreateStraightLineScenario(5.0);
+        var scenario2 = TestHelpers.CreateStraightLineScenario(20.0);
+
+        // Act
+        var path1 = scenario1.GenerateReferencePath();
+        var path2 = scenario2.GenerateReferencePath();
+
+        // Assert
+        path1[^1].X.Should().BeApproximately(5.0, 0.01);
+        path2[^1].X.Should().BeApproximately(20.0, 0.01);
+    }
+}