castar 0.0.1

data/lib/castar.rb

@@ -0,0 +1,78 @@
+require "castar/version"
+
+module Castar
+  require 'heyes' # the .bundle file
+  include Heyes   # so we don't have to specify Castar::Heyes:: ...
+
+  
+  #convenience functions
+  module_function #make all the following instance methods module methods
+
+  def init_map( options={} )
+    defaults = {:width => 90, :height => 90}
+    options = defaults.merge(options)
+    nrow = options[:height]
+    ncol = options[:width]
+
+    # set cost for each cell to 1
+    a = Array.new(nrow).fill( Array.new(ncol).fill(1) )
+    map = Map.new(ncol, nrow)
+    a.each_with_index do |row, y| 
+      row.each_with_index do |cost, x|
+        map.setCost(x,y,cost)
+      end
+    end
+
+    return map
+  end
+
+
+  def load_map(mapfile)
+    map = nil
+    y = 0
+    File.open(mapfile) do |f|
+      f.each_line do |line|
+        entries = line.chomp.split(',')
+        map ||= Castar::Map.new( entries.size, entries.size )
+        x = 0
+        line.chomp.split(',').each do |cost|
+          map.setCost(x,y,cost.to_i)
+          x += 1
+        end
+        y += 1
+      end
+    end
+    return map
+  end
+
+  def get_path(driver)
+    path = [];
+    (0..driver.getPathLength-1).each do |i|
+      path << {:x => driver.getPathXAtIndex(i), :y =>  driver.getPathYAtIndex(i)}
+    end
+    path
+  end
+
+  def get_map_with_path(driver)
+    path = get_path(driver)
+    pathstr="\n"
+    map = driver.getMap
+    (0..map.height-1).each do |row|
+      (0..map.width-1).each do |col|
+        value = map.getCost(col,row)
+        if(row==driver.nodeStart.y and col==driver.nodeStart.x)
+          pathstr<<"|S"
+        elsif(row==driver.nodeEnd.y and col==driver.nodeEnd.x)
+          pathstr<<"|G"
+        elsif(path.include?(:x => col, :y => row) )
+          pathstr<<"|*"
+        else
+          pathstr<<"|#{value}"
+        end
+      end
+      pathstr<<"|\n"
+    end
+    return pathstr
+  end
+
+end

data/lib/castar/version.rb

@@ -0,0 +1,3 @@
+module Castar
+  VERSION = "0.0.1"
+end

data/spec/castar_spec.rb

@@ -0,0 +1,107 @@
+$: << File.join(File.expand_path(File.dirname(__FILE__)), '..')
+require "castar"
+include Castar
+
+describe "astar pathfinding wrapper" do
+  it "should load a map" do
+    num_column = 4
+    num_row = 2
+    map = init_map(:width => num_column, :height => num_row)
+    map.height.should eq(num_row)
+    map.width.should eq(num_column)
+
+    (0..num_column-1).each do |x|
+     (0..num_row-1).each  do |y|
+       num = rand(10)
+       map.setCost(x,y,num)
+       map.getCost(x,y).should eq(num)
+     end
+    end
+    
+    map.getCost(4,1).should eq(Map::MAP_OUT_OF_BOUNDS)
+    map.getCost(1,2).should eq(Map::MAP_OUT_OF_BOUNDS)
+    map.getCost(10,10).should eq(Map::MAP_OUT_OF_BOUNDS)
+  end
+  it "map saved in driver should work" do
+    num_column = 4
+    num_row = 2
+    map1 = Map.new(num_column, num_row)
+    driver = HeyesDriver.new(map1)
+    map = driver.getMap
+    map.height.should eq(num_row)
+    map.width.should eq(num_column)
+
+    (0..num_column-1).each do |x|
+     (0..num_row-1).each  do |y|
+       num = rand(10)
+       map.setCost(x,y,num)
+       map.getCost(x,y).should eq(num)
+     end
+    end
+    
+    map.getCost(4,1).should eq(Map::MAP_OUT_OF_BOUNDS)
+    map.getCost(1,2).should eq(Map::MAP_OUT_OF_BOUNDS)
+    map.getCost(10,10).should eq(Map::MAP_OUT_OF_BOUNDS)
+  end
+
+  before :each do
+    @map = init_map(:width => 4, :height => 2)
+    @startx = 0
+    @starty = 0
+    @goalx = 3
+    @goaly = 0
+  end
+
+  it "should allow access to start and goal nodes" do
+    driver = HeyesDriver.new(@map)
+    driver.run(@startx, @starty, @goalx, @goaly)
+    driver.nodeStart.x.should eq @startx
+    driver.nodeStart.y.should eq @starty
+    driver.nodeEnd.x.should eq @goalx
+    driver.nodeEnd.y.should eq @goaly
+  end
+
+  it "should find a path when start and goal are the same" do
+    driver = HeyesDriver.new(@map)
+    driver.run(@startx, @starty, @startx, @starty)
+    path = get_path(driver)
+    path.length.should eq(1)
+    path.first.should eq({:x => 0, :y => 0})
+  end
+
+  it "should find the shortest path (no obstacle) " do
+    driver = HeyesDriver.new(@map)
+    driver.run(@startx, @starty, @goalx, @goaly)
+    path = get_path(driver)
+    path.length.should eq(4)
+    path.should eq([ {:x => 0, :y => 0}, {:x => 1, :y => 0}, {:x => 2, :y => 0}, {:x => 3, :y => 0}])
+  end
+
+  it "should find the shortest path allowing diagonal moves(no obstacle) " do
+    driver = HeyesDriver.new(@map, HeyesDriver::EIGHT_NEIGHBORS)
+    @starty=1
+    driver.run(@startx, @starty, @goalx, @goaly)
+    path = get_path(driver)
+    path.length.should eq(4)
+    #path.should eq([ {:x => 0, :y => 0}, {:x => 1, :y => 0}, {:x => 2, :y => 0}, {:x => 3, :y => 0}])
+  end
+
+  it "should find the shortest path (obstacle) " do
+    @map.setCost(1,0,Map::MAP_NO_WALK)
+    driver = HeyesDriver.new(@map)
+    driver.run(@startx, @starty, @goalx, @goaly)
+    path = get_path(driver)
+    path.length.should eq(6)
+  end
+
+  it "should load mapfile and find path" do
+    map =load_map('./spec/map_20.txt')
+    astar = HeyesDriver.new(map, HeyesDriver::EIGHT_NEIGHBORS)
+    astar.run(0,0,19,19)
+    astar.getPathLength.should eq 28 
+  end
+
+  it "should have tests for memory management"
+
+end
+

data/spec/map_20.txt

@@ -0,0 +1,20 @@
+1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1
+1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1
+1,1,9,9,9,9,1,1,1,1,1,9,9,9,9,9,9,9,9,9
+1,1,9,9,9,9,1,1,1,1,1,9,9,9,9,9,9,9,9,9
+1,1,9,9,9,9,1,1,1,1,1,9,9,9,9,9,9,9,9,9
+1,1,9,9,9,9,1,1,1,1,1,9,9,9,9,9,9,9,9,9
+1,1,9,9,9,9,1,1,1,1,1,9,9,9,9,9,9,9,9,9
+1,1,9,9,9,9,1,1,1,1,1,9,9,9,9,9,9,9,9,9
+1,1,1,1,1,1,1,1,1,1,1,9,9,9,9,9,9,9,9,9
+1,1,1,1,1,1,1,1,1,1,1,9,9,9,9,9,9,9,9,9
+1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1
+1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1
+1,1,1,1,1,9,9,9,9,9,9,9,9,9,9,9,9,1,1,1
+1,1,1,1,1,9,9,9,9,9,9,9,9,9,9,9,9,1,1,1
+1,1,1,1,1,9,9,9,9,9,9,9,9,9,9,9,9,1,1,1
+1,1,1,1,1,9,9,9,9,9,9,9,9,9,9,9,9,1,1,1
+1,1,1,1,1,9,9,9,9,9,9,9,9,9,9,9,9,1,1,1
+1,1,1,1,1,9,9,9,9,9,9,9,9,9,9,9,9,1,1,1
+1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1
+1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1

data/swig/buildRubyExtension.sh

@@ -0,0 +1,4 @@
+swig -c++ -ruby heyes.i
+#ruby extconf.rb
+#make
+

data/swig/heyes.i

@@ -0,0 +1,7 @@
+%module heyes
+%{
+#include "../ext/stlastar.h"
+#include "../ext/findpath.h"
+%}
+%include "../ext/stlastar.h"
+%include "../ext/findpath.h"

metadata

@@ -0,0 +1,127 @@
+--- !ruby/object:Gem::Specification
+name: castar
+version: !ruby/object:Gem::Version
+  version: 0.0.1
+  prerelease: 
+platform: ruby
+authors:
+- John Wilde
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2011-12-15 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: rspec
+  requirement: &2156210560 !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: *2156210560
+- !ruby/object:Gem::Dependency
+  name: rspec-core
+  requirement: &2156208020 !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: *2156208020
+description: ! "## DESCRIPTION:\n\nRuby interface to a C++ implemention of the A\\*
+  search algorithm.\n\nThe C++ implementaion is found here <http://code.google.com/p/a-star-algorithm-implementation/>\n\n\n##
+  FEATURES:\n\n\n## SYNOPSIS:\n\nSee `spec\\castar_spec.rb` for usage examples.\n\nCreate
+  an empty map and plan a path across it:\n\n        require 'castar'\n        include
+  Castar\n        map = init_map(:width => 4, :height => 3)\n        astar = HeyesDriver.new(map,
+  HeyesDriver::EIGHT_NEIGHBORS)\n        astar.run(0,0,3,2)\n        puts get_map_with_path(astar)\n\n
+  \       |S|1|1|1|\n        |1|*|1|1|\n        |1|1|*|G|\n        \n\nLoad a map
+  from a text file and plan a path:\n\n        map = load_map('./spec/map_20.txt')\n
+  \       astar = HeyesDriver.new(map, HeyesDriver::EIGHT_NEIGHBORS)\n        astar.run(0,0,19,19)\n
+  \       puts get_map_with_path(astar)\n\n        \n        |S|1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|\n
+  \       |1|*|*|*|*|*|1|1|1|1|1|1|1|1|1|1|1|1|1|1|\n        |1|1|9|9|9|9|*|1|1|1|1|9|9|9|9|9|9|9|9|9|\n
+  \       |1|1|9|9|9|9|1|*|1|1|1|9|9|9|9|9|9|9|9|9|\n        |1|1|9|9|9|9|1|1|*|1|1|9|9|9|9|9|9|9|9|9|\n
+  \       |1|1|9|9|9|9|1|1|1|*|1|9|9|9|9|9|9|9|9|9|\n        |1|1|9|9|9|9|1|1|1|1|*|9|9|9|9|9|9|9|9|9|\n
+  \       |1|1|9|9|9|9|1|1|1|1|*|9|9|9|9|9|9|9|9|9|\n        |1|1|1|1|1|1|1|1|1|1|*|9|9|9|9|9|9|9|9|9|\n
+  \       |1|1|1|1|1|1|1|1|1|1|*|9|9|9|9|9|9|9|9|9|\n        |1|1|1|1|1|1|1|1|1|1|1|*|1|1|1|1|1|1|1|1|\n
+  \       |1|1|1|1|1|1|1|1|1|1|1|1|*|*|*|*|*|1|1|1|\n        |1|1|1|1|1|9|9|9|9|9|9|9|9|9|9|9|9|*|1|1|\n
+  \       |1|1|1|1|1|9|9|9|9|9|9|9|9|9|9|9|9|1|*|1|\n        |1|1|1|1|1|9|9|9|9|9|9|9|9|9|9|9|9|1|1|*|\n
+  \       |1|1|1|1|1|9|9|9|9|9|9|9|9|9|9|9|9|1|1|*|\n        |1|1|1|1|1|9|9|9|9|9|9|9|9|9|9|9|9|1|1|*|\n
+  \       |1|1|1|1|1|9|9|9|9|9|9|9|9|9|9|9|9|1|1|*|\n        |1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|*|\n
+  \       |1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|1|G|\n        \n## REQUIREMENTS:\n\n*
+  Ruby 1.9 \n* C compiler for C extensions \n\n## DEVELOPMENT\n\nTo modify the gem
+  in a cloned repo this is what I'm doing (from root of gem):\n\n        bundle install\n
+  \       cd ext/\n        ruby extconf.rb\n        make \n\nThese steps will install
+  the development dependencies, build the Makefile and compile the C++ code. Running\n\n
+  \       bundle exec rspec ./spec\n\nshould show all tests passing. To clean up the
+  autogenerated Makefile and the compiled objects:\n\n        cd ext/\n        make
+  realclean\n\nIf you need to regenerate the ruby interface functions `heyes_wrap.cxx`,
+  run:\n\n        cd swig/\n        swig -c++ -ruby heyes.i\n        mv heyes_wrap.cxx
+  ../ext\n\nIf you are just trying to run the tests:\n\n        rake build\n        gem
+  install pkg/castar-0.0.1.gem\n\nbuilds the gem and installs it to your local machine.\n\n
+  \       gem which castar\n\ntells you where it is.  You can then cd to that directory
+  and run the tests as above (but since you're not in a git repo you can't commit
+  them).\n\nI followed the instructions [here](https://github.com/radar/guides/blob/master/gem-development.md)
+  for using Bundler to create the gem.\n\n## INSTALL:\n\n* gem install castar\n\n##
+  LICENSE:\n\n(The MIT License)\n"
+email:
+- johnwilde@gmail.com
+executables: []
+extensions:
+- ext/extconf.rb
+extra_rdoc_files: []
+files:
+- .gitignore
+- Gemfile
+- README.markdown
+- Rakefile
+- benchmarks/benchmark_helper.rb
+- benchmarks/benchmarker.rb
+- benchmarks/example.rb
+- benchmarks/map90.0.txt
+- benchmarks/map90.1.txt
+- castar.gemspec
+- ext/extconf.rb
+- ext/findpath.h
+- ext/fsa.h
+- ext/heyes_wrap.cxx
+- ext/stlastar.h
+- lib/castar.rb
+- lib/castar/version.rb
+- spec/castar_spec.rb
+- spec/map_20.txt
+- swig/buildRubyExtension.sh
+- swig/heyes.i
+homepage: ''
+licenses: []
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+- ext
+required_ruby_version: !ruby/object:Gem::Requirement
+  none: false
+  requirements:
+  - - ! '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  none: false
+  requirements:
+  - - ! '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: castar
+rubygems_version: 1.8.12
+signing_key: 
+specification_version: 3
+summary: Ruby interface to a C++ implementation of the A* algorithm
+test_files:
+- spec/castar_spec.rb
+- spec/map_20.txt
+has_rdoc: