add astar test

.gitignore

@@ -6,4 +6,6 @@ src/tmp
 node_modules/
 
 obj/
-out/
+out/
+/src/Client/RobotController/.vs
+/.vs

src/Pathfinder/AStarPathfinding.sln

@@ -0,0 +1,22 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2013
+VisualStudioVersion = 12.0.31101.0
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AStarPathfinding", "AStarPathfinding\AStarPathfinding.csproj", "{97647F1E-1A0A-444D-A437-A809F9EB855F}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{97647F1E-1A0A-444D-A437-A809F9EB855F}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{97647F1E-1A0A-444D-A437-A809F9EB855F}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{97647F1E-1A0A-444D-A437-A809F9EB855F}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{97647F1E-1A0A-444D-A437-A809F9EB855F}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

src/Pathfinder/AStarPathfinding/AStarPathfinding.csproj

@@ -0,0 +1,59 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="12.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{97647F1E-1A0A-444D-A437-A809F9EB855F}</ProjectGuid>
+    <OutputType>Exe</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>AStarPathfinding</RootNamespace>
+    <AssemblyName>AStarPathfinding</AssemblyName>
+    <TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <TargetFrameworkProfile />
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="Program.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="App.config" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+  <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
+       Other similar extension points exist, see Microsoft.Common.targets.
+  <Target Name="BeforeBuild">
+  </Target>
+  <Target Name="AfterBuild">
+  </Target>
+  -->
+</Project>

src/Pathfinder/AStarPathfinding/App.config

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<configuration>
+    <startup> 
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/>
+    </startup>
+</configuration>

src/Pathfinder/AStarPathfinding/Program.cs

@@ -0,0 +1,146 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AStarPathfinding
+{
+    class Location
+    {
+        public int X;
+        public int Y;
+        public int F;
+        public int G;
+        public int H;
+        public Location Parent;
+    }
+
+    class Program
+    {
+        static void Main(string[] args)
+        {
+            Console.Title = "A* Pathfinding";
+
+            // draw map
+
+            string[] map = new string[]
+            {
+                "+------+",
+                "|      |",
+                "|A X   |",
+                "|XXX   |",
+                "|   X  |",
+                "| B    |",
+                "|      |",
+                "+------+",
+            };
+
+            foreach (var line in map)
+                Console.WriteLine(line);
+
+            // algorithm
+
+            Location current = null;
+            var start = new Location { X = 1, Y = 2 };
+            var target = new Location { X = 2, Y = 5 };
+            var openList = new List<Location>();
+            var closedList = new List<Location>();
+            int g = 0;
+
+            // start by adding the original position to the open list
+            openList.Add(start);
+
+            while (openList.Count > 0)
+            {
+                // get the square with the lowest F score
+                var lowest = openList.Min(l => l.F);
+                current = openList.First(l => l.F == lowest);
+
+                // add the current square to the closed list
+                closedList.Add(current);
+
+                // show current square on the map
+                Console.SetCursorPosition(current.X, current.Y);
+                Console.Write('.');
+                Console.SetCursorPosition(current.X, current.Y);
+                System.Threading.Thread.Sleep(1000);
+
+                // remove it from the open list
+                openList.Remove(current);
+
+                // if we added the destination to the closed list, we've found a path
+                if (closedList.FirstOrDefault(l => l.X == target.X && l.Y == target.Y) != null)
+                    break;
+
+                var adjacentSquares = GetWalkableAdjacentSquares(current.X, current.Y, map);
+                g++;
+
+                foreach(var adjacentSquare in adjacentSquares)
+                {
+                    // if this adjacent square is already in the closed list, ignore it
+                    if (closedList.FirstOrDefault(l => l.X == adjacentSquare.X
+                            && l.Y == adjacentSquare.Y) != null)
+                        continue;
+
+                    // if it's not in the open list...
+                    if (openList.FirstOrDefault(l => l.X == adjacentSquare.X
+                            && l.Y == adjacentSquare.Y) == null)
+                    {
+                        // compute its score, set the parent
+                        adjacentSquare.G = g;
+                        adjacentSquare.H = ComputeHScore(adjacentSquare.X, adjacentSquare.Y, target.X, target.Y);
+                        adjacentSquare.F = adjacentSquare.G + adjacentSquare.H;
+                        adjacentSquare.Parent = current;
+
+                        // and add it to the open list
+                        openList.Insert(0, adjacentSquare);
+                    }
+                    else
+                    {
+                        // test if using the current G score makes the adjacent square's F score
+                        // lower, if yes update the parent because it means it's a better path
+                        if (g + adjacentSquare.H < adjacentSquare.F)
+                        {
+                            adjacentSquare.G = current.G + 1;
+                            adjacentSquare.F = adjacentSquare.G + adjacentSquare.H;
+                            adjacentSquare.Parent = current;
+                        }
+                    }
+                }
+            }
+
+            // assume path was found; let's show it
+            while (current != null)
+            {
+                Console.SetCursorPosition(current.X, current.Y);
+                Console.Write('_');
+                Console.SetCursorPosition(current.X, current.Y);
+                current = current.Parent;
+                System.Threading.Thread.Sleep(1000);
+            }
+
+            // end
+
+            Console.ReadLine();
+        }
+
+        static List<Location> GetWalkableAdjacentSquares(int x, int y, string[] map)
+        {
+            var proposedLocations = new List<Location>()
+            {
+                new Location { X = x, Y = y - 1 },
+                new Location { X = x, Y = y + 1 },
+                new Location { X = x - 1, Y = y },
+                new Location { X = x + 1, Y = y },
+            };
+
+            return proposedLocations.Where(l => map[l.Y][l.X] == ' ' || map[l.Y][l.X] == 'B').ToList();
+        }
+
+        static int ComputeHScore(int x, int y, int targetX, int targetY)
+        {
+            return Math.Abs(targetX - x) + Math.Abs(targetY - y);
+        }
+    }
+}

src/Pathfinder/AStarPathfinding/Properties/AssemblyInfo.cs

@@ -0,0 +1,36 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// General Information about an assembly is controlled through the following 
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+[assembly: AssemblyTitle("AStarPathfinding")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("AStarPathfinding")]
+[assembly: AssemblyCopyright("Copyright ©  2015")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// Setting ComVisible to false makes the types in this assembly not visible 
+// to COM components.  If you need to access a type in this assembly from 
+// COM, set the ComVisible attribute to true on that type.
+[assembly: ComVisible(false)]
+
+// The following GUID is for the ID of the typelib if this project is exposed to COM
+[assembly: Guid("41c6c38d-e6f0-4437-b8a8-fa0a8ea19eab")]
+
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version 
+//      Build Number
+//      Revision
+//
+// You can specify all the values or you can default the Build and Revision Numbers 
+// by using the '*' as shown below:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

src/Pathfinder/AStarPathfinding/bin/Debug/AStarPathfinding.exe.config

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<configuration>
+    <startup> 
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8"/>
+    </startup>
+</configuration>