Implemented A-star path finding.

diff --git a/t/astar.c b/t/astar.c
new file mode 100644 (file)
index 0000000..bab342d
--- /dev/null
+++ b/t/astar.c
@@ -0,0 +1,53 @@
+#include <stdio.h>
+
+#include "hexmap.h"
+
+#include "tap.h"
+
+void pcheck(struct HL_astar *p, int x1, int y1, int x2, int y2, int expect) {
+       int from, to, dist;
+
+       from = HL_cantor_xy(x1,y1);
+       to = HL_cantor_xy(x2,y2);
+
+       HL_astar_init(p);
+
+       p->start = from;
+       p->goal = to;
+
+       dist = HL_findpath(p,0);
+       ok(p->error == 0, "found path from (%02d, %02d) to (%02d, %02d) with no error",
+               x1, y1, x2, y2);
+       ok(dist == expect,
+                       "found path from (%02d, %02d) to (%02d, %02d) path length = %d (expect %d)\n",
+               x1, y1, x2, y2, dist, expect);
+}
+
+int main(void) {
+       struct HL_astar *p;
+       int length;
+
+       plan_tests(15);
+
+       p = HL_astar_init(0);
+       ok(p != NULL, "allocated astar struct");
+       ok(p->malloced == 1, "allocated astar sets malloced");
+       ok(p->open == NULL, "initial open list empty");
+       ok(p->closed == NULL, "initial closed list empty");
+
+       p->start = HL_cantor_xy(1, 1);
+       p->goal = HL_cantor_xy(1, 2);
+       
+       length = HL_findpath(p, 0);
+       ok(p->error == 0, "path finding returns no error");
+
+       pcheck(p, 1,1, 1,3, 2);
+       pcheck(p, 1,1, 2,1, 1);
+       pcheck(p, 1,1, 2,2, 2);
+       pcheck(p, 1,1, 3,1, 2);
+       pcheck(p, 1,1, 4,7, 8);
+
+       HL_astar_free(p);
+
+       return exit_status();
+}