arah2/routing/test/astar.test.mjs

#!/usr/bin/env node
/*
 * astar.test.mjs — the search surface + turn classifier + step derivation.
 * ----------------------------------------------------------------------------
 * RED first (plan 06-01 task 3): behavior cases fail while
 * routing/src/astar.ts does not exist (lazy-import pattern).
 *
 * Phase 08.1 re-pin (plan 01 tasks 2-3): routeAstar is CH-backed — the ALT
 * machinery is DELETED (D-04/D-05: one search path, no dormant engine).
 * The exhaustive equivalence law (A1's 625-pair sweep) and the oneway /
 * steps / classifier laws carry over UNCHANGED in intent; the
 * committed-fixture cases (A1/A2/A4/A5/A6) were held out in task 2 while
 * mini-graph.bin was still ARG2 and are restored here (task 3
 * regenerated the fixture through the ARG3 encode path). The in-memory
 * and structural cases were re-pinned in task 2:
 *
 *   A3  unreachable -> null    — honest miss (synthetic disconnected
 *                                graph, ch block through the ONE authority)
 *   A7  public surface         — index.ts exposes the engine-A exports;
 *                                createHttpRoutingSource is LIVE
 *   A8  structural             — no `new Map(` in astar.ts AND ch-query.ts
 *                                (allocation-free hot loop: typed arrays only)
 *   A11 structural (CH law)    — the uphill rank filter + shortcut
 *                                unpacking exist in ch-query.ts CODE;
 *                                astar.ts contains NO landmark token
 *                                (D-04's one-search-path pin)
 *   A1  exhaustive equivalence — 625 pairs, cost equality + path endpoints
 *   A2  oneway respected       — the flagged edge is never traversed; the
 *                                open direction is direct
 *   A4  deriveSteps L-path     — 90-deg bearing changes classify left/right;
 *                                steps carry name/distanceM/polyline6
 *   A5  depart + arrive always — straight paths still start "depart" and
 *                                end "arrive"
 *   A6  classifyTurn pins      — sign convention: negative delta = left
 *
 * The A9/A10/A12/A13 ALT-era cases (island / search-scoped drop / oneway
 * ring / mixed columns) folded into ch-query.test.mjs: their surviving
 * content is CH-law Dijkstra equivalence over directed fixtures — the
 * ALT-specific table assertions are gone with the tables (D-05).
 *
 * Run:  npm run routing:test   (exit 0 = all green)
 */
import { strict as assert } from "node:assert";
import { readFileSync } from "node:fs";
import path from "node:path";
import { fileURLToPath } from "node:url";
import { test } from "./harness.mjs";

const here = path.dirname(fileURLToPath(import.meta.url)); // routing/test

let astarPromise = null;
function loadAstar() {
  if (!astarPromise) astarPromise = import("../src/astar.ts");
  return astarPromise;
}
let graphPromise = null;
function loadGraph() {
  if (!graphPromise) graphPromise = import("../src/graph.ts");
  return graphPromise;
}

function toArrayBuffer(buf) {
  return buf.buffer.slice(buf.byteOffset, buf.byteOffset + buf.byteLength);
}

async function loadMiniGraph() {
  const { decodeGraph } = await loadGraph();
  const g = decodeGraph(toArrayBuffer(readFileSync(path.join(here, "fixtures", "mini-graph.bin"))));
  assert.ok(g, "the committed mini-graph decodes");
  return g;
}


/** Brute-force O(n^2) Dijkstra — plain arrays, SAME traversal law as CH. */
function dijkstra(g, origin, goal) {
  const dist = new Array(g.nodeCount).fill(Infinity);
  const done = new Array(g.nodeCount).fill(false);
  dist[origin] = 0;
  for (;;) {
    let u = -1;
    let best = Infinity;
    for (let i = 0; i < g.nodeCount; i++) {
      if (!done[i] && dist[i] < best) {
        best = dist[i];
        u = i;
      }
    }
    if (u === -1 || u === goal) return dist[goal];
    done[u] = true;
    for (let e = g.edgeStart[u]; e < g.edgeStart[u + 1]; e++) {
      if ((g.edgeFlags[e] & 1) !== 0) continue; // oneway-reverse: never relaxed
      const v = g.edgeTarget[e];
      const nd = dist[u] + g.edgeSeconds[e];
      if (nd < dist[v]) dist[v] = nd;
    }
  }
}

/* ————— A3 — the in-memory unreachable-pair law ————— */

test("A3 unreachable -> null — a disconnected pair resolves the honest miss", async () => {
  const { routeAstar } = await loadAstar();
  const { encodeGraph, decodeGraph } = await loadGraph();
  // Two disconnected components: 0<->1 and 2<->3. The ch block is
  // hand-built (the plan's option B): contractGraph over two disjoint
  // mirrors emits no shortcut, and an ARG3 with chShortcutCount = 0 is
  // not a road graph (decode refuses — G11), so the block carries one
  // harmless shortcut (0->1, via 3, weight 4 — equal to the direct edge,
  // rank-upward: rank(from)=1 > rank(via)=0, rank(to)=2 > 0).
  const g = decodeGraph(
    encodeGraph({
      lat: [3.15, 3.1505, 3.16, 3.1605],
      lng: [101.69, 101.6905, 101.69, 101.6905],
      edges: [
        { from: 0, to: 1, seconds: 4, nameId: 0 },
        { from: 1, to: 0, seconds: 4, nameId: 0 },
        { from: 2, to: 3, seconds: 4, nameId: 0 },
        { from: 3, to: 2, seconds: 4, nameId: 0 },
      ],
      names: ["Isolated Road"],
      maxSpeedKmh: 60,
      ch: {
        rank: Uint32Array.of(1, 2, 3, 0),
        shortcutStart: Uint32Array.of(0, 1, 1, 1, 1),
        shortcutTarget: Uint32Array.of(1),
        shortcutSeconds: Float32Array.of(4),
        shortcutVia: Uint32Array.of(3),
      },
    }),
  );
  assert.ok(g, "synthetic graph decodes");
  assert.equal(dijkstra(g, 0, 2), Infinity, "Dijkstra agrees: unreachable");
  assert.equal(routeAstar(g, 0, 2), null, "unreachable -> null (never a fabricated path)");
  const within = routeAstar(g, 0, 1);
  assert.ok(within, "the connected pair routes");
  assert.deepEqual(within.nodes, [0, 1]);
  assert.ok(Math.abs(within.seconds - 4) < 1e-6, "the hop costs its edge weight");
});

/* ————— A7/A8/A11 — the public surface + structural CH laws ————— */

test("A7 public surface — index.ts exposes engine A + the engine-a HTTP source (re-pinned 06-04)", async () => {
  const mod = await import("../src/index.ts");
  for (const name of [
    "decodeGraph",
    "encodeGraph",
    "GRAPH_MAGIC",
    "GRAPH_VERSION",
    "snapToGraph",
    "SNAP_BBOX_MARGIN_DEG",
    "routeAstar",
    "deriveSteps",
    "classifyTurn",
    "TURN_STRAIGHT_MAX_DEG",
    "TURN_SLIGHT_MAX_DEG",
    "TURN_UTURN_MIN_DEG",
    "createHttpRoutingSource",
    "contractGraph",
  ]) {
    assert.notEqual(mod[name], undefined, `index.ts must export ${name}`);
  }
  assert.equal(typeof mod.createHttpRoutingSource, "function", "backend #2's client seam is live (D-01, 06-04)");
});

test("A8 structural — no `new Map(` in astar.ts AND ch-query.ts (typed arrays only in the hot loop)", () => {
  for (const file of ["astar.ts", "ch-query.ts"]) {
    const src = readFileSync(path.join(here, "..", "src", file), "utf8");
    const code = src
      .replace(/\/\*[\s\S]*?\*\//g, " ")
      .replace(/(^|[^:\\])\/\/[^\n]*/g, "$1");
    assert.ok(!code.includes("new Map("), `${file}: no Map allocation — the hot loop is typed arrays`);
  }
});

test("A11 structural (CH law) — the uphill rank filter + unpacking live in ch-query.ts; astar.ts has NO landmark token (D-04)", () => {
  // astar.ts is a thin CH delegation + turn/step derivation: the
  // comment-stripped code must contain NONE of the deleted ALT
  // machinery — a dormant second engine would violate D-04's one-path law.
  const astarSrc = readFileSync(path.join(here, "..", "src", "astar.ts"), "utf8");
  const astarCode = astarSrc
    .replace(/\/\*[\s\S]*?\*\//g, " ")
    .replace(/(^|[^:\\])\/\/[^\n]*/g, "$1");
  for (const token of ["landmarkTo", "landmarkFrom", "cleanColumnsFor", "LANDMARK_SENTINEL"]) {
    assert.ok(!astarCode.includes(token), `comment-stripped astar.ts must NOT contain ${token}`);
  }
  assert.ok(astarCode.includes("routeCH"), "routeAstar delegates to the CH query in code");
  // The CH machinery itself lives in ch-query.ts — the uphill rank filter
  // (chRank reads), the shortcut CSR, and the via-unpacking are CODE, not
  // comments (a comment-only mention would strip away and fail this pin).
  const chSrc = readFileSync(path.join(here, "..", "src", "ch-query.ts"), "utf8");
  const chCode = chSrc
    .replace(/\/\*[\s\S]*?\*\//g, " ")
    .replace(/(^|[^:\\])\/\/[^\n]*/g, "$1");
  for (const token of ["chRank", "shortcutVia", "shortcutStart", "edgeFlags"]) {
    assert.ok(chCode.includes(token), `comment-stripped ch-query.ts must reference ${token} in code`);
  }
  assert.ok(chCode.includes("peekKey"), "the bidirectional stop rule reads the heap minima (peekKey)");
  assert.ok(chCode.includes("landmark") === false, "ch-query.ts carries no landmark machinery either");
});

/* ————— suspended committed-fixture cases (task 3 un-suspends) ————— */

test("A1 exhaustive equivalence — A* matches brute-force Dijkstra on EVERY 25x25 node pair", async () => {
  const { routeAstar } = await loadAstar();
  const g = await loadMiniGraph();
  let pairs = 0;
  let reachable = 0;
  for (let o = 0; o < g.nodeCount; o++) {
    for (let t = 0; t < g.nodeCount; t++) {
      pairs++;
      const optimal = dijkstra(g, o, t);
      const result = routeAstar(g, o, t);
      if (optimal === Infinity) {
        assert.equal(result, null, `pair ${o}->${t}: unreachable must resolve null, never a path`);
        continue;
      }
      reachable++;
      assert.ok(result, `pair ${o}->${t}: reachable must route`);
      assert.ok(
        Math.abs(result.seconds - optimal) < 1e-6,
        `pair ${o}->${t}: A* cost ${result.seconds} vs Dijkstra ${optimal}`,
      );
      assert.equal(result.nodes[0], o, `pair ${o}->${t}: path starts at origin`);
      assert.equal(result.nodes[result.nodes.length - 1], t, `pair ${o}->${t}: path ends at goal`);
      assert.ok(result.distanceM > 0 || o === t, `pair ${o}->${t}: distanceM summed over the path`);
    }
  }
  assert.equal(pairs, 625, "the full 25x25 sweep ran");
  assert.ok(reachable > 600, `the grid is densely connected (${reachable} reachable pairs)`);
});

test("A2 oneway respected — the flagged edge is never traversed; the open direction is direct", async () => {
  const { routeAstar } = await loadAstar();
  const g = await loadMiniGraph();
  // The fixture's single oneway-reverse edge is 3 -> 2 (perimeter, row 0).
  // Routing AGAINST it (3 -> 2) must take the long way around the block.
  const against = routeAstar(g, 3, 2);
  assert.ok(against, "3->2 routes via the detour");
  assert.equal(
    against.nodes.length > 2,
    true,
    `the flagged 1-edge path must NOT be used (path: ${against.nodes.join("->")})`,
  );
  assert.ok(
    Math.abs(against.seconds - dijkstra(g, 3, 2)) < 1e-6,
    "the detour cost matches Dijkstra",
  );
  // The open direction is the direct edge.
  const with_flow = routeAstar(g, 2, 3);
  assert.ok(with_flow, "2->3 routes");
  assert.equal(with_flow.nodes.length, 2, "2->3 is the direct single edge");
  assert.ok(Math.abs(with_flow.seconds - dijkstra(g, 2, 3)) < 1e-6);
});

test("A4 deriveSteps L-path — 90-deg turns classify, steps carry name/distance/polyline6", async () => {
  const { routeAstar, deriveSteps } = await loadAstar();
  const { decodePolyline6 } = await import("../src/polyline.ts");
  const g = await loadMiniGraph();
  // 0=(r0,c0) -> 1=(r0,c1) -> 6=(r1,c1) -> 7=(r1,c2): east, then north
  // (increasing row = increasing lat), then east.
  const steps = deriveSteps(g, [0, 1, 6, 7]);
  const kinds = steps.map((s) => s.kind);
  assert.deepEqual(kinds, ["depart", "left", "right", "arrive"]);
  assert.equal(steps[0].name, "Jalan Persiaran Mini", "step 0 rides the perimeter");
  assert.equal(steps[1].name, "Jalan Mini 2", "the left turn turns onto Jalan Mini 2");
  assert.equal(steps[2].name, "Jalan Mini 1", "the right turn turns onto Jalan Mini 1");
  for (const step of steps) {
    if (step.kind === "arrive") continue;
    assert.ok(step.distanceM > 0, `${step.kind} step has positive distance`);
    const points = decodePolyline6(step.geometry);
    assert.equal(points.length, 2, `${step.kind} step geometry decodes to its two endpoints`);
  }
  const arrive = steps[steps.length - 1];
  assert.equal(decodePolyline6(arrive.geometry).length, 1, "the arrive step anchors the goal node");
  // round-trip: a full route's steps derive from A*'s own node path
  const routed = routeAstar(g, 0, 11);
  assert.ok(routed, "0->11 routes");
  const routeSteps = deriveSteps(g, routed.nodes);
  assert.equal(routeSteps[0].kind, "depart", "route-derived steps start with depart");
  assert.equal(routeSteps[routeSteps.length - 1].kind, "arrive", "and end with arrive");
  const total = routeSteps
    .filter((s) => s.kind !== "arrive")
    .reduce((sum, s) => sum + s.distanceM, 0);
  assert.ok(
    Math.abs(total - routed.distanceM) < 1e-6,
    `step distances sum to the route distance (${total} vs ${routed.distanceM})`,
  );
});

test("A5 depart + arrive always — a straight same-name path still yields [depart, arrive]", async () => {
  const { deriveSteps } = await loadAstar();
  const g = await loadMiniGraph();
  const steps = deriveSteps(g, [0, 1]);
  assert.deepEqual(
    steps.map((s) => s.kind),
    ["depart", "arrive"],
    "even the simplest path starts depart and ends arrive",
  );
  assert.equal(steps[0].name, "Jalan Persiaran Mini");
  assert.ok(steps[0].distanceM > 0);
  assert.equal(deriveSteps(g, []).length, 0, "an empty path derives no steps");
  assert.deepEqual(
    deriveSteps(g, [12]).map((s) => s.kind),
    ["arrive"],
    "a trivial single-node path is just the arrive step",
  );
});

test("A6 classifyTurn pins — compass convention: negative bearing delta = left", async () => {
  const { classifyTurn, TURN_STRAIGHT_MAX_DEG, TURN_SLIGHT_MAX_DEG, TURN_UTURN_MIN_DEG } = await loadAstar();
  assert.equal(TURN_STRAIGHT_MAX_DEG, 25);
  assert.equal(TURN_SLIGHT_MAX_DEG, 60);
  assert.equal(TURN_UTURN_MIN_DEG, 150);
  assert.equal(classifyTurn(0, -90), "left");
  assert.equal(classifyTurn(0, 90), "right");
  assert.equal(classifyTurn(0, 20), "straight");
  assert.equal(classifyTurn(0, -20), "straight");
  // The plan's "(0, 40) -> slight-left" contradicts its own (0,-90)->left /
  // (0,90)->right cases; the compass-consistent reading is pinned:
  assert.equal(classifyTurn(0, 40), "slight-right");
  assert.equal(classifyTurn(0, -40), "slight-left");
  assert.equal(classifyTurn(0, 175), "uturn");
  assert.equal(classifyTurn(0, -175), "uturn");
  assert.equal(classifyTurn(0, 180), "uturn");
  // boundaries: 25 stays straight, 61 is a full turn, 150 is uturn
  assert.equal(classifyTurn(0, 25), "straight");
  assert.equal(classifyTurn(0, 26), "slight-right");
  assert.equal(classifyTurn(0, 60), "slight-right");
  assert.equal(classifyTurn(0, 61), "right");
  assert.equal(classifyTurn(0, 149), "right");
  assert.equal(classifyTurn(0, 150), "uturn");
  // wrap-around normalization
  assert.equal(classifyTurn(350, 10), "straight", "20 deg across north is straight");
  assert.equal(classifyTurn(350, 80), "right", "90 deg across north is a right");
});