araharah-executor
6adfd86ade
- A1: exhaustive 625-pair A*-vs-Dijkstra equivalence (the RESEARCH-mandated correctness gate); A2 oneway detour; A3 honest-null unreachable - A4/A5 deriveSteps: L-path turn kinds + name/distance/polyline6; depart/ arrive invariants; A6 classifyTurn pins (compass convention, documented) - A7 index.ts public surface (createHttpRoutingSource deliberately absent); A8 no-Map structural gate
285 lines
12 KiB
JavaScript
285 lines
12 KiB
JavaScript
#!/usr/bin/env node
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/*
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* astar.test.mjs — typed-array A* + turn classifier + step derivation (A1–A8).
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* -----------------------------------------------------------------------------
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* RED first (plan 06-01 task 3): behavior cases fail while
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* routing/src/astar.ts does not exist (lazy-import pattern).
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*
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* The correctness gate RESEARCH mandates: A* must equal brute-force
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* Dijkstra's optimal cost for EVERY (origin, goal) pair of the mini-graph —
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* the exhaustive 25x25 equivalence sweep (A1). The test-local Dijkstra uses
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* plain arrays (fine in tests) and the SAME traversal law as routeAstar:
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* oneway-reverse edges (edgeFlags bit0) are never relaxed.
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*
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* A1 exhaustive equivalence — 625 pairs, cost equality + path endpoints
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* A2 oneway respected — the pair behind the flagged edge routes the
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* long way (matching Dijkstra); the open
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* direction is direct
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* A3 unreachable -> null — honest miss (synthetic disconnected graph)
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* A4 deriveSteps L-path — 90-deg bearing changes classify left/right;
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* steps carry name/distanceM/polyline6
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* A5 depart + arrive always — straight paths still start "depart" and end
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* "arrive"
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* A6 classifyTurn pins — sign convention: compass bearings increase
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* clockwise, so negative delta = left
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* (NOTE: the plan's "classifyTurn(0, 40) ->
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* slight-left" contradicts its own
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* (0,-90)->left / (0,90)->right cases; the
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* compass-consistent reading is pinned here)
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* A7 public surface — index.ts exposes the engine-A exports;
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* createHttpRoutingSource is NOT here yet
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* (plan 04 adds it)
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* A8 structural — no `new Map(` in astar.ts (allocation-free
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* hot loop: typed arrays only)
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*
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* Run: npm run routing:test (exit 0 = all green)
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*/
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import { strict as assert } from "node:assert";
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import { readFileSync } from "node:fs";
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import path from "node:path";
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import { fileURLToPath } from "node:url";
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import { test } from "./harness.mjs";
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const here = path.dirname(fileURLToPath(import.meta.url)); // routing/test
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let astarPromise = null;
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function loadAstar() {
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if (!astarPromise) astarPromise = import("../src/astar.ts");
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return astarPromise;
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}
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let graphPromise = null;
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function loadGraph() {
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if (!graphPromise) graphPromise = import("../src/graph.ts");
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return graphPromise;
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}
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function toArrayBuffer(buf) {
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return buf.buffer.slice(buf.byteOffset, buf.byteOffset + buf.byteLength);
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}
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async function loadMiniGraph() {
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const { decodeGraph } = await loadGraph();
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const g = decodeGraph(toArrayBuffer(readFileSync(path.join(here, "fixtures", "mini-graph.bin"))));
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assert.ok(g, "the committed mini-graph decodes");
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return g;
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}
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/** Brute-force O(n^2) Dijkstra — plain arrays, SAME traversal law as A*. */
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function dijkstra(g, origin, goal) {
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const dist = new Array(g.nodeCount).fill(Infinity);
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const done = new Array(g.nodeCount).fill(false);
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dist[origin] = 0;
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for (;;) {
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let u = -1;
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let best = Infinity;
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for (let i = 0; i < g.nodeCount; i++) {
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if (!done[i] && dist[i] < best) {
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best = dist[i];
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u = i;
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}
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}
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if (u === -1 || u === goal) return dist[goal];
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done[u] = true;
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for (let e = g.edgeStart[u]; e < g.edgeStart[u + 1]; e++) {
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if ((g.edgeFlags[e] & 1) !== 0) continue; // oneway-reverse: never relaxed
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const v = g.edgeTarget[e];
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const nd = dist[u] + g.edgeSeconds[e];
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if (nd < dist[v]) dist[v] = nd;
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}
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}
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}
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/* ————— A1–A8 ————— */
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test("A1 exhaustive equivalence — A* matches brute-force Dijkstra on EVERY 25x25 node pair", async () => {
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const { routeAstar } = await loadAstar();
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const g = await loadMiniGraph();
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let pairs = 0;
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let reachable = 0;
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for (let o = 0; o < g.nodeCount; o++) {
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for (let t = 0; t < g.nodeCount; t++) {
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pairs++;
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const optimal = dijkstra(g, o, t);
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const result = routeAstar(g, o, t);
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if (optimal === Infinity) {
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assert.equal(result, null, `pair ${o}->${t}: unreachable must resolve null, never a path`);
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continue;
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}
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reachable++;
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assert.ok(result, `pair ${o}->${t}: reachable must route`);
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assert.ok(
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Math.abs(result.seconds - optimal) < 1e-6,
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`pair ${o}->${t}: A* cost ${result.seconds} vs Dijkstra ${optimal}`,
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);
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assert.equal(result.nodes[0], o, `pair ${o}->${t}: path starts at origin`);
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assert.equal(result.nodes[result.nodes.length - 1], t, `pair ${o}->${t}: path ends at goal`);
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assert.ok(result.distanceM > 0 || o === t, `pair ${o}->${t}: distanceM summed over the path`);
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}
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}
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assert.equal(pairs, 625, "the full 25x25 sweep ran");
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assert.ok(reachable > 600, `the grid is densely connected (${reachable} reachable pairs)`);
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});
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test("A2 oneway respected — the flagged edge is never traversed; the open direction is direct", async () => {
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const { routeAstar } = await loadAstar();
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const g = await loadMiniGraph();
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// The fixture's single oneway-reverse edge is 3 -> 2 (perimeter, row 0).
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// Routing AGAINST it (3 -> 2) must take the long way around the block.
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const against = routeAstar(g, 3, 2);
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assert.ok(against, "3->2 routes via the detour");
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assert.equal(
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against.nodes.length > 2,
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true,
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`the flagged 1-edge path must NOT be used (path: ${against.nodes.join("->")})`,
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);
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assert.ok(
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Math.abs(against.seconds - dijkstra(g, 3, 2)) < 1e-6,
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"the detour cost matches Dijkstra",
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);
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// The open direction is the direct edge.
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const with_flow = routeAstar(g, 2, 3);
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assert.ok(with_flow, "2->3 routes");
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assert.equal(with_flow.nodes.length, 2, "2->3 is the direct single edge");
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assert.ok(Math.abs(with_flow.seconds - dijkstra(g, 2, 3)) < 1e-6);
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});
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test("A3 unreachable -> null — a disconnected pair resolves the honest miss", async () => {
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const { routeAstar } = await loadAstar();
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const { encodeGraph, decodeGraph } = await loadGraph();
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// Two disconnected components: 0<->1 and 2<->3.
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const g = decodeGraph(
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encodeGraph({
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lat: [3.15, 3.1505, 3.16, 3.1605],
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lng: [101.69, 101.6905, 101.69, 101.6905],
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edges: [
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{ from: 0, to: 1, seconds: 4, nameId: 0 },
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{ from: 1, to: 0, seconds: 4, nameId: 0 },
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{ from: 2, to: 3, seconds: 4, nameId: 0 },
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{ from: 3, to: 2, seconds: 4, nameId: 0 },
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],
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names: ["Isolated Road"],
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maxSpeedKmh: 60,
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}),
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);
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assert.ok(g, "synthetic graph decodes");
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assert.equal(dijkstra(g, 0, 2), Infinity, "Dijkstra agrees: unreachable");
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assert.equal(routeAstar(g, 0, 2), null, "unreachable -> null (never a fabricated path)");
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const within = routeAstar(g, 0, 1);
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assert.ok(within, "the connected pair routes");
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assert.deepEqual(within.nodes, [0, 1]);
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});
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test("A4 deriveSteps L-path — 90-deg turns classify, steps carry name/distance/polyline6", async () => {
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const { routeAstar, deriveSteps } = await loadAstar();
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const { decodePolyline6 } = await import("../src/polyline.ts");
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const g = await loadMiniGraph();
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// 0=(r0,c0) -> 1=(r0,c1) -> 6=(r1,c1) -> 7=(r1,c2): east, then south, then east.
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const steps = deriveSteps(g, [0, 1, 6, 7]);
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const kinds = steps.map((s) => s.kind);
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assert.deepEqual(kinds, ["depart", "right", "left", "arrive"]);
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assert.equal(steps[0].name, "Jalan Persiaran Mini", "step 0 rides the perimeter");
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assert.equal(steps[1].name, "Jalan Mini 2", "the right turn turns onto Jalan Mini 2");
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assert.equal(steps[2].name, "Jalan Mini 1", "the left turn turns onto Jalan Mini 1");
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for (const step of steps) {
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if (step.kind === "arrive") continue;
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assert.ok(step.distanceM > 0, `${step.kind} step has positive distance`);
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const points = decodePolyline6(step.geometry);
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assert.equal(points.length, 2, `${step.kind} step geometry decodes to its two endpoints`);
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}
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const arrive = steps[steps.length - 1];
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assert.equal(decodePolyline6(arrive.geometry).length, 1, "the arrive step anchors the goal node");
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// round-trip: a full route's steps derive from A*'s own node path
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const routed = routeAstar(g, 0, 11);
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assert.ok(routed, "0->11 routes");
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const routeSteps = deriveSteps(g, routed.nodes);
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assert.equal(routeSteps[0].kind, "depart", "route-derived steps start with depart");
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assert.equal(routeSteps[routeSteps.length - 1].kind, "arrive", "and end with arrive");
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const total = routeSteps
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.filter((s) => s.kind !== "arrive")
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.reduce((sum, s) => sum + s.distanceM, 0);
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assert.ok(
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Math.abs(total - routed.distanceM) < 1e-6,
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`step distances sum to the route distance (${total} vs ${routed.distanceM})`,
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);
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});
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test("A5 depart + arrive always — a straight same-name path still yields [depart, arrive]", async () => {
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const { deriveSteps } = await loadAstar();
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const g = await loadMiniGraph();
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const steps = deriveSteps(g, [0, 1]);
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assert.deepEqual(
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steps.map((s) => s.kind),
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["depart", "arrive"],
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"even the simplest path starts depart and ends arrive",
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);
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assert.equal(steps[0].name, "Jalan Persiaran Mini");
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assert.ok(steps[0].distanceM > 0);
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assert.equal(deriveSteps(g, []).length, 0, "an empty path derives no steps");
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assert.deepEqual(
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deriveSteps(g, [12]).map((s) => s.kind),
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["arrive"],
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"a trivial single-node path is just the arrive step",
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);
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});
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test("A6 classifyTurn pins — compass convention: negative bearing delta = left", async () => {
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const { classifyTurn, TURN_STRAIGHT_MAX_DEG, TURN_SLIGHT_MAX_DEG, TURN_UTURN_MIN_DEG } = await loadAstar();
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assert.equal(TURN_STRAIGHT_MAX_DEG, 25);
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assert.equal(TURN_SLIGHT_MAX_DEG, 60);
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assert.equal(TURN_UTURN_MIN_DEG, 150);
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assert.equal(classifyTurn(0, -90), "left");
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assert.equal(classifyTurn(0, 90), "right");
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assert.equal(classifyTurn(0, 20), "straight");
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assert.equal(classifyTurn(0, -20), "straight");
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// The plan's "(0, 40) -> slight-left" contradicts its own (0,-90)->left /
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// (0,90)->right cases; the compass-consistent reading is pinned:
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assert.equal(classifyTurn(0, 40), "slight-right");
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assert.equal(classifyTurn(0, -40), "slight-left");
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assert.equal(classifyTurn(0, 175), "uturn");
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assert.equal(classifyTurn(0, -175), "uturn");
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assert.equal(classifyTurn(0, 180), "uturn");
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// boundaries: 25 stays straight, 61 is a full turn, 150 is uturn
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assert.equal(classifyTurn(0, 25), "straight");
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assert.equal(classifyTurn(0, 26), "slight-right");
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assert.equal(classifyTurn(0, 60), "slight-right");
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assert.equal(classifyTurn(0, 61), "right");
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assert.equal(classifyTurn(0, 149), "right");
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assert.equal(classifyTurn(0, 150), "uturn");
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// wrap-around normalization
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assert.equal(classifyTurn(350, 10), "straight", "20 deg across north is straight");
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assert.equal(classifyTurn(350, 80), "right", "90 deg across north is a right");
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});
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test("A7 public surface — index.ts exposes engine A; createHttpRoutingSource is NOT here yet", async () => {
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const mod = await import("../src/index.ts");
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for (const name of [
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"decodeGraph",
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"encodeGraph",
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"GRAPH_MAGIC",
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"GRAPH_VERSION",
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"snapToGraph",
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"SNAP_BBOX_MARGIN_DEG",
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"routeAstar",
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"deriveSteps",
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"classifyTurn",
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"TURN_STRAIGHT_MAX_DEG",
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"TURN_SLIGHT_MAX_DEG",
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"TURN_UTURN_MIN_DEG",
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]) {
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assert.notEqual(mod[name], undefined, `index.ts must export ${name}`);
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}
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assert.equal(
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mod.createHttpRoutingSource,
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undefined,
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"createHttpRoutingSource belongs to plan 04 — NOT this plan",
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);
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});
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test("A8 structural — no `new Map(` in astar.ts (typed arrays only in the hot loop)", () => {
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const src = readFileSync(path.join(here, "..", "src", "astar.ts"), "utf8");
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const code = src
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.replace(/\/\*[\s\S]*?\*\//g, " ")
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.replace(/(^|[^:\\])\/\/[^\n]*/g, "$1");
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assert.ok(!code.includes("new Map("), "no Map allocation — the hot loop is typed arrays");
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});
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