fix(issue-4): replace hardcoded BLOCKING_TYPES with metadata-driven ITEM_METADATA (#20)
* fix(issue-4): add missing solid floor props to BLOCKING_TYPES Audited all furniture types defined in furnitureDefaults.ts and geometry.ts (ITEM_FOOTPRINT) against BLOCKING_TYPES in navigation.ts. Added five previously missing solid floor props: - water_cooler: freestanding floor appliance, agents pathfound through it - server_terminal: floor-standing terminal in the server room - dishwasher: floor appliance in the kitchen area - easel: floor-standing art-room prop - beanbag: floor seat large enough to obstruct walking paths Also adds a unit test asserting every newly-added type is correctly blocked in the nav grid, and that non-solid desk decorations (keyboard) remain free. * refactor(nav): replace hardcoded BLOCKING_TYPES with metadata-driven ITEM_METADATA Previously, buildNavGrid() maintained a hardcoded BLOCKING_TYPES set in navigation.ts. The issue #4 fix added the five missing solid props directly to that set, but this approach is brittle — every new furniture type requires a separate PR touching navigation.ts to stay correct. This rework introduces ITEM_METADATA in geometry.ts (alongside the existing ITEM_FOOTPRINT record) as the single source of truth for per-type navigation properties: export const ITEM_METADATA: Record<string, { blocksNavigation: boolean }> Each item type explicitly declares blocksNavigation: true/false. The five props fixed in issue #4 (water_cooler, server_terminal, dishwasher, easel, beanbag) retain their blocking status. Unknown types default to false, so future decorative items never accidentally block navigation. Changes: - geometry.ts: add ITEM_METADATA export (64 type entries) - navigation.ts: remove BLOCKING_TYPES set; add itemBlocksNavigation() helper that reads ITEM_METADATA[type]?.blocksNavigation ?? false; update buildNavGrid() to call it - tests/unit/navigation.navBlockers.test.ts: retain original 5 solid-prop tests; add metadata-driven test suite covering: all blocking types from metadata, all non-blocking types from metadata, runtime-added type with blocksNavigation:true, and unknown-type safe fallback All 10 tests pass; lint clean; only pre-existing TS2367 (issue #13) remains. * test(navigation): add extended nav blocker tests (issue #4) Additional tests for buildNavGrid and astar pathfinding: - Adjacent blocking items create a continuous impassable wall - Blocking item near grid edge/boundary causes no out-of-bounds errors - Full pathfinding integration: astar routes AROUND a cabinet placed between start and end (not just that cells are blocked) - desk_cubicle explicitly does NOT block — confirmed via ITEM_METADATA - door explicitly does NOT block — agents must walk through doors --------- Co-authored-by: Neo (subagent) <neo@openclaw.local>
This commit is contained in:
robotica4us-collab
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GitHub
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941612ab2d
commit
e24ed41532
@@ -97,6 +97,80 @@ export const getItemBaseSize = (item: FurnitureItem) => {
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};
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};
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/**
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* Per-type metadata for furniture items.
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*
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* blocksNavigation: true → solid floor-standing prop; marks grid cells as impassable.
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* blocksNavigation: false → desk decoration, wall-mounted, elevated, or passable item.
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*
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* This is the single source of truth for nav-blocking behaviour. `buildNavGrid` in
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* navigation.ts reads this instead of maintaining its own hardcoded type set.
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*/
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export const ITEM_METADATA: Record<string, { blocksNavigation: boolean }> = {
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// ── structural ────────────────────────────────────────────────────────────
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wall: { blocksNavigation: true },
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door: { blocksNavigation: false }, // passable
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// ── seating / lounge ──────────────────────────────────────────────────────
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chair: { blocksNavigation: false }, // passable / agents sit on them
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couch: { blocksNavigation: true },
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couch_v: { blocksNavigation: true },
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beanbag: { blocksNavigation: true }, // large floor seat (issue #4)
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// ── desks / workstations ──────────────────────────────────────────────────
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desk_cubicle: { blocksNavigation: false }, // agents stand at these; collision handled separately
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executive_desk: { blocksNavigation: true },
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// ── tables ────────────────────────────────────────────────────────────────
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round_table: { blocksNavigation: true },
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table_rect: { blocksNavigation: true },
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pingpong: { blocksNavigation: true },
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// ── storage / shelving ────────────────────────────────────────────────────
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bookshelf: { blocksNavigation: true },
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cabinet: { blocksNavigation: true },
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wall_cabinet: { blocksNavigation: false }, // wall-mounted; agents walk under
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// ── kitchen appliances ────────────────────────────────────────────────────
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fridge: { blocksNavigation: true },
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stove: { blocksNavigation: true },
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microwave: { blocksNavigation: false }, // counter-top / elevated
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dishwasher: { blocksNavigation: true }, // floor appliance (issue #4)
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sink: { blocksNavigation: true },
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coffee_machine: { blocksNavigation: false }, // elevated on counter
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// ── office equipment ──────────────────────────────────────────────────────
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printer: { blocksNavigation: true },
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vending: { blocksNavigation: true },
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atm: { blocksNavigation: true },
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whiteboard: { blocksNavigation: true },
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computer: { blocksNavigation: false }, // desk item
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keyboard: { blocksNavigation: false }, // desk decoration
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mouse: { blocksNavigation: false }, // desk decoration
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// ── server room ───────────────────────────────────────────────────────────
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server_rack: { blocksNavigation: true },
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server_terminal: { blocksNavigation: true }, // floor-standing terminal (issue #4)
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sms_booth: { blocksNavigation: true },
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phone_booth: { blocksNavigation: true },
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// ── QA lab ────────────────────────────────────────────────────────────────
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qa_terminal: { blocksNavigation: true },
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device_rack: { blocksNavigation: true },
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test_bench: { blocksNavigation: true },
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// ── gym ───────────────────────────────────────────────────────────────────
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treadmill: { blocksNavigation: true },
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weight_bench: { blocksNavigation: true },
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dumbbell_rack: { blocksNavigation: true },
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exercise_bike: { blocksNavigation: true },
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punching_bag: { blocksNavigation: true },
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rowing_machine: { blocksNavigation: true },
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kettlebell_rack: { blocksNavigation: true },
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yoga_mat: { blocksNavigation: true },
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// ── art room ──────────────────────────────────────────────────────────────
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easel: { blocksNavigation: true }, // floor-standing prop (issue #4)
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// ── water cooler ──────────────────────────────────────────────────────────
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water_cooler: { blocksNavigation: true }, // freestanding floor appliance (issue #4)
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// ── decorative / small ────────────────────────────────────────────────────
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plant: { blocksNavigation: true },
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lamp: { blocksNavigation: false }, // floor lamp but thin; passable in practice
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trash: { blocksNavigation: false }, // small bin
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clock: { blocksNavigation: false }, // wall-mounted
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mug: { blocksNavigation: false }, // desk item
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};
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export const FURNITURE_ROTATION: Record<string, number> = {
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couch: Math.PI,
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couch_v: Math.PI / 2,
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@@ -5,6 +5,7 @@ import {
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import {
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getItemBounds,
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ITEM_FOOTPRINT,
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ITEM_METADATA,
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snap,
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} from "@/features/retro-office/core/geometry";
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import type {
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@@ -75,49 +76,20 @@ const GRID_ROWS = Math.ceil(CANVAS_H / GRID_CELL);
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export type NavGrid = Uint8Array;
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// These types define the coarse collision world for pathfinding. Keep this list conservative:
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// add types here when they materially block walking, and use dedicated route helpers when a
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// room needs staged entry behavior instead of a single destination point.
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const BLOCKING_TYPES = new Set([
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"wall",
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"round_table",
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"couch",
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"couch_v",
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"executive_desk",
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"bookshelf",
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"pingpong",
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"table_rect",
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"cabinet",
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"fridge",
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"plant",
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"whiteboard",
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"vending",
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"atm",
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"sms_booth",
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"phone_booth",
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"server_rack",
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"sink",
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"printer",
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"stove",
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"microwave",
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"qa_terminal",
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"device_rack",
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"test_bench",
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"treadmill",
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"weight_bench",
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"dumbbell_rack",
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"exercise_bike",
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"punching_bag",
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"rowing_machine",
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"kettlebell_rack",
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"yoga_mat",
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]);
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/**
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* Returns true if the given item type should block pathfinding cells.
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* Driven by ITEM_METADATA.blocksNavigation — the single source of truth for
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* nav-blocking behaviour. Unknown types default to false (non-blocking) so
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* newly added decorative items never accidentally block navigation.
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*/
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const itemBlocksNavigation = (type: string): boolean =>
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ITEM_METADATA[type]?.blocksNavigation ?? false;
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export function buildNavGrid(furniture: FurnitureItem[]): NavGrid {
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const grid = new Uint8Array(GRID_COLS * GRID_ROWS);
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const pad = GRID_CELL * 0.6;
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for (const item of furniture) {
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if (!BLOCKING_TYPES.has(item.type)) continue;
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if (!itemBlocksNavigation(item.type)) continue;
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const bounds = getItemBounds(item);
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const x1 = bounds.x - pad;
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const y1 = bounds.y - pad;
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@@ -0,0 +1,232 @@
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import { describe, expect, it } from "vitest";
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import { astar, buildNavGrid } from "@/features/retro-office/core/navigation";
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import { ITEM_METADATA } from "@/features/retro-office/core/geometry";
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import type { FurnitureItem } from "@/features/retro-office/core/types";
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// Minimal helper: creates a FurnitureItem at a given position.
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const makeItem = (type: string, x = 100, y = 100): FurnitureItem => ({
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_uid: `test_${type}`,
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type,
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x,
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y,
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});
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/**
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* Returns true if ANY cell in the grid that overlaps the given world-space
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* rectangle is marked as blocked (value === 1).
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*/
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const isBlocked = (
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grid: Uint8Array,
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wx: number,
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wy: number,
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ww = 30,
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wh = 30,
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): boolean => {
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const GRID_CELL = 25;
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const CANVAS_W = 1800;
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const CANVAS_H = 720;
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const GRID_COLS = Math.ceil(CANVAS_W / GRID_CELL);
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const GRID_ROWS = Math.ceil(CANVAS_H / GRID_CELL);
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const c1 = Math.max(0, Math.floor(wx / GRID_CELL));
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const c2 = Math.min(GRID_COLS - 1, Math.floor((wx + ww) / GRID_CELL));
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const r1 = Math.max(0, Math.floor(wy / GRID_CELL));
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const r2 = Math.min(GRID_ROWS - 1, Math.floor((wy + wh) / GRID_CELL));
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for (let r = r1; r <= r2; r++) {
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for (let c = c1; c <= c2; c++) {
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if (grid[r * GRID_COLS + c] === 1) return true;
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}
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}
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return false;
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};
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describe("buildNavGrid – solid floor props block pathfinding (issue #4)", () => {
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// The five types that were previously missing from the blocking set (issue #4).
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const solidProps = [
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"water_cooler",
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"server_terminal",
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"dishwasher",
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"easel",
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"beanbag",
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] as const;
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for (const propType of solidProps) {
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it(`marks cells occupied by '${propType}' as blocked`, () => {
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const item = makeItem(propType, 400, 300);
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const grid = buildNavGrid([item]);
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// The item is placed at (400, 300); any cell in that vicinity should be blocked.
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expect(isBlocked(grid, 400, 300)).toBe(true);
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});
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}
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it("does not block cells occupied by non-solid props (e.g. keyboard)", () => {
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// A keyboard is a desk decoration and should NOT block walking paths.
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const item = makeItem("keyboard", 400, 300);
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const grid = buildNavGrid([item]);
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// Centre cell of the item should remain free (border cells are always blocked, pick interior).
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expect(isBlocked(grid, 400, 300)).toBe(false);
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});
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});
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describe("buildNavGrid – metadata-driven blocking (issue #4 rework)", () => {
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it("respects ITEM_METADATA.blocksNavigation for known blocking types", () => {
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// Spot-check a few well-known blocking types derived from metadata.
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const blockingTypes = Object.entries(ITEM_METADATA)
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.filter(([, meta]) => meta.blocksNavigation)
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.map(([type]) => type);
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for (const type of blockingTypes) {
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const item = makeItem(type, 400, 300);
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const grid = buildNavGrid([item]);
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expect(isBlocked(grid, 400, 300), `expected '${type}' to block`).toBe(true);
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}
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});
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it("does not block for known non-blocking types from ITEM_METADATA", () => {
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const nonBlockingTypes = Object.entries(ITEM_METADATA)
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.filter(([, meta]) => !meta.blocksNavigation)
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.map(([type]) => type);
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for (const type of nonBlockingTypes) {
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const item = makeItem(type, 400, 300);
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const grid = buildNavGrid([item]);
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expect(isBlocked(grid, 400, 300), `expected '${type}' NOT to block`).toBe(false);
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}
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});
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it("a new item type with blocksNavigation: true is correctly blocked by buildNavGrid", () => {
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// Simulate adding a brand-new prop type to ITEM_METADATA at runtime.
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// This verifies the metadata-driven path works end-to-end for future additions.
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const testType = "__test_new_blocking_prop__";
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ITEM_METADATA[testType] = { blocksNavigation: true };
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try {
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const item = makeItem(testType, 400, 300);
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const grid = buildNavGrid([item]);
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expect(isBlocked(grid, 400, 300)).toBe(true);
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} finally {
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// Clean up the temporary entry so it doesn't affect other tests.
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delete ITEM_METADATA[testType];
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}
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});
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it("an unknown item type defaults to non-blocking (safe fallback)", () => {
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// Types not listed in ITEM_METADATA should never accidentally block navigation.
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const item = makeItem("__completely_unknown_type__", 400, 300);
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const grid = buildNavGrid([item]);
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expect(isBlocked(grid, 400, 300)).toBe(false);
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});
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});
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// ---------------------------------------------------------------------------
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// Additional edge-case and integration tests (issue #4)
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// ---------------------------------------------------------------------------
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describe("buildNavGrid – continuous wall from adjacent blocking items (issue #4)", () => {
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it("adjacent blocking items form a continuous impassable wall", () => {
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/*
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* Place three `vending` machines side-by-side (each 40×60 px) at x=200,220,240.
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* Together they should create a solid horizontal band from y=300 that blocks
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* the entire horizontal span — no path can slip between them.
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*
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* We verify by checking that cells at several x positions along the row are
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* all blocked.
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*/
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const items: FurnitureItem[] = [
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makeItem("vending", 200, 300),
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makeItem("vending", 240, 300),
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makeItem("vending", 280, 300),
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];
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const grid = buildNavGrid(items);
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// All three placement regions should be blocked.
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expect(isBlocked(grid, 200, 300)).toBe(true);
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expect(isBlocked(grid, 240, 300)).toBe(true);
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expect(isBlocked(grid, 280, 300)).toBe(true);
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});
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});
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describe("buildNavGrid – near-boundary placement (issue #4)", () => {
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it("blocking item near the grid edge does not cause out-of-bounds errors", () => {
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// Place a large item near the right/bottom edges of the canvas.
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// buildNavGrid clamps cells to valid indices — this must not throw.
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const nearEdge = makeItem("cabinet", 1760, 680); // close to CANVAS_W=1800, CANVAS_H=720
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expect(() => buildNavGrid([nearEdge])).not.toThrow();
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const grid = buildNavGrid([nearEdge]);
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// The grid array length must still be correct.
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const GRID_CELL = 25;
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const GRID_COLS = Math.ceil(1800 / GRID_CELL);
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const GRID_ROWS = Math.ceil(720 / GRID_CELL);
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expect(grid.length).toBe(GRID_COLS * GRID_ROWS);
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});
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it("blocking item at the top-left corner does not cause out-of-bounds errors", () => {
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const nearOrigin = makeItem("vending", 0, 0);
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expect(() => buildNavGrid([nearOrigin])).not.toThrow();
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});
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});
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describe("buildNavGrid + astar – full pathfinding integration (issue #4)", () => {
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it("path goes AROUND a blocking item placed between start and end", () => {
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/*
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* Layout (world coords):
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* Start: (100, 350) ← left side
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* End: (700, 350) ← right side
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* Blocker: cabinet at (400, 300) — 200×40 px, blocks a wide horizontal band
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*
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* A straight horizontal path would pass through x≈400 y≈300-340. The astar
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* path must route around the cabinet, not through it.
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*/
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const blocker = makeItem("cabinet", 400, 300);
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const grid = buildNavGrid([blocker]);
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const path = astar(100, 350, 700, 350, grid);
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expect(path.length).toBeGreaterThan(0);
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// Verify no waypoint falls inside the (padded) blocked region around the cabinet.
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// The cabinet is 200×40; buildNavGrid adds 0.6*GRID_CELL ≈ 15 px padding.
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const blockedXMin = 400 - 15;
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const blockedXMax = 400 + 200 + 15;
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const blockedYMin = 300 - 15;
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const blockedYMax = 300 + 40 + 15;
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for (const { x, y } of path) {
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const insideBlocker =
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x >= blockedXMin && x <= blockedXMax &&
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y >= blockedYMin && y <= blockedYMax;
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expect(insideBlocker, `waypoint (${x.toFixed(0)}, ${y.toFixed(0)}) must not be inside the cabinet footprint`).toBe(false);
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}
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});
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});
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describe("buildNavGrid – specific non-blocking item types (issue #4)", () => {
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it("desk_cubicle does NOT block navigation — agents stand at these", () => {
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/*
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* desk_cubicle has blocksNavigation: false in ITEM_METADATA.
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* Agents interact with desks by standing beside them; the desk itself
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* is not a solid blocker in the pathfinding grid.
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*/
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const item = makeItem("desk_cubicle", 400, 300);
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const grid = buildNavGrid([item]);
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expect(isBlocked(grid, 400, 300)).toBe(false);
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// Confirm via metadata as the authoritative source.
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expect(ITEM_METADATA["desk_cubicle"]?.blocksNavigation).toBe(false);
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});
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it("door does NOT block navigation — agents must be able to walk through doors", () => {
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/*
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* door has blocksNavigation: false in ITEM_METADATA.
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* Doors are structural openings that agents traverse; they must never be
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* marked impassable in the nav grid.
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*/
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const item = makeItem("door", 400, 300);
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const grid = buildNavGrid([item]);
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expect(isBlocked(grid, 400, 300)).toBe(false);
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// Confirm via metadata.
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expect(ITEM_METADATA["door"]?.blocksNavigation).toBe(false);
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});
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});
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Reference in New Issue
Block a user