Add project structure with maze solver, simulator, and tests

tests/test_maze_solver.py

@@ -0,0 +1,49 @@
+"""!
+@file test_maze_solver.py
+@brief Runs the solver on every provided world from all four start headings.
+"""
+
+from pathlib import Path
+
+import pytest
+
+from reeborg_maze import SimulatedRobot, load_world, solve_maze
+from reeborg_maze.constants import BLOCKING_TILES, HEADING_COUNT
+
+WORLDS = sorted((Path(__file__).parent / "worlds").glob("*.json"))
+
+
+def free_starts() -> list[tuple[str, int, int, int]]:
+    """!
+    @brief Every (world, x, y, heading) where the robot can start.
+    """
+    starts = []
+    for path in WORLDS:
+        world = load_world(path)
+        for x in range(1, world["cols"] + 1):
+            for y in range(1, world["rows"] + 1):
+                if BLOCKING_TILES.intersection(world["tiles"].get(f"{x},{y}", [])):
+                    continue
+                for heading in range(HEADING_COUNT):
+                    starts.append((path.name, x, y, heading))
+    return starts
+
+
+def test_worlds_exist() -> None:
+    assert WORLDS
+
+
+@pytest.mark.parametrize("path", WORLDS, ids=lambda p: p.name)
+def test_reaches_goal_from_file_start(path: Path) -> None:
+    robot = SimulatedRobot(load_world(path))
+    solve_maze(robot)
+    assert robot.at_goal()
+
+
+@pytest.mark.parametrize(("name", "x", "y", "heading"), free_starts())
+def test_reaches_goal_from_every_free_cell_and_heading(
+    name: str, x: int, y: int, heading: int
+) -> None:
+    robot = SimulatedRobot(load_world(Path(__file__).parent / "worlds" / name), x, y, heading)
+    solve_maze(robot)
+    assert robot.at_goal()