class TestComputeOrientation(unittest.TestCase):
@classmethod
def setUpClass(cls):
pass
@classmethod
def tearDownClass(cls):
pass
def setUp(self):
self.osm_bridge = OSMBridge(server_ip='172.16.1.101', server_port=8000, global_origin=[
50.7800401, 7.18226], coordinate_system='cartesian')
self.compute_orientation = ComputeOrientation()
def tearDown(self):
pass
def test_compute_center(self):
corridor = self.osm_bridge.get_corridor('BRSU_C_L0_C9')
pt = self.compute_orientation._compute_center(corridor.geometry.points)
print(pt)
def test_get_nearest_points(self):
prev_area = self.osm_bridge.get_corridor('BRSU_C_L0_C5')
curr_area = self.osm_bridge.get_corridor('BRSU_C_L0_C6')
pts = self.compute_orientation._get_nearest_points(
prev_area, curr_area)
print(pts)
def test_compute_corridor_orientation(self):
prev_area = self.osm_bridge.get_corridor('BRSU_C_L0_C5')
curr_area = self.osm_bridge.get_corridor('BRSU_C_L0_C6')
next_area = self.osm_bridge.get_corridor('BRSU_C_L0_C7')
angle = self.compute_orientation.get_corridor_orientation(
prev_area, curr_area, next_area)
print(angle)
def test_get_door_points(self):
door = self.osm_bridge.get_door('BRSU_C_L0_RoomC022_Door1')
pts = self.compute_orientation._get_door_points(door.geometry.points)
print(pts)
def test_get_door_orientation1(self):
door = self.osm_bridge.get_door('BRSU_C_L0_RoomC022_Door1')
corridor = self.osm_bridge.get_corridor('BRSU_C_L0_C9')
angle = self.compute_orientation.get_door_orientation(door, corridor)
print(angle)
def test_get_door_orientation2(self):
door = self.osm_bridge.get_door('BRSU_C_L0_RoomC022_Door1')
room = self.osm_bridge.get_room('BRSU_C_L0_RoomC022')
angle = self.compute_orientation.get_door_orientation(door, room)
print(angle)
class TestPathPlanner(unittest.TestCase):
def setUp(self):
self.osm_bridge = OSMBridge()
# self.global_origin = [50.7800401, 7.18226] # uni (coordinates of node id 1307)
# self.osm_bridge = OSMBridge(global_origin=self.global_origin)
self.global_path_planner = GlobalPathPlanner(self.osm_bridge)
self.navigation_path_planner = NavigationPathPlanner(self.osm_bridge)
self.semantic_global_path = None
def test_global_plan_same_floor_plus_local_planner(self):
building = self.osm_bridge.get_building('AMK')
start_floor = self.osm_bridge.get_floor('AMK_L-1')
destination_floor = self.osm_bridge.get_floor('AMK_L-1')
start = self.osm_bridge.get_corridor('AMK_B_L-1_C1')
destination = self.osm_bridge.get_corridor('AMK_D_L-1_C41')
global_path = self.global_path_planner.plan(start_floor,
destination_floor, start,
destination,
building.elevators)
start_local = self.osm_bridge.get_local_area('AMK_D_L-1_C41_LA1')
destination_local = self.osm_bridge.get_local_area('AMK_B_L-1_C2_LA1')
path = self.navigation_path_planner.plan(start_floor,
destination_floor,
start_local,
destination_local,
global_path)
def test_global_plan_different_floors_plus_local_planner(self):
building = self.osm_bridge.get_building('AMK')
start_floor = self.osm_bridge.get_floor('AMK_L-1')
destination_floor = self.osm_bridge.get_floor('AMK_L4')
start_global = self.osm_bridge.get_corridor('AMK_D_L-1_C41')
destination_global = self.osm_bridge.get_corridor('AMK_B_L4_C1')
global_path = self.global_path_planner.plan(start_floor,
destination_floor,
start_global,
destination_global,
building.elevators)
start_local = self.osm_bridge.get_local_area('AMK_D_L-1_C41_LA1')
destination_local = self.osm_bridge.get_local_area('AMK_B_L4_C1_LA1')
path = self.navigation_path_planner.plan(start_floor,
destination_floor,
start_local,
destination_local,
global_path)
# for pt in path:
# print(pt)
# print(pt.exit_door)
# print(pt.navigation_areas)
# print("---------------------------------------------")
# self.assertEqual(path[1].id, 119)
self.assertEqual(len(path), 27)
def test_overall_path_planner(self):
path_planner = PathPlanner(self.osm_bridge)
path_planner.set_building('AMK')
path = path_planner.get_path_plan(
start_floor='AMK_L-1',
destination_floor='AMK_L4',
start_area='AMK_D_L-1_C41',
destination_area='AMK_B_L4_C1',
start_local_area='AMK_D_L-1_C41_LA1',
destination_local_area='AMK_B_L4_C1_LA1')
print(path)
self.assertEqual(path[1].id, 119)
self.assertEqual(len(path), 27)
# def test_overall_path_planner(self):
# path_planner = PathPlanner(self.osm_bridge)
# path_planner.set_building('BRSU')
# path = path_planner.get_path_plan(
# destination_floor='BRSU_L0',
# start_floor='BRSU_L0',
# start_area='BRSU_C_L0_C9',
# start_local_area='BRSU_C_L0_C9_LA1',
# destination_area='BRSU_A_L0_C9',
# destination_local_area='BRSU_C_L0_C9_LA2'
# )
# print(path)
def test_dynamic_path_planner_blocked_with_traffic_rules(self):
path_planner = PathPlanner(self.osm_bridge)
path_planner.set_building('AMK')
# path planning should fail here as connections are blocked and traffic rules are
# still in effect
with self.assertRaises(Exception) as context:
self.assertRaises(
path_planner.get_path_plan(
start_floor='AMK_L-1',
destination_floor='AMK_L4',
start_area='AMK_D_L-1_C41',
destination_area='AMK_B_L4_C1',
start_local_area='AMK_D_L-1_C41_LA1',
destination_local_area='AMK_B_L4_C1_LA1',
blocked_connections=[[
'AMK_C_L-1_C36_LA2', 'AMK_C_L-1_C35_LA2'
], ['AMK_C_L-1_C35_LA2', 'AMK_C_L-1_C34_Door1']],
relax_traffic_rules=False))
self.assertTrue("Couldn't plan the path" in str(context.exception))
def test_dynamic_path_planner_blocked_wo_traffic_rules(self):
path_planner = PathPlanner(self.osm_bridge)
path_planner.set_building('AMK')
try:
# even though connections are blocked since traffic rules are relaxed
# path planning should be successful in this case
path_planner.get_path_plan(
start_floor='AMK_L-1',
destination_floor='AMK_L4',
start_area='AMK_D_L-1_C41',
destination_area='AMK_B_L4_C1',
start_local_area='AMK_D_L-1_C41_LA1',
destination_local_area='AMK_B_L4_C1_LA1',
blocked_connections=[[
'AMK_C_L-1_C36_LA2', 'AMK_C_L-1_C35_LA2'
], ['AMK_C_L-1_C35_LA2', 'AMK_C_L-1_C34_Door1']],
relax_traffic_rules=True)
except:
self.fail("In this case path shhould be successfully planned")
def test_get_estimated_path_distance(self):
path_planner = PathPlanner(self.osm_bridge)
path_planner.set_building('AMK')
try:
# even though connections are blocked since traffic rules are relaxed
# path planning should be successful in this case
distance = path_planner.get_estimated_path_distance(
start_floor='AMK_L-1',
destination_floor='AMK_L4',
start_area='AMK_D_L-1_C41',
destination_area='AMK_B_L4_C1')
print("Path distance:", distance)
except:
self.fail("In this case path shhould be successfully planned")
class TestOSMBridge(unittest.TestCase):
def setUp(self):
self.osm_bridge = OSMBridge()
self.osm_adapter = OSMAdapter()
def test_point(self):
node_result, __, __ = self.osm_adapter.get_osm_element_by_id(
ids=[4865], data_type='node')
Point.coordinate_system = 'spherical'
p = self.osm_bridge.get_point(node_result[0])
assert p.lat is not None
assert p.lon is not None
assert p.x is not None
assert p.y is not None
# point by id
p = self.osm_bridge.get_point(4865)
assert p.id == 4865
def test_shape(self):
# point by id
s = self.osm_bridge.get_shape(1021)
assert len(s.points) > 0
def test_get_feature_by_id(self):
f = self.osm_bridge.get_feature(4865)
self.assertEqual(f.id, 4865)
def test_get_side_by_id(self):
self.assertRaises(Exception, self.osm_bridge.get_side, 99999)
def test_get_door_by_id(self):
d = self.osm_bridge.get_door(161)
self.assertEqual(d.id, 161)
assert d.geometry is not None
assert d.topology is not None
assert d.sides is None
def test_get_door_by_name(self):
d = self.osm_bridge.get_door('AMK_B_L-1_C2_Door1')
self.assertEqual(d.id, 161)
assert d.geometry is not None
assert d.topology is not None
assert d.sides is None
def test_get_door_from_point(self):
node_result, __, __ = self.osm_adapter.get_osm_element_by_id(
ids=[4978], data_type='node')
Point.coordinate_system = 'cartesian'
Point.global_origin = [50.1363485, 8.6474024]
p = Point(node_result[0])
d = self.osm_bridge.get_door(p)
self.assertEqual(d.id, 150)
def test_get_wall_by_id(self):
self.assertRaises(Exception, self.osm_bridge.get_wall, 99999)
def test_get_local_area_by_id(self):
l = self.osm_bridge.get_local_area(173)
assert l.id == 173
assert l.geometry is not None
assert l.topology is not None
def test_get_local_area_by_name(self):
l = self.osm_bridge.get_local_area('AMK_B_L4_RoomB404_LA2')
assert l.id == 173
assert l.geometry is not None
assert l.topology is not None
def test_get_local_area_from_point(self):
node_result, __, __ = self.osm_adapter.get_osm_element_by_id(
ids=[4743], data_type='node')
Point.coordinate_system = 'cartesian'
Point.global_origin = [50.1363485, 8.6474024]
p = Point(node_result[0])
l = self.osm_bridge.get_local_area(p)
self.assertEqual(l.id, 27)
def test_get_connection_by_id(self):
c = self.osm_bridge.get_connection(1199)
assert c.id == 1199
assert len(c.points) > 0
def test_get_room_by_id(self):
r = self.osm_bridge.get_room(22)
assert r.id == 22
assert r.walls is None
assert r.doors is not None
assert r.local_areas is not None
assert r.connections is not None
assert r.geometry is not None
assert r.topology is not None
def test_get_room_by_ref(self):
r = self.osm_bridge.get_room('AMK_B_L4_RoomB401')
assert r.id == 22
assert r.walls is None
assert r.doors is not None
assert r.local_areas is not None
assert r.connections is not None
assert r.geometry is not None
assert r.topology is not None
def test_get_room_from_point(self):
node_result, __, __ = self.osm_adapter.get_osm_element_by_id(
ids=[4678], data_type='node')
Point.coordinate_system = 'cartesian'
Point.global_origin = [50.1363485, 8.6474024]
p = Point(node_result[0])
r = self.osm_bridge.get_room(p)
self.assertEqual(r.id, 22)
def test_get_corridor_by_id(self):
r = self.osm_bridge.get_corridor(140)
assert r.id == 140
assert r.walls is None
assert r.doors is None
assert r.local_areas is not None
assert r.connections is not None
assert r.geometry is not None
assert r.topology is not None
def test_get_corridor_by_ref(self):
r = self.osm_bridge.get_corridor('AMK_B_L-1_C14')
assert r.id == 140
assert r.walls is None
assert r.doors is None
assert r.local_areas is not None
assert r.connections is not None
assert r.geometry is not None
assert r.topology is not None
def test_get_corridor_from_point(self):
node_result, __, __ = self.osm_adapter.get_osm_element_by_id(
ids=[4666], data_type='node')
Point.coordinate_system = 'cartesian'
Point.global_origin = [50.1363485, 8.6474024]
p = Point(node_result[0])
c = self.osm_bridge.get_corridor(p)
self.assertEqual(c.id, 14)
def test_get_elevator_by_id(self):
e = self.osm_bridge.get_elevator(5)
assert e.id == 5
assert e.walls is None
assert e.doors is None
assert e.local_areas is not None
assert e.connections is not None
assert e.geometry is not None
assert e.topology is not None
def test_get_elevator_by_name(self):
e = self.osm_bridge.get_elevator('AMK_B_E1')
assert e.id == 5
assert e.walls is None
assert e.doors is None
assert e.local_areas is not None
assert e.connections is not None
assert e.geometry is not None
assert e.topology is not None
def test_search_by_scope_for_elevator(self):
e = self.osm_bridge.get_elevator('AMK_B_E1')
assert e.id == 5
la = e.local_area('AMK_B_E1_LA1')
assert la.id == 163
def test_get_floor(self):
f = self.osm_bridge.get_floor(164)
assert f.id == 164
assert f.walls is None
assert f.corridors is not None
assert f.rooms is not None
assert f.connections is not None
def test_get_floor_by_name(self):
f = self.osm_bridge.get_floor('AMK_L4')
assert f.id == 164
assert f.walls is None
assert f.corridors is not None
assert f.rooms is not None
assert f.connections is not None
def test_search_by_scope_for_floor(self):
f = self.osm_bridge.get_floor('AMK_L4')
r = f.room('AMK_B_L4_RoomB401')
assert r.id == 22
c = f.corridor('AMK_B_L4_C6')
assert c.id == 19
def test_get_building_by_id(self):
b = self.osm_bridge.get_building(149)
assert b.geometry is not None
assert b.id == 149
assert b.stairs is None
assert b.elevators is not None
assert b.floors is not None
def test_get_building_by_name(self):
b = self.osm_bridge.get_building('AMK')
assert b.geometry is not None
assert b.id == 149
assert b.stairs is None
assert b.elevators is not None
assert b.floors is not None
def test_search_by_scope_for_building(self):
b = self.osm_bridge.get_building('AMK')
f = b.floor('AMK_L4')
assert f.id == 164
e = b.elevator('AMK_B_E1')
assert e.id == 5
self.assertRaises(Exception, b.stair, 'AMK_B_S1')