def test__ant_not_on_field(self):
config = DictionaryConfigProvider()
config.SetValue('InitialPosition', 'InitialDirection', 0)
config.SetValue('InitialPosition', 'InitialPosition_x', 1)
config.SetValue('InitialPosition', 'InitialPosition_y', 1)
processor = AntStepProcesser(config)
is_on_field = processor.is_ant_on_field(99)
self.assertTrue(not is_on_field)
def test__empty_ant(self):
config = DictionaryConfigProvider()
config.SetValue('InitialPosition', 'InitialDirection', 0)
config.SetValue('InitialPosition', 'InitialPosition_x', 1)
config.SetValue('InitialPosition', 'InitialPosition_y', 1)
processor = AntStepProcesser(config)
position_data = processor.get_ant_position_and_direction(99)
self.assertTrue(position_data[0] == -1 and position_data[1] == -1
and position_data[2] == -1)
def test__from_north_step_back(self):
config = DictionaryConfigProvider()
config.SetValue('InitialPosition', 'InitialDirection', 0)
config.SetValue('InitialPosition', 'InitialPosition_x', 1)
config.SetValue('InitialPosition', 'InitialPosition_y', 1)
processor = AntStepProcesser(config)
processor.process_ant_step(99, StepEnum.Back)
position_data = processor.get_ant_position_and_direction(99)
self.assertTrue(position_data[1] == 2)
def test__initial_step_turn(self):
config = DictionaryConfigProvider()
config.SetValue('InitialPosition', 'InitialDirection', 0)
config.SetValue('InitialPosition', 'InitialPosition_x', 1)
config.SetValue('InitialPosition', 'InitialPosition_y', 1)
processor = AntStepProcesser(config)
processor.process_ant_step(99, StepEnum.TurnRight)
position_data = processor.get_ant_position_and_direction(99)
self.assertTrue(position_data[2] == DirectionsEnum.East)
def test__from_east_step_forward(self):
config = DictionaryConfigProvider()
config.SetValue('InitialPosition', 'InitialDirection', 0)
config.SetValue('InitialPosition', 'InitialPosition_x', 1)
config.SetValue('InitialPosition', 'InitialPosition_y', 1)
processor = AntStepProcesser(config)
processor.process_ant_step(99, StepEnum.TurnRight)
processor.process_ant_step(99, StepEnum.Forward)
position_data = processor.get_ant_position_and_direction(99)
self.assertTrue(position_data[0] == 2)
def test__y_negetive_south_facing_axis_movment(self):
config = DictionaryConfigProvider()
config.SetValue('InitialPosition', 'InitialDirection', 1)
config.SetValue('InitialPosition', 'InitialPosition_x', 1)
config.SetValue('InitialPosition', 'InitialPosition_y', 1)
processor = AntStepProcesser(config)
processor.process_ant_step(99, StepEnum.NoStep)
translate = TranslateStep(config, processor)
step = AntStep(99, Position(1, 0))
movment = translate.TranlateStep(step)
self.assertTrue(movment[0] == StepEnum.Back)
def test__x_positive_east_facing_axis_movment(self):
config = DictionaryConfigProvider()
config.SetValue('InitialPosition', 'InitialDirection', 2)
config.SetValue('InitialPosition', 'InitialPosition_x', 1)
config.SetValue('InitialPosition', 'InitialPosition_y', 1)
processor = AntStepProcesser(config)
processor.process_ant_step(99, StepEnum.NoStep)
translate = TranslateStep(config, processor)
step = AntStep(99, Position(2, 1))
movment = translate.TranlateStep(step)
self.assertTrue(len(movment) == 1)
self.assertTrue(movment[0] == StepEnum.Forward)
def test__initial_ant_and_no_ant(self):
config = DictionaryConfigProvider()
config.SetValue('InitialPosition', 'InitialDirection', 0)
config.SetValue('InitialPosition', 'InitialPosition_x', 1)
config.SetValue('InitialPosition', 'InitialPosition_y', 1)
processor = AntStepProcesser(config)
processor.process_ant_step(99, StepEnum.NoStep)
position_data = processor.get_ant_position_and_direction(99)
self.assertTrue(position_data[0] == 1 and position_data[1] == 1
and position_data[2] == DirectionsEnum.North)
position_data = processor.get_ant_position_and_direction(100)
self.assertTrue(position_data[0] == -1 and position_data[1] == -1
and position_data[2] == -1)
def test__complex_set_1(self):
config = DictionaryConfigProvider()
config.SetValue('InitialPosition', 'InitialDirection', 0)
config.SetValue('InitialPosition', 'InitialPosition_x', 1)
config.SetValue('InitialPosition', 'InitialPosition_y', 1)
processor = AntStepProcesser(config)
processor.process_ant_step(99, StepEnum.Back)
processor.process_ant_step(99, StepEnum.Back)
processor.process_ant_step(99, StepEnum.TurnRight)
processor.process_ant_step(99, StepEnum.Forward)
position_data = processor.get_ant_position_and_direction(99)
self.assertTrue(position_data[0] == 2)
self.assertTrue(position_data[1] == 3)
self.assertTrue(position_data[2] == DirectionsEnum.East)
def test__CalculatePathToDestination_UniformGrid(self):
Maze = MazeFacade(DIYMazeParser(8))
Provider = UnifiedWorldImageProvider(maze=Maze, config=DictionaryConfigProvider())
weights = {NodeStateEnum.Clear: 2,
NodeStateEnum.Obs: np.inf,
NodeStateEnum.UnExplored: 1,
NodeStateEnum.Ant: np.inf}
Planner = AntPathPlanner(safetyRadius=2, cellTypeWeights=weights, stabilityFactor=1)
StartPosition = Position(0, 0)
mazeMatrix = Maze.GetMatrix()
manuallyAdjustedMaze = np.where(mazeMatrix == 1, NodeStateEnum.UnExplored, NodeStateEnum.Clear)
manuallyAdjustedMaze[0, 0] = NodeStateEnum.Clear
singleAntWorldImage = SimpleSingleAntWorldImage(manuallyAdjustedMaze, {})
weightedMatrix = Planner._AntPathPlanner__ConvertWorldImageToWeightedMatrix(StartPosition, singleAntWorldImage)
pathMatrix = Dijkstra(weightedMatrix, StartPosition)
resultRoute = Planner._AntPathPlanner__CalculatePathToDestination(StartPosition, Position(4, 4), pathMatrix)
weightSum = 0
for position in resultRoute:
weightSum += weightedMatrix[position.X][position.Y]
self.assertEqual(pathMatrix[position.X][position.Y], weightSum)
def printRoute(route):
for position in route:
print(f'[{position.X}, {position.Y}] ')
def test__ConvertWorldImageToWeightedMatrix_EmptyGrid(self):
Maze = MazeFacade(DIYMazeParser(8))
Provider = UnifiedWorldImageProvider(maze=Maze, config=DictionaryConfigProvider())
weights = {NodeStateEnum.Clear: 2,
NodeStateEnum.Obs: np.inf,
NodeStateEnum.UnExplored: 1,
NodeStateEnum.Ant: np.inf}
Planner = AntPathPlanner(safetyRadius=2, cellTypeWeights=weights, stabilityFactor=1)
StartPosition = Position(0, 0)
mazeMatrix = Maze.GetMatrix()
manuallyAdjustedMaze = np.where(mazeMatrix == 1, NodeStateEnum.UnExplored, NodeStateEnum.Clear)
manuallyAdjustedMaze[0, 0] = NodeStateEnum.Clear
singleAntWorldImage = SimpleSingleAntWorldImage(manuallyAdjustedMaze, {})
result = Planner._AntPathPlanner__ConvertWorldImageToWeightedMatrix(StartPosition, singleAntWorldImage)
Width, Height = result.shape
for i in range(0, Width):
for j in range(0, Height):
if i == 0 and j == 0:
self.assertEqual(result[i][j], weights[NodeStateEnum.Clear])
else:
self.assertEqual(result[i][j], weights[NodeStateEnum.UnExplored])
def test_SingleScout(self):
Maze = MazeFacade(DIYMazeParser(8))
Provider = UnifiedWorldImageProvider(maze=Maze, config=DictionaryConfigProvider())
weights = {NodeStateEnum.Clear: 2,
NodeStateEnum.Obs: np.inf,
NodeStateEnum.UnExplored: 1,
NodeStateEnum.Ant: np.inf}
ant = AlgoAnt(id=1, config=DictionaryConfigProvider(), position=Position(3, 3))
Provider.ProcessStep(ant, AntStep(ant.ID, ant.CurrentPosition))
Provider.UpdatePositionsAccordingToMoves()
Planner = AntPathPlanner(safetyRadius=0, cellTypeWeights=weights)
result = Planner._AntPathPlanner__ConvertWorldImageToWeightedMatrix(Position(0, 0),
Provider.GetAntWorldImage(ant))
print(result)
def setUp(self):
self.__Config = config = DictionaryConfigProvider()
config.SetValue("SimpleAnt", "VisibilityRange", 2)
config.SetValue("SimpleAnt", "AllowedMovement", 1)