class PathPlannerTest(unittest.TestCase):
def setUp(self):
self.path_planner = PathPlanner()
# will need a map:
map_maker = MapMaker()
map_maker.set_map()
map_maker.calibrate_map()
lowres_map = map_maker.get_lowres_map()
self.path_planner.set_map(lowres_map)
self.path_planner.set_start_node()
self.path_planner.set_end_node()
'''
Function:
Tests:
Calls:
Notes:
'''
def testCalculate_angular_movement(self):
# Test different movements for different start and end angles in pi/4 incerements
# if you start at 0 and have increasing targets, these are the correct movements. You can shift back one each time you increase the starting angle
correct_movements = [
0, -pi / 4, -pi / 2, -pi * (3 / 4), -pi, pi * (3 / 4), pi / 2,
pi / 4
]
for i in range(0, 8):
# Test targets from 0 to 2pi in pi/4 increments
target = pi * i / 4
print("TARGET PI * {}/4".format(i))
for j in range(0, 8):
# Test starting place from 0 to 2pi for each target
current = pi * (j / 4)
movement = self.path_planner.calculate_angular_movement(
current, target)
self.assertEqual(correct_movements[j - i], movement)
def testPos_from_coordinates(self):
coord_zero = [0, 0]
predicted_pos = self.path_planner.pos_from_coordinates(coord_zero)
pos_zero = [0, 0]
self.assertEqual(predicted_pos, pos_zero)
class RoverMovementTest():
def __init__(self):
self.path_planner = PathPlanner()
# will need a map:
map_maker = MapMaker()
map_maker.set_map()
map_maker.calibrate_map()
lowres_map = map_maker.get_lowres_map()
self.path_planner.set_map(lowres_map)
def width_test(self, test=False):
# create path along bottom of map (left to right)
# assume rover placed parallel to x axis, moving positive (angle 0)
path = [[0, 0], [1, 0], [2, 0], [3, 0], [4, 0], [5, 0]]
for i in range(0, len(path)):
path[i] = self.path_planner.pos_from_coordinates(path[i])
self.path_planner.path = path
self.path_planner.start_node = Node(pos=self.path_planner.path[0])
self.path_planner.end_node = Node(pos=self.path_planner.path[-1])
current_coord = self.path_planner.coordinates_from_pos(
self.path_planner.start_node.pos)
current_angle = 0
while len(self.path_planner.path) > 1:
if test:
message, current_coord, current_angle = self.path_planner.get_action(
current_coord, current_angle, test=True)
print(message +
" STEPS LEFT:{}".format(len(self.path_planner.path)))
else:
message = self.path_planner.get_action(current_coord,
current_angle,
test=False)
print("PathPlanner: Message sent")
return
def one_step_test(self, test=False):
path = [[0, 0], [1, 0]]
for i in range(0, len(path)):
path[i] = self.path_planner.pos_from_coordinates(path[i])
self.path_planner.path = path
self.path_planner.start_node = Node(pos=self.path_planner.path[0])
self.path_planner.end_node = Node(pos=self.path_planner.path[-1])
current_coord = self.path_planner.coordinates_from_pos(
self.path_planner.start_node.pos)
current_angle = 0
if test:
message, current_coord, current_angle = self.path_planner.get_action(
current_coord, current_angle, test=True)
print(message +
" STEPS LEFT:{}".format(len(self.path_planner.path)))
else:
message = self.path_planner.get_action(current_coord,
current_angle,
test=False)
print("PathPlanner: Message sent")
return