def setUp(self):
obstacleList = [Obstacle((100, 100)), Obstacle((300, 200))]
self.graph = Graph(obstacleList, 90)
self.A_NODE1 = Node((200, 300))
self.A_NODE2 = Node((400, 600))
self.graph.generateSafeZone((0, 100), (0, 0), (100, 0))
def detectCloserObstacleForEachCornerXAxis(self, verifiedObstacle):
collisionUpperLeftCorner = Obstacle((verifiedObstacle.positionX, 0))
collisionUpperRightCorner = Obstacle((verifiedObstacle.positionX, 0))
collisionBottomLeftCorner = Obstacle(
(verifiedObstacle.positionX, self.MAP_SIZE_Y))
collisionBottomRightCorner = Obstacle(
(verifiedObstacle.positionX, self.MAP_SIZE_Y))
for compteur in range(0, self.obstaclesList.__len__()):
currentObstacle = self.obstaclesList[compteur]
if currentObstacle != verifiedObstacle:
if (verifiedObstacle.positionX - 2 * self.SAFE_MARGIN <=
currentObstacle.positionX
and verifiedObstacle.positionX + 2 * self.SAFE_MARGIN
>= currentObstacle.positionX):
if currentObstacle.positionX <= verifiedObstacle.positionX and currentObstacle.positionY < verifiedObstacle.positionY:
if currentObstacle.positionY > collisionUpperLeftCorner.positionY:
collisionUpperLeftCorner = currentObstacle
if currentObstacle.positionX >= verifiedObstacle.positionX and currentObstacle.positionY < verifiedObstacle.positionY:
if currentObstacle.positionY > collisionUpperRightCorner.positionY:
collisionUpperRightCorner = currentObstacle
if currentObstacle.positionX <= verifiedObstacle.positionX and currentObstacle.positionY > verifiedObstacle.positionY:
if currentObstacle.positionY < collisionBottomLeftCorner.positionY:
collisionBottomLeftCorner = currentObstacle
if currentObstacle.positionX >= verifiedObstacle.positionX and currentObstacle.positionY > verifiedObstacle.positionY:
if currentObstacle.positionY < collisionBottomRightCorner.positionY:
collisionBottomRightCorner = currentObstacle
return collisionUpperLeftCorner, collisionUpperRightCorner, collisionBottomLeftCorner, collisionBottomRightCorner
def test_whenRightObstacleIsTheImportantOne(self):
collisionUpperLeftCorner = Obstacle((100,0))
collisionUpperRightCorner = Obstacle((280,70))
currentObstacle = Obstacle((190,290))
borderNodeLeftTop = Node((100,100))
topLeftCorner = (100,200)
borderNodeRightTop = Node((280,100))
self.topPathGenerator.generateTopPath(collisionUpperLeftCorner, collisionUpperRightCorner, currentObstacle, borderNodeLeftTop, topLeftCorner, borderNodeRightTop)
assert self.graph.connectTwoNodes.called
def setUp(self):
self.obstaclesList = [
Obstacle((120, 120)),
Obstacle((130, 300)),
Obstacle((170, 500)),
Obstacle((335, 200))
]
self.graphGenerator = GraphGenerator(self.obstaclesList, 1000, 600)
self.graph = self.graphGenerator.generateGraph()
def setUp(self):
self.anObstacle = Obstacle((100, 100))
self.anObstacleWall = Obstacle((50, 50))
self.anObstacleInner = Obstacle((370, 370))
self.mapSizeX, self.mapSizeY = 1000, 600
safeMargin = 90
obstacleList = [Obstacle((400, 400))]
self.collisionDetector = CollisionDetector(self.mapSizeX,
self.mapSizeY, safeMargin,
obstacleList)
def test_whenRightObstacleIsTheImportantOne(self):
collisionBottomLeftCorner = Obstacle((100, 600))
collisionBottomRightCorner = Obstacle((280, 500))
currentObstacle = Obstacle((190, 290))
borderNodeLeftTop = Node((100, 400))
topLeftCorner = (100, 380)
borderNodeRightTop = Node((280, 400))
self.bottomPathGenerator.generateBottomPath(
collisionBottomLeftCorner, collisionBottomRightCorner,
currentObstacle, borderNodeLeftTop, topLeftCorner,
borderNodeRightTop)
assert self.graph.connectTwoNodes.called
class ObstacleTest(TestCase):
A_POINT = (100, 200)
A_NODE = Node((200, 100))
def setUp(self):
self.obstacle = Obstacle(self.A_POINT)
def test_whenInitialiseThenGoodDataAreSet(self):
self.assertEqual(self.obstacle.positionX, self.A_POINT[0])
self.assertEqual(self.obstacle.positionY, self.A_POINT[1])
def test_setStartingNode(self):
self.obstacle.setStartingNode(self.A_NODE)
self.assertEqual(self.obstacle.startingNode, self.A_NODE)
class ObstacleTest(TestCase):
A_POINT = (100,200)
A_NODE = Node((200,100))
def setUp(self):
self.obstacle = Obstacle(self.A_POINT)
def test_whenInitialiseThenGoodDataAreSet(self):
self.assertEqual(self.obstacle.positionX, self.A_POINT[0])
self.assertEqual(self.obstacle.positionY, self.A_POINT[1])
def test_setStartingNode(self):
self.obstacle.setStartingNode(self.A_NODE)
self.assertEqual(self.obstacle.startingNode, self.A_NODE)
def setUp(self):
self.collisionDetector = CollisionDetector(1000, 600, 90,
[Obstacle((400, 400))])
self.graph = MagicMock()
self.bottomPathGenerator = BottomPathGenerator(90, 600, self.graph,
self.collisionDetector)
def getMapInfo(self):
limit = self.map.getMapLimit()
minCorner = (limit.getMinCorner())
maxCorner = (limit.getMaxCorner())
mapSizeX = maxCorner[0] - minCorner[0]
mapSizeY = maxCorner[1] - minCorner[1]
obstaclesList = []
self.map.getShapesList().sort(
key=lambda shape: shape.findCenterOfMass()[0])
for compteur in range(0, self.map.getShapesList().__len__()):
currentShape = self.map.getShapesList()[compteur]
centerX, centerY = currentShape.findCenterOfMass()
if centerY > minCorner[1] and centerY < maxCorner[1]:
if obstaclesList.__len__() > 0:
if centerX - minCorner[0] == obstaclesList[compteur -
1].positionX:
centerX += 1
elif centerX - minCorner[0] < obstaclesList[compteur -
1].positionX:
centerX += 2
for compteur in range(0, obstaclesList.__len__()):
obstacleY = obstaclesList[compteur]
if centerY == obstacleY.positionY:
centerY += 1
obstaclesList.append(
Obstacle((centerX - minCorner[0], centerY - minCorner[1])))
return obstaclesList, mapSizeX, mapSizeY, minCorner
def test_whenGetMapInfoIsCalledThenReturnGoodValues(self):
goodmapSizeX, goodmapSizeY = 900, 800
goodMinCorner = (100, 100)
goodObstacle = Obstacle((100, 100))
obstaclesList, mapSizeX, mapSizeY, minCorner = self.mapAdaptator.getMapInfo(
)
self.assertEqual(goodmapSizeX, mapSizeX)
self.assertEqual(goodmapSizeY, mapSizeY)
self.assertEqual(goodMinCorner, minCorner)
self.assertEqual(goodObstacle.positionX, obstaclesList[0].positionX)
self.assertEqual(goodObstacle.positionY, obstaclesList[0].positionY)
def setUp(self):
self.obstacle = Obstacle(self.A_POINT)
def setUp(self):
self.obstacle = Obstacle(self.A_POINT)
