def test_rotation(self):
for i in range(3):
random_x = random.randint(0, 50)
random_y = random.randint(0, 50)
random_vitesse = random.uniform(-50, 50)
# --> On donne a la strategie seulement des angles positifs ?
random_angle = random.uniform(0., 20.)
# random_angle = random.uniform(0., 180.)
# random_angle = random.uniform(0., 360.)
# random_angle = random.uniform(-180., 180.)
r = Robot.Robot(random_x, random_y, random_vitesse, random_angle)
degrePS = random.randint(1, 20)
stratT = StrategieTourner.StrategieTourner(r, random_angle,
degrePS)
stratT.start()
self.assertTrue(stratT.angleApplique == 0.)
self.assertTrue(stratT.robot._degreParSeconde == 0.)
self.assertIsNone(stratT.lastUpdate)
while not stratT.stop():
stratT.step()
# 10*0.1 : pour approximation
self.assertTrue(
stratT.angleApplique <= stratT.angleTarget + 10 * 0.1)
# print(stratT.angleApplique , stratT.angleTarget + 10*0.1)
self.assertTrue(stratT.robot._degreParSeconde == degrePS)
self.assertTrue(stratT.angleApplique >= stratT.angleTarget)
stratT.stop()
self.assertTrue(stratT.robot._degreParSeconde == 0.)
def test_Carre(self):
for i in range(3):
random_x = random.randint(0, 50)
random_y = random.randint(0, 50)
random_vitesse = random.uniform(-50, 50)
random_angle = random.uniform(-180., 180.)
r = Robot.Robot(random_x, random_y, random_vitesse, random_angle)
degrePS = random.randint(0, 20)
normeCote = random.randint(1, 10)
stratAvancer = StrategieAvancerDroit.StrategieAvancerDroit(
r, 7., 15.)
stratTourner = StrategieTourner.StrategieTourner(r, 0., degrePS)
stratC = StrategiePolygone.StrategiePolygone(
stratAvancer, stratTourner, normeCote)
stratC.start()
self.assertTrue(stratTourner.angleApplique == 0.)
self.assertTrue(stratTourner.robot._degreParSeconde == 0.)
self.assertIsNone(stratTourner.lastUpdate)
self.assertTrue(stratAvancer.parcouruSimu == 0)
self.assertTrue(stratAvancer.robot.vitesse == 0.)
self.assertIsNone(stratAvancer.lastUpdate)
while not stratC.stop():
stratC.step()
self.assertTrue(stratC.i_liste_strategies <= normeCote * 2)
stratC.stop()
def test_contruct_StratT(self):
# pour creation robot
random_x = random.randint(0, 50)
random_y = random.randint(0, 50)
random_vitesse = random.uniform(-50, 50)
random_angle = random.uniform(-180., 180.)
r = Robot.Robot(random_x, random_y, random_vitesse, random_angle)
degrePS = random.randint(0, 20)
stratT = StrategieTourner.StrategieTourner(r, random_angle, degrePS)
self.assertTrue(stratT.robot == r)
self.assertTrue(stratT.angleTarget == random_angle)
self.assertTrue(stratT.degreParSeconde == degrePS)
self.assertTrue(stratT.angleApplique == 0.)
self.assertIsNone(stratT.lastUpdate)
def run(cote):
tc = TerrainContinu.Carre(20)
robot = Robot.Robot(-3, -3, 0., 0.)
startAvancer = StrategieAvancerDroit.StrategieAvancerDroit(robot, 7., 15.)
startTourner = StrategieTourner.StrategieTourner(robot, 0., 0.)
stratPolygone = StrategiePolygone.StrategiePolygone(
startAvancer, startTourner, int(cote))
fps = 60
t1 = threading.Thread(target=affichage, args=(robot, tc, fps))
t2 = threading.Thread(target=updateStrats, args=(stratPolygone, fps))
t3 = threading.Thread(target=updateRobot, args=(robot, tc, fps))
t1.start()
t2.start()
t3.start()
def test_contruct_StratCarre(self):
# pour creation robot
random_x = random.randint(0, 50)
random_y = random.randint(0, 50)
random_vitesse = random.uniform(-50, 50)
random_angle = random.uniform(-180., 180.)
r = Robot.Robot(random_x, random_y, random_vitesse, random_angle)
degrePS = random.randint(0, 20)
normeCote = random.randint(1, 10)
stratAvancer = StrategieAvancerDroit.StrategieAvancerDroit(
r, random_vitesse, normeCote)
stratTourner = StrategieTourner.StrategieTourner(r, 0., degrePS)
_ = StrategiePolygone.StrategiePolygone(stratAvancer, stratTourner, 4)
self.assertTrue(stratTourner.angleTarget == 90.)
def run(cote):
tc = TerrainContinu.Carre(20)
#on ajoute deux obstacles d'origine (2,2) et (6,1) sur le terrain
ObsC = Polygone.Carre((8, 6), 3)
tc.ajoutPolygone(ObsC)
ObsC = Polygone.Carre((9, 5), 3)
tc.ajoutPolygone(ObsC)
tc_s = Serializer.serialize(tc).encode()
HOST = '127.0.0.1' # Standard loopback interface address (localhost)
PORT = 65432
fps = 60
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.bind((HOST, PORT))
s.listen()
conn, addr = s.accept()
while True:
data = conn.recv(1024)
if not data:
time.sleep(1. / fps)
continue
break
conn.send(tc_s)
robot = Robot.Robot(-3, -3, 0., 0.)
startAvancer = StrategieAvancerDroit.StrategieAvancerDroit(robot, 7., 15.)
startTourner = StrategieTourner.StrategieTourner(robot, 0., 0.)
stratPolygone = StrategiePolygone.StrategiePolygone(
startAvancer, startTourner, int(cote))
t1 = threading.Thread(target=unity, args=(robot, s, conn, fps))
t2 = threading.Thread(target=updateStrats, args=(stratPolygone, fps))
t3 = threading.Thread(target=updateRobot, args=(robot, tc, fps))
t1.start()
t2.start()
t3.start()
def __init__(self, Robot, vitessemax, TerrainContinu):
self.robot = Robot
self.tc = TerrainContinu
self.vitessemax = vitessemax
self.stopstrat = False
self.stratTourner = StrategieTourner.StrategieTourner(Robot, 20., 20.)