def test_AffichageRobot(self):
random_ligne = random.randint(5, 20)
random_colonne = random.randint(5, 20)
t = Terrain.Terrain(random_ligne, random_colonne)
random_x = random.randint(1, t.nbLignes - 1)
random_y = random.randint(1, t.nbColonnes - 1)
robot = Robot.Robot(0, 10, 10, 0)
self.assertTrue(t.ajout_objet(robot, random_x, random_y))
robot = Robot.Robot(0, 10, 10, 0)
# robot n'est pas affiché car coordonnees hors du terrain
self.assertTrue(not t.ajout_objet(robot, -10, -10))
self.assertTrue(not t.ajout_objet(robot, random_ligne, random_colonne))
def test_min_path_up_down_right_optimal_implementation(self):
expected_route = [
'D', 'D', 'R', 'R', 'U', 'U', 'R', 'R', 'D', 'D', 'D', 'D'
]
robot = Robot(get_5x5_map_up_down_right(), (0, 0), (4, 4))
answer = robot.get_min_path()
self.assertEqual(answer, expected_route)
def test_continu_to_discret(self):
tc = TerrainContinu.Carre(20)
t = Terrain.construireTerrain(
tc, Robot.Robot(random.uniform(0.2, 4.), random.uniform(0.2, 4.)))
xMax = None
yMax = None
xMin = None
yMin = None
for sommetSurface in tc.polygoneSurface._liste_sommet:
x, y = sommetSurface
if xMax is None or x > xMax:
xMax = x
if yMax is None or y > yMax:
yMax = y
if xMin is None or x < xMin:
xMin = x
if yMin is None or y < yMin:
yMin = y
# x 1.1 pour les problèmes d'affichage lié aux approximations
terrain = Terrain.Terrain(
abs(yMin - yMax) + t.echelle,
abs(xMax - xMin) + t.echelle, t.echelle, xMin, yMin)
self.assertTrue(terrain.nbColonnes == t.nbColonnes)
self.assertTrue(terrain.nbLignes == t.nbLignes)
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 show_path_optimal(self):
start = (0, 0)
end = (5, 5)
robot = Robot(self.map, start, end, "Optimal")
print(robot.maps)
print("Optimal path from file {}".format(robot.get_min_path()))
def test_instruction_list_exception(self):
"""tests instruction list exceptions"""
mars_map = MarsMap(7,8)
robot = Robot(2,2)
instruction_list = "RFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRFRF"
with self.assertRaises(InstructionListException) as context:
mars_map.process_robot_actions(robot, instruction_list)
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_Avancer(self):
for i in range(3):
random_x = random.randint(0, 50)
random_y = random.randint(0, 50)
random_vitesse = random.uniform(0, 50)
random_angle = random.uniform(-180., 180.)
r = Robot.Robot(random_x, random_y, random_vitesse, random_angle)
random_distance = random.uniform(0, 20)
stratAD = StrategieAvancerDroit.StrategieAvancerDroit(
r, random_distance, random_vitesse)
stratAD.start()
self.assertTrue(stratAD.parcouruSimu == 0)
self.assertTrue(stratAD.robot.vitesse == 0.)
self.assertIsNone(stratAD.lastUpdate)
while not stratAD.stop():
stratAD.step()
self.assertTrue(
stratAD.parcouruSimu <= stratAD.distance + 10 * 0.1)
self.assertTrue(stratAD.robot.vitesse == stratAD.vitesse)
self.assertTrue(stratAD.parcouruSimu >= stratAD.distance)
stratAD.stop()
self.assertTrue(stratAD.robot.vitesse == 0)
def test_output_3(self):
"""tests program output """
mars_map = MarsMap(5,3)
instruction_list = "LLFFFLFLFL"
robot = Robot(0,3)
robot.set_orientation("W")
output = mars_map.process_robot_actions(robot,instruction_list)
self.assertEqual(output,"23S")
def test_output_2(self):
"""tests program output """
mars_map = MarsMap(5,3)
instruction_list = "FRRFLLFFRRFLL"
robot = Robot(3,2)
robot.set_orientation("N")
output = mars_map.process_robot_actions(robot,instruction_list)
self.assertEqual(output,"33NLOST")
def show_path_naive(self):
start = (0, 0)
end = (5, 5)
robot = Robot(self.map, start, end, "Naive")
print(robot.maps)
print("Naive (right down) path from file {}".format(
robot.get_min_path()))
def test_output_1(self):
"""tests program output """
mars_map = MarsMap(5,3)
instruction_list = "RFRFRFRF"
robot = Robot(1,1)
robot.set_orientation("E")
output = mars_map.process_robot_actions(robot,instruction_list)
self.assertEqual(output,"11E")
def _generate_robots(cnt=6):
robots = []
# for i in range(cnt):
# if constants.RANDOM_SEED is not None:
# random.seed(constants.RANDOM_SEED * (i + 1))
for i in range(12):
if i % 2 == 0:
robot = Robot(constants.x_start_left + i - i / 3,
constants.y_start_left, constants.theta_start,
Color.WHITE)
robots.append(robot)
else:
robot = Robot(constants.x_start_left + i - i / 3,
constants.y_start_left, constants.theta_start,
Color.YELLOW)
robots.append(robot)
return robots
def test_no_obs():
robot = Robot(1, -2, utils.to_radians(-60))
ball = Ball(0, 0, 0, 0)
result = main.run_simulation(robot,
ball, [],
simulation_delay=1000,
enable_detection=False,
drawable_obs_avoidance=True)
assert result
def test_no_obs2():
robot = Robot(constants.x_start, constants.y_start, constants.theta_start)
ball = Ball(constants.WINDOW_CORNERS[2] - 1,
constants.WINDOW_CORNERS[3] - 1, 0, 0)
result = main.run_simulation(robot,
ball, [],
simulation_delay=1000,
enable_detection=False)
assert result
def show_path_up_righ_down_left(self):
maps = Map(
"1 20 1 1 1 1 1 1 20 1 20 20 20 1 1 20 20 20 1 20 20 20 20 1 1")
start = (0, 0)
end = (4, 4)
robot = Robot(maps, start, end, "Optimal")
print("Map with up down right left")
print(robot.maps)
print("Optimal path from file {}".format(robot.get_min_path()))
def setUp(self):
# premier robot : r et ses attributs
self.x = random.uniform(-50, 50)
self.random_x = random.randint(0, 50)
self.random_y = random.randint(0, 50)
self.random_vitesse = random.uniform(-50, 50)
self.random_angle = random.uniform(-180, 180)
self.r = Robot.Robot(self.random_x, self.random_y, self.random_vitesse,
self.random_angle)
# deuxieme robot : Robot et ses attributs
self.vitesse = random.uniform(-10, 10)
self.angle = random.uniform(-180, 180)
self.pos_x_init = random.uniform(-50, 50)
self.pos_y_init = random.uniform(-50, 50)
self.temps = random.randint(1, 100)
self.Robot = Robot.Robot(self.pos_x_init, self.pos_y_init,
self.vitesse, self.angle)
# troisieme robot : rimmob
self.rimmob = Robot.Robot(self.pos_x_init, self.pos_y_init, 0.,
self.angle)
def run():
tc = TerrainContinu.Carre(20)
robot = Robot.Robot(-3, -3, 0., 0.)
stratmax = StrategieAvancerDroitMax.StrategieAvancerDroitMax(robot, 5., tc)
fps = 60
t1 = threading.Thread(target=affichage, args=(robot, tc, fps))
t2 = threading.Thread(target=updateStrats, args=(stratmax, fps))
t3 = threading.Thread(target=updateRobot, args=(robot, tc, fps))
t1.start()
t2.start()
t3.start()
def run():
tc = TerrainContinu.Carre(20)
robot = Robot.Robot(-3, -3, 0., 0.)
stratIAS = StrategieIASimule.StrategieIASimule(robot, 4., tc)
fps = 60
t1 = threading.Thread(target=affichage, args=(robot, tc, fps))
t2 = threading.Thread(target=updateStrats, args=(stratIAS, fps))
t3 = threading.Thread(target=updateRobot, args=(robot, tc, fps))
t1.start()
t2.start()
t3.start()
def test_rotation(self):
r = Robot.Robot(0., 0., 1., 0.)
oldAngle = r.angle
oldVecteurD = r.vecteurDeplacement
deltaT = random.uniform(0, 5)
randomAngleRelative = r._degreParSeconde * deltaT
r.rotation(deltaT)
self.assertTrue(abs(oldAngle - r.angle) == randomAngleRelative)
compare_vecteur = r.vecteurDeplacement + oldVecteurD.rotation(
randomAngleRelative) * (-1)
self.assertTrue(abs(compare_vecteur.norme()) < 0.00001)
def test_avance(self):
# cas particuliers d'immobilité
temps = random.randint(1, 100)
pos_x_init = random.uniform(-50, 50)
pos_y_init = random.uniform(-50, 50)
vitesse = random.uniform(-10, 10)
angle = random.uniform(-180, 180)
# cas d'une vitesse nulle => immobile
r = Robot.Robot(pos_x_init, pos_y_init, 0., angle)
r.avance(temps)
self.assertTrue(r.x == pos_x_init)
self.assertTrue(r.y == pos_y_init)
# cas d'un temps null => immobile
r1 = Robot.Robot(pos_x_init, pos_y_init, vitesse, angle)
r1.avance(0)
self.assertTrue(r1.x == pos_x_init)
self.assertTrue(r1.y == pos_y_init)
# cas général, en prenant en compte l'incertitude de calcul --> float (arrondis au 1e-10 pres)
for _ in range(1000):
temps = random.randint(1, 100)
pos_x_init = random.uniform(-50, 50)
pos_y_init = random.uniform(-50, 50)
vitesse = random.uniform(-10, 10)
angle = random.uniform(-180, 180)
r = Robot.Robot(pos_x_init, pos_y_init, vitesse, angle)
r.avance(temps)
pos_x_fin = pos_x_init + (
(math.cos(math.radians(angle)) * vitesse) * temps)
pos_y_fin = pos_y_init + (
(math.sin(math.radians(angle)) * vitesse) * temps)
# ordre de grandeur de l'incertitude = 0,0000000001 prés
ordre_grandeur = 10**-10
self.assertTrue(
abs(r.x - pos_x_fin) <
ordre_grandeur) # test que valeurs identiques a 1e-10 prés
self.assertTrue(
abs(r.y - pos_y_fin) <
ordre_grandeur) # test que valeurs identiques a 1e-10 prés
def test_vshyvost():
for seed in seeds:
print(seed)
constants.RANDOM_SEED = seed
ball = Ball.create_randomized()
obstacles = main._generate_obstacles(cnt=constants.OBSTACLES_COUNT)
robot = Robot(constants.x_start, constants.y_start,
constants.theta_start)
result = main.run_simulation(robot,
ball,
obstacles,
enable_detection=True)
assert result
def test_contruct_Robot(self):
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)
self.assertTrue(r.x == random_x)
self.assertTrue(r.y == random_y)
self.assertTrue(r.vitesse == random_vitesse)
self.assertTrue(abs(r.angle - random_angle) < 0.0001)
self.assertTrue(r._degreParSeconde == 0.)
self.assertTrue(r._lastUpdate == None)
self.assertTrue(r.lastCollision == False)
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_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 test_contruct_StratAD(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)
random_distance = random.uniform(-20, 20)
stratAD = StrategieAvancerDroit.StrategieAvancerDroit(
r, random_distance, random_vitesse)
self.assertTrue(stratAD.robot == r)
self.assertTrue(stratAD.distance == random_distance)
self.assertTrue(stratAD.vitesse == random_vitesse)
self.assertIsNone(stratAD.lastUpdate)
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 test_setter_vitesse(self):
random_x = random.randint(0, 50)
random_y = random.randint(0, 50)
random_vitesse = random.uniform(-50, 50)
random_angle = random.uniform(0, 360)
r = Robot.Robot(random_x, random_y, random_vitesse, random_angle)
for _ in range(1000):
x = random.uniform(-50, 50)
r.vitesse = x
self.assertTrue(
r.vecteurDeplacement.x == math.cos(math.radians(r.angle)) *
r.vitesse)
self.assertTrue(
r.vecteurDeplacement.y == math.sin(math.radians(r.angle)) *
r.vitesse)
def testRotation(self):
rr = Robot.Robot(0., 0., 1., 0.)
oldAngle = rr.angle
oldVecteurD = rr.vecteurDeplacement
randomAngleRelative = random.uniform(-180, 180)
rr.rotation(randomAngleRelative)
oldAngle += randomAngleRelative
oldAngle %= 360
if oldAngle > 180.:
oldAngle -= 360
compare_vecteur = rr.vecteurDeplacement + oldVecteurD.rotation(
randomAngleRelative) * (-1)
self.assertLess(abs(compare_vecteur.norme()), 2.)
def deploy(self, table_params=[{}], robot_names=[]):
if table_params and robot_names:
for t in table_params:
if set(Table.attributes) <= set(t):
self.tables[t['name']] = Table(t['name'], t['dx'], t['dy'],
t['rule'])
else:
print('Table parameters "%s" not valid!' % t)
for name in robot_names:
self.robots[str(name)] = Robot(str(name))
return True
else:
print("No valid data for creating tables and robots!")
return False