def test_GetAntWorldImage_NoObs_Center_2(self):
mazeparser = DIYMazeParser(5)
mazeparser.SetExits([Position(4, 4)])
mazefacade = MazeFacade(mazeparser)
WorldImageProvider = SimpleWorldImageProvider(self.__Config,
mazefacade)
ant = RemoteControlledAnt(1, self.__Config)
ant.UpdatePosition(position=Position(2, 1))
antworldimage = WorldImageProvider.GetAntWorldImage(ant)
self.assertTrue(len(antworldimage.VisibleNodes) == 20)
def test_UpdateStep_SeeObs(self):
mazeparser = DIYMazeParser(5)
mazeparser.SetExits([Position(4, 4)])
mazeparser.SetObs([Position(3, 3)])
mazefacade = MazeFacade(mazeparser)
WorldImageProvider = SimpleWorldImageProvider(self.__Config,
mazefacade)
ant = RemoteControlledAnt(1, self.__Config)
ant.UpdatePosition(position=Position(4, 4))
WorldImageProvider.ProcessStep(ant, AntStep(1, Position(4, 4)))
WorldImageProvider.UpdatePositionsAccordingToMoves()
antworldimage = WorldImageProvider.GetAntWorldImage(ant)
obsList = list(
filter(lambda x: x.NodeState == NodeStateEnum.Obs,
antworldimage.VisibleNodes))
self.assertTrue(len(obsList) == 1)
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)