def simulated_navigation_test(bulk_test=False, num_trials=MAX_NUM_TRIALS):
global target_x_pos, target_y_pos, start_y_pos, start_x_pos
# new_x = 10.2
# new_y = 10.2
# target_x_pos = 2000.2
# target_y_pos = 3500.2
# set_true_position(new_x, new_y)
# drive_to_target(MAX_NUM_STEPS)
# new_x = 5500.2
# new_y = 4000.2
# target_x_pos = 100.2
# target_y_pos = 110.3
# set_true_position(new_x, new_y)
# drive_to_target(MAX_NUM_STEPS)
# new_x = 10.2
# new_y = 2000.2
# target_x_pos = 2500.2
# target_y_pos = 10.2
# set_true_position(new_x, new_y)
# drive_to_target(MAX_NUM_STEPS)
#
# new_x = 2000.2
# new_y = 10.2
# target_x_pos = 10.2
# target_y_pos = 3500.2
# set_true_position(new_x, new_y)
# drive_to_target(MAX_NUM_STEPS)
eTaxi = eTaxi_Simulated()
if bulk_test:
num_failures = 0
for x in range(num_trials):
if x % 100000 == 0:
print("Trial: ", x)
new_x = random.randint(0, 10000)
new_y = random.randint(0, 10000)
eTaxi.set_true_position(new_x, new_y)
inital_x = new_x
inital_y = new_y
plane_x = random.randint(0, 10000)
plane_y = random.randint(0, 10000)
plane_heading = (random.randint(0, 100) / 100) * 2 * math.pi
set_plane(plane_x, plane_y, plane_heading)
step_count, rec_x, rec_y, adj_x, adj_y, measured_x, measured_y, defined_start_x, defined_start_y = drive_to_target(
eTaxi, MAX_NUM_STEPS, bulk_test=True)
if step_count >= MAX_NUM_STEPS:
num_failures += 1
print('start_coords: ', inital_x, inital_y)
print('bot start coords: ', defined_start_x, defined_start_y)
target_x, target_y = get_target()
print('target_coords', target_x, target_y)
print('end_coords: ', eTaxi.get_true_position())
line_angle = math.degrees(get_line_angle())
print('line_angle: ', line_angle)
print()
# make_plot(rec_x, rec_y, adj_x, adj_y, measured_x, measured_y, target_x, target_y, inital_x, inital_y,
# plane_x=plane_x, plane_y=plane_y)
print('Results:')
print('Trials Run: ', num_trials)
print("Trials Failed: ", num_failures)
print('Failure Rate: ', num_failures / num_trials)
def test_drive_and_acquire():
eTaxi = eTaxi_Simulated()
for x in range(1):
new_x = random.randint(0, 10000)
new_y = random.randint(0, 10000)
# new_x = 20
# new_y = 20
eTaxi.set_true_position(new_x, new_y)
inital_x = new_x
inital_y = new_y
# plane_x = 10000
# plane_y = 10000
# plane_heading = 4.41568
plane_x = random.randint(0, 10000)
plane_y = random.randint(0, 10000)
plane_heading = (random.randint(0, 100) / 100) * 2 * math.pi
set_plane(plane_x, plane_y, plane_heading)
step_count, rec_x, rec_y, adj_x, adj_y, measured_x, measured_y, defined_start_x, defined_start_y = drive_to_target(
eTaxi, MAX_NUM_STEPS, bulk_test=True)
# dock(plane_x, plane_y, plane_heading)
target_x, target_y = get_target()
def test_drive_to_point():
print('in test drive to point!')
eTaxi = eTaxi_Dima()
print('initialized eTaxi')
time.sleep(0.5)
for _ in range(20):
inital_x, inital_y = eTaxi.get_position()
print('starting_position: ', inital_x, inital_y)
plane_x = 215
plane_y = 150
plane_heading = math.pi - (math.pi / 9)
set_plane(plane_x, plane_y, plane_heading)
print('plane position set')
target_x, target_y = get_target()
print('target_pos: ', target_x, target_y)
step_count, rec_x, rec_y, adj_x, adj_y, measured_x, measured_y, defined_start_x, defined_start_y = drive_to_target(
eTaxi, MAX_NUM_STEPS, bulk_test=True)
final_x, final_y = eTaxi.get_position()
print('final position: ', final_x, final_y)
eTaxi.shut_down()