def test_handle_robot_notify_found_obstacle(map_with_walls, robots, mocker):
main_driver = MainDriver(map_with_walls, robots)
robots[0].get_notify.return_value = RobotNotification.FOUND_OBSTACLE
robots[0].get_position.return_value = (0, 2, 2)
mocker.spy(main_driver, '_robot_notify_found_obstacle_callback')
main_driver.handle_robot_notify(robots[0])
assert main_driver._robot_notify_found_obstacle_callback.call_count == 1
def test_get_available_coordinates_in_empty_map(map_empty):
coords = MainDriver._get_map_available_next_coords((0, 0, 0), map_empty)
c1 = Counter(coords)
c2 = Counter([(0, 1, 0), (0, 0, 1)])
assert c1 == c2
coords = MainDriver._get_map_available_next_coords(
(0, map_empty.shape[1] - 1, map_empty.shape[2] - 1), map_empty)
c1 = Counter(coords)
c2 = Counter([(0, map_empty.shape[1] - 2, map_empty.shape[2] - 1),
(0, map_empty.shape[1] - 1, map_empty.shape[2] - 2)])
assert c1 == c2
def test_get_available_coordinates_with_walls(map_with_walls):
coords = MainDriver._get_map_available_next_coords((0, 1, 1),
map_with_walls)
c1 = Counter(coords)
c2 = Counter([(0, 1, 2), (0, 2, 1)])
assert c1 == c2
coords = MainDriver._get_map_available_next_coords(
(0, map_with_walls.shape[1] - 1, map_with_walls.shape[2] - 2),
map_with_walls)
c1 = Counter(coords)
c2 = Counter([
(0, map_with_walls.shape[1] - 2, map_with_walls.shape[2] - 2),
(0, map_with_walls.shape[1] - 1, map_with_walls.shape[2] - 3)
])
assert c1 == c2
def test_handle_robot_notify_want_run(map_with_walls, robots, mocker):
main_driver = MainDriver(map_with_walls, robots)
main_driver._paths[robots[0].get_id()].append((0, 1, 1))
main_driver._paths[robots[0].get_id()].append((0, 1, 2))
main_driver._paths[robots[0].get_id()].append((0, 1, 3))
main_driver._set_robot_step(robots[0], 0)
robots[0].get_notify.return_value = RobotNotification.WANT_RUN
mocker.spy(main_driver, '_robot_notify_want_run_callback')
main_driver.handle_robot_notify(robots[0])
assert main_driver._robot_notify_want_run_callback.call_count == 1
def test_handle_robot_notify_arrived(map_with_walls, robots, mocker):
main_driver = MainDriver(map_with_walls, robots)
robots[0].get_notify.return_value = RobotNotification.ARRIVED
robot = robots[0]
main_driver._paths[robot.get_id()].append((0, 2, 2))
main_driver._paths[robot.get_id()].append((0, 2, 3))
main_driver._next_robot_step(robot)
main_driver._next_robot_step(robot)
main_driver._set_robot_status(robot, RobotStatus.RUN)
mocker.spy(main_driver, '_robot_notify_arrived_callback')
assert RobotStatus.RUN == main_driver._get_robot_status(robot)
main_driver.handle_robot_notify(robot)
assert main_driver._robot_notify_arrived_callback.call_count == 1
assert RobotStatus.STOP == main_driver._get_robot_status(robot)
previous_field = main_driver._get_robot_coordinates(robot, -1)
assert MapObject.VISITED == main_driver._get_map_field(previous_field)
assert 0 < main_driver._get_map_field(
main_driver._get_robot_coordinates(robot))
def test_handle_robot_notify_none(map_with_walls, robots, mocker):
main_driver = MainDriver(map_with_walls, robots)
robots[0].get_notify.return_value = RobotNotification.NONE
mocker.spy(main_driver, '_robot_notify_none_callback')
main_driver.handle_robot_notify(robots[0])
assert main_driver._robot_notify_none_callback.call_count == 1
def test_plan_random_path(map_with_walls, robots):
main_driver = MainDriver(map_with_walls, robots)
new_path = main_driver.plan_random_path(robot=robots[0], length=10)
assert 11 == len(new_path) # current position+10 next steps
def test_handle_robot_notify_want_run_next_step_available(
map_with_walls, robots, mocker):
main_driver = MainDriver(map_with_walls, robots)
robots[0].get_notify.return_value = RobotNotification.WANT_RUN
robot = robots[0]
main_driver._paths[robot.get_id()].append((0, 1, 1))
main_driver._paths[robot.get_id()].append((0, 1, 2))
main_driver._paths[robot.get_id()].append((0, 1, 3))
main_driver._set_robot_status(robot, RobotStatus.STOP)
main_driver._set_robot_step(robot, 0)
main_driver._set_map_field((0, 1, 1), robot.get_id())
mocker.spy(main_driver, '_robot_notify_want_run_callback')
main_driver.handle_robot_notify(robots[0])
assert main_driver._robot_notify_want_run_callback.call_count == 1
assert 0 < main_driver._get_map_field(
main_driver._get_robot_coordinates(robot))
assert main_driver._get_map_field(main_driver._get_robot_coordinates(robot, -1)) == \
main_driver._get_map_field(main_driver._get_robot_coordinates(robot))
def test_robot_next_step(map_with_walls, robots):
main_driver = MainDriver(map_with_walls, robots)
prev_step = main_driver._get_robot_step(robots[0])
main_driver._next_robot_step(robots[0])
current_step = main_driver._get_robot_step(robots[0])
assert current_step == prev_step + 1
def test_set_robot_status(map_with_walls, robots):
main_driver = MainDriver(map_with_walls, robots)
main_driver._set_robot_status(robots[0], RobotStatus.RUN)
assert RobotStatus.RUN == main_driver._get_robot_status(robots[0])
def test_get_robot_status(map_with_walls, robots):
main_driver = MainDriver(map_with_walls, robots)
assert RobotStatus.STOP == main_driver._get_robot_status(robots[0])