def __init__(self, coordinate_factory):
self._coordinate_factory = coordinate_factory
self._robot_factory = RobotFactory(coordinate_factory)
self._world_detector = WorldDetector(coordinate_factory, self._robot_factory)
self._world_map_drawing_service = WorldMapDrawingService()
self._on_detection_complete = EventHandler()
self._world_map = WorldMap()
self._display_labels = False
self._camera_follow_mode = False
self._last_detection_timespan = timedelta(0)
def setup(self, detected_robot_mock, estimated_robot_mock):
self._detected_robot_mock_instance = detected_robot_mock.return_value
self._detected_robot_mock_instance.creation_source = RobotCreationSource.DETECTION
self._detected_robot_mock_instance.creation_time = datetime.now()
self._estimated_robot_mock_instance = estimated_robot_mock.return_value
self._estimated_robot_mock_instance.creation_source = RobotCreationSource.ESTIMATE
self._estimated_robot_mock_instance.creation_time = datetime.now()
self._world_map = WorldMap()
self._world_descriptor = WorldDescriptor(
WorldObjectType.all(),
self.SAMPLE_REFERENCE_IMAGE,
self.SAMPLE_PLAYFIELD,
self._detected_robot_mock_instance,
self.SAMPLE_CHARGING_STATION,
self.SAMPLE_ISLANDS,
self.SAMPLE_TREASURES,
)
class TestWorldMap(object):
SAMPLE_PLAYFIELD = object()
SAMPLE_CHARGING_STATION = object()
SAMPLE_ISLANDS = [object(), object()]
SAMPLE_TREASURES = [object(), object()]
SAMPLE_TREASURES_2 = [object(), object()]
SAMPLE_REFERENCE_IMAGE = object()
@mock.patch("domain.world_objects.robot.Robot.Robot", autospec=False)
@mock.patch("domain.world_objects.robot.Robot.Robot", autospec=False)
def setup(self, detected_robot_mock, estimated_robot_mock):
self._detected_robot_mock_instance = detected_robot_mock.return_value
self._detected_robot_mock_instance.creation_source = RobotCreationSource.DETECTION
self._detected_robot_mock_instance.creation_time = datetime.now()
self._estimated_robot_mock_instance = estimated_robot_mock.return_value
self._estimated_robot_mock_instance.creation_source = RobotCreationSource.ESTIMATE
self._estimated_robot_mock_instance.creation_time = datetime.now()
self._world_map = WorldMap()
self._world_descriptor = WorldDescriptor(
WorldObjectType.all(),
self.SAMPLE_REFERENCE_IMAGE,
self.SAMPLE_PLAYFIELD,
self._detected_robot_mock_instance,
self.SAMPLE_CHARGING_STATION,
self.SAMPLE_ISLANDS,
self.SAMPLE_TREASURES,
)
def test_given_complete_world_descriptor_when_merging_world_descriptor_then_results_are_merged(self):
self._world_map.merge_world_descriptor(self._world_descriptor)
assert_is(self._world_map.playfield, self.SAMPLE_PLAYFIELD)
assert_is(self._world_map.robot, self._detected_robot_mock_instance)
assert_equals(self._world_map.islands, self.SAMPLE_ISLANDS)
assert_equals(self._world_map.treasures, self.SAMPLE_TREASURES)
assert_is(self._world_map.reference_image, self.SAMPLE_REFERENCE_IMAGE)
def test_given_complete_world_descriptor_when_merging_world_descriptor_then_world_map_contains_the_descriptor_objects(
self
):
self._world_map.merge_world_descriptor(self._world_descriptor)
assert_true(self._world_map.contains(WorldObjectType.PLAYFIELD))
assert_true(self._world_map.contains(WorldObjectType.ROBOT))
assert_true(self._world_map.contains(WorldObjectType.ISLAND))
assert_true(self._world_map.contains(WorldObjectType.TREASURE))
def test_given_no_playfield_descriptor_when_merging_world_descriptor_then_last_playfield_is_kept(self):
self._world_map.merge_world_descriptor(self._world_descriptor)
self._world_descriptor.playfield = None
self._world_map.merge_world_descriptor(self._world_descriptor)
assert_is(self._world_map.playfield, self.SAMPLE_PLAYFIELD)
def test_given_no_robot_descriptor_when_merging_world_descriptor_then_last_robot_is_kept(self):
self._world_map.merge_world_descriptor(self._world_descriptor)
self._world_descriptor.robot = None
self._world_map.merge_world_descriptor(self._world_descriptor)
assert_is(self._world_map.robot, self._detected_robot_mock_instance)
def test_given_no_charging_station_descriptor_when_merging_world_descriptor_then_last_charging_station_is_kept(
self
):
self._world_map.merge_world_descriptor(self._world_descriptor)
self._world_descriptor.charging_station = None
self._world_map.merge_world_descriptor(self._world_descriptor)
assert_is(self._world_map.charging_station, self.SAMPLE_CHARGING_STATION)
def test_given_partial_descriptor_when_merging_world_descriptor_then_last_objects_are_kept(self):
self._world_map.merge_world_descriptor(self._world_descriptor)
self._world_descriptor = WorldDescriptor([], self.SAMPLE_REFERENCE_IMAGE)
self._world_map.merge_world_descriptor(self._world_descriptor)
assert_is(self._world_map.playfield, self.SAMPLE_PLAYFIELD)
assert_is(self._world_map.robot, self._detected_robot_mock_instance)
assert_equals(self._world_map.islands, self.SAMPLE_ISLANDS)
assert_equals(self._world_map.treasures, self.SAMPLE_TREASURES)
assert_is(self._world_map.reference_image, self.SAMPLE_REFERENCE_IMAGE)
def test_given_treasures_when_merging_treasures_with_append_flag_then_treasures_are_appended(self):
self._world_map.merge_world_descriptor(self._world_descriptor)
self._world_map.merge_treasures(self.SAMPLE_TREASURES_2, append=True)
assert_equals(len(self._world_map.treasures), len(self.SAMPLE_TREASURES) + len(self.SAMPLE_TREASURES_2))
def test_given_estimated_robot_when_getting_estimated_robot_then_estimated_robot_is_returned(self):
self._world_map.merge_world_descriptor(self._world_descriptor)
self._world_descriptor.robot = self._estimated_robot_mock_instance
self._world_map.merge_world_descriptor(self._world_descriptor)
returned_robot = self._world_map.estimated_robot
assert_is(returned_robot, self._estimated_robot_mock_instance)
def test_given_non_empty_world_map_when_fully_resetting_world_map_then_world_map_is_cleared(self):
self._world_map.merge_world_descriptor(self._world_descriptor)
self._world_map.reset(WorldObjectType.all())
assert_false(self._world_map.contains(WorldObjectType.PLAYFIELD))
assert_false(self._world_map.contains(WorldObjectType.ROBOT))
assert_false(self._world_map.contains(WorldObjectType.ISLAND))
assert_false(self._world_map.contains(WorldObjectType.TREASURE))
def test_given_non_empty_world_map_when_partially_resetting_world_map_then_world_map_is_partially_cleared(self):
self._world_map.merge_world_descriptor(self._world_descriptor)
self._world_map.reset([WorldObjectType.ROBOT])
assert_true(self._world_map.contains(WorldObjectType.PLAYFIELD))
assert_false(self._world_map.contains(WorldObjectType.ROBOT))
def test_given_no_detected_robot_when_getting_robot_then_estimated_robot_is_returned(self):
self._world_descriptor.robot = self._estimated_robot_mock_instance
self._world_map.merge_world_descriptor(self._world_descriptor)
returned_robot = self._world_map.robot
assert_is(returned_robot, self._estimated_robot_mock_instance)
def test_given_detected_robot_when_getting_robot_then_detected_robot_is_returned(self):
self._world_map.merge_world_descriptor(self._world_descriptor)
self._world_descriptor.robot = self._estimated_robot_mock_instance
self._world_map.merge_world_descriptor(self._world_descriptor)
returned_robot = self._world_map.robot
assert_is(returned_robot, self._detected_robot_mock_instance)
def test_given_no_detected_robot_when_getting_robot_then_estimated_robot_is_returned(self):
self._world_descriptor.robot = self._estimated_robot_mock_instance
self._world_map.merge_world_descriptor(self._world_descriptor)
returned_robot = self._world_map.robot
assert_is(returned_robot, self._estimated_robot_mock_instance)
def test_given_detected_robot_with_expired_creation_time_when_getting_robot_then_estimated_robot_is_returned(self):
self._world_descriptor.robot.creation_time = datetime.min
self._world_map.merge_world_descriptor(self._world_descriptor)
self._world_descriptor.robot = self._estimated_robot_mock_instance
self._world_map.merge_world_descriptor(self._world_descriptor)
returned_robot = self._world_map.robot
assert_is(returned_robot, self._estimated_robot_mock_instance)
def test_given_detected_robot_with_expired_creation_time_and_no_estimated_robot_when_getting_robot_then_detected_robot_is_returned(
self
):
self._world_descriptor.robot.creation_time = datetime.min
self._world_map.merge_world_descriptor(self._world_descriptor)
returned_robot = self._world_map.robot
assert_is(returned_robot, self._detected_robot_mock_instance)
def test_given_estimated_robot_when_getting_robot_in_estimated_robot_prioritization_mode_then_estimated_robot_is_returned(
self
):
self._world_map.merge_world_descriptor(self._world_descriptor)
self._world_descriptor.robot = self._estimated_robot_mock_instance
self._world_map.merge_world_descriptor(self._world_descriptor)
self._world_map.robot_prioritization_mode = RobotPrioritizationMode.PRIORITIZE_ESTIMATED
returned_robot = self._world_map.robot
assert_is(returned_robot, self._estimated_robot_mock_instance)
def test_given_no_estimated_robot_when_getting_robot_in_estimated_robot_prioritization_mode_then_detected_robot_is_returned(
self
):
self._world_map.merge_world_descriptor(self._world_descriptor)
self._world_map.robot_prioritization_mode = RobotPrioritizationMode.PRIORITIZE_ESTIMATED
returned_robot = self._world_map.robot
assert_is(returned_robot, self._detected_robot_mock_instance)
class WorldMapService(object):
@property
def detection_speed(self):
return self._last_detection_timespan
@property
def world_map(self):
return self._world_map
@property
def display_labels(self):
return _display_labels
@display_labels.setter
def display_labels(self, value):
self._display_labels = value
@property
def camera_follow_mode(self):
return _camera_follow_mode
@camera_follow_mode.setter
def camera_follow_mode(self, value):
self._camera_follow_mode = value
@property
def on_detection_complete(self):
return self._on_detection_complete
@on_detection_complete.setter
def on_detection_complete(self, value):
self._on_detection_complete = value
def __init__(self, coordinate_factory):
self._coordinate_factory = coordinate_factory
self._robot_factory = RobotFactory(coordinate_factory)
self._world_detector = WorldDetector(coordinate_factory, self._robot_factory)
self._world_map_drawing_service = WorldMapDrawingService()
self._on_detection_complete = EventHandler()
self._world_map = WorldMap()
self._display_labels = False
self._camera_follow_mode = False
self._last_detection_timespan = timedelta(0)
def reset(self, world_object_types):
self._world_map.reset(world_object_types)
def detect_objects(self, image):
start_time = datetime.datetime.now()
try:
self._execute_detection(image)
finally:
end_time = datetime.datetime.now()
self._last_detection_timespan = end_time - start_time
self._on_detection_complete.fire()
return self._world_map
def _execute_detection(self, image):
self._world_descriptor = self._world_detector.detect_objects(image, self._get_object_types_to_detect())
self._world_map.merge_world_descriptor(self._world_descriptor)
def _get_object_types_to_detect(self):
object_types_to_detect = self._world_map.missing_world_object_types
object_types_to_detect.append(WorldObjectType.ROBOT)
return object_types_to_detect
def draw_world_map(self):
self._world_map_drawing_service.draw(self._world_map, self._display_labels, self._camera_follow_mode)
return self._world_map.reference_image
def get_islands(self, island_descriptor):
return [island for island in self._world_map.islands if island.matches(island_descriptor)]
def get_treasures(self):
return self._world_map.treasures
def get_pickable_treasures(self):
island_locations = [island.get_center() for island in self._world_map.islands]
return list(filter(lambda treasure: not treasure.get_pickup_area(self._world_map.playfield, self._world_map.robot).contains(island_locations), self._world_map.treasures))
def get_robot(self):
return self._world_map.robot
def get_playfield(self):
return self._world_map.playfield
def remove_treasure(self, treasure):
self._world_map.treasures.remove(treasure)
def update_estimated_robot_position(self, center = None, angle = None, coordinate_system = CoordinateSystem.GAME):
if center is None:
center = self._world_map.robot.get_center()
if angle is None:
angle = self._world_map.robot.angle
robot = self._robot_factory.create(center, angle, coordinate_system, RobotCreationSource.ESTIMATE)
self._world_map.merge_robot(robot)
def clear_estimated_robot_position(self):
self._world_map.estimated_robot = None
def wait_for_detection(self, world_object_types, strict, timeout):
start_time = datetime.datetime.now();
while not self._world_map.contains(world_object_types, strict):
self._on_detection_complete.join(timeout)
if (datetime.datetime.now() - start_time).total_seconds() > timeout:
raise TimeoutError("Timeout was reached while waiting for the specified detection status.")
return self._world_map
def merge_local_world_map(self, local_world_map):
for treasure in local_world_map.treasures:
treasure_location = treasure.map_to_playfield(self._world_map.playfield)
treasure_location_coordinate = self._coordinate_factory.create(treasure_location, CoordinateSystem.CAMERA)
treasure = Treasure(treasure_location_coordinate, len(self._world_map.treasures))
self._world_map.merge_treasures([treasure], append = True)
