def load_tests(cls, files):
"""
Add one test for each input file. For each input file named
"test_XXX.json" creates a new test member function that will generate
output files "result_XXX.json" and "result_XXX.pdf".
"""
for file in files:
if file.stem.startswith('test_'):
test_name = file.stem[5:]
cls.test_names.append(test_name)
world = World.from_file(file)
# Dynamically add member function for this test.
def fn(self,
test_name=test_name,
world=world,
start=world.world['start'],
goal=world.world['goal'],
resolution=world.world['resolution'],
margin=world.world['margin'],
expected_path_length=world.world.get(
'expected_path_length', None)):
self.helper_test(test_name, world, start, goal, resolution,
margin, expected_path_length)
setattr(cls, 'test_' + test_name, fn)
# Remove any pre-existing output files for this test.
# TODO: The 'missing_ok' argument becomes available in Python
# 3.8, at which time contextlib is no longer needed.
with contextlib.suppress(FileNotFoundError):
(cls.outpath / ('result_' + test_name + '.json')).unlink()
with contextlib.suppress(FileNotFoundError):
(cls.outpath / ('result_' + test_name + '.pdf')).unlink()
def load_tests(cls, files, enable_timeouts=False, redirect_stdout=True):
"""
Add one test for each input file. For each input file named
"test_XXX.json" creates a new test member function that will generate
output files "result_XXX.json" and "result_XXX.pdf".
"""
std_target = None if redirect_stdout else sys.stdout
for file in files:
if file.stem.startswith('test_'):
test_name = file.stem[5:]
cls.test_names.append(test_name)
world = World.from_file(file)
# Timeouts must be enabled and have value in test_*.json file.
timeout = None
if enable_timeouts:
with open(file) as f:
test_dict = json.load(f)
if 'timeout' in test_dict.keys():
timeout = test_dict['timeout']
# Dynamically add member function for this test.
@timeout_decorator.timeout(
timeout,
exception_message="Test reached time limit of {} seconds".
format(timeout))
def fn(self,
test_name=test_name,
world=world,
start=world.world['start'],
goal=world.world['goal']):
self.helper_test(test_name, world, start, goal, std_target)
setattr(cls, 'test_' + test_name, fn)
# Remove any pre-existing output files for this test.
# TODO: The 'missing_ok' argument becomes available in Python
# 3.8, at which time contextlib is no longer needed.
with contextlib.suppress(FileNotFoundError):
(cls.outpath / ('result_' + test_name + '.json')).unlink()
with contextlib.suppress(FileNotFoundError):
(cls.outpath / ('result_' + test_name + '.pdf')).unlink()
position = np.zeros((t.shape[0], 3))
position[:, 0] = np.cos(t)
position[:, 1] = np.sin(t)
theta = t % (2 * np.pi)
rotvec = theta * np.array([[0], [0], [1]])
rotation = Rotation.from_rotvec(rotvec.T).as_dcm()
return (t, position, rotation)
(time, position, rotation) = dummy_sim_result()
wall_start = datetime.now()
animate(time, position, rotation, world, filename)
wall_elapsed = (datetime.now() - wall_start).total_seconds()
wall_fps = time.size / wall_elapsed
print('render time = {:.0f} s'.format(wall_elapsed))
print('render fps = {:.0f}'.format(wall_fps))
if __name__ == '__main__':
from flightsim.world import World
world = World.from_file('worlds/grid_forest.json')
print('Test .mp4 rendering.')
test(world=world, filename='data_out/quadrotor.mp4')
plt.show()
print('Test live view.')
test(world=world, filename=None)
plt.show()
# Improve figure display on high DPI screens.
# mpl.rcParams['figure.dpi'] = 200
# Choose a test example file. You should write your own example files too!
# filename = '../util/test_window.json'
# filename = '../util/test_maze.json'
# filename = '../util/test_lab_1.json'
# filename = '../util/test_lab_2.json'
filename = '../util/test_lab_3.json'
# filename = '../util/mymap.json'
# Load the test example.
file = Path(inspect.getsourcefile(
lambda: 0)).parent.resolve() / '..' / 'util' / filename
world = World.from_file(file) # World boundary and obstacles.
start = world.world['start'] # Start point, shape=(3,)
goal = world.world['goal'] # Goal point, shape=(3,)
# This object defines the quadrotor dynamical model and should not be changed.
quadrotor = Quadrotor(quad_params)
robot_radius = 0.25
# Your SE3Control object (from project 1-1).
my_se3_control = SE3Control(quad_params)
# Your MapTraj object. This behaves like the trajectory function you wrote in
# project 1-1, except instead of giving it waypoints you give it the world,
# start, and goal.
planning_start_time = time.time()
my_world_traj = WorldTraj(world, start, goal)
