class PathTest(TestCase):
def setUp(self):
self.path = Path()
self.path.append(Node((0, 100)))
self.path.append(Node((0, 0)))
def test_whenAdjustDistanceIsCalledThenDistanceIsUpdated(self):
self.path.ajustDistance()
goodDistance = 100
self.assertEqual(goodDistance, self.path.totalDistance)
def test_whenIsOpenIsCalledThenReturnGoodValue(self):
theValue = self.path.isOpen()
isOpen = False
self.assertEqual(theValue, isOpen)
def test_whenCloneIsCalledThenCopyIsEqual(self):
pathClone = self.path.clone()
for compteur in range(0, self.path.__len__()):
self.assertTrue(pathClone.contains(self.path.nodeList[0]))
def findPath(self, positionRobot, pointToMoveTo):
print(
"@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@"
)
goodPositionRobot = self.findGoodPoint(positionRobot)
startingPathNode = self.graph.findGoodSafeNodeToGo(goodPositionRobot)
endingPathNode = self.graph.findGoodSafeNodeToGo(pointToMoveTo)
print pointToMoveTo, endingPathNode.positionX, endingPathNode.positionY
self.theGoodPath = Path()
self.pathsList = []
self.goodPaths = []
path = Path()
path.append(Node(positionRobot))
path.append(startingPathNode)
self.pathsList.append(path)
self.__findAllPaths(path, endingPathNode)
goodPath = Path()
goodPath.append(Node((0, 0)))
goodPath.totalDistance = 99999
for compteur in range(0, self.goodPaths.__len__()):
currentPath = self.goodPaths[compteur]
currentPath.append(Node(pointToMoveTo))
self.__polishGoodPaths()
self.lineOfSightCalculator.tryStraightLine(self.goodPaths)
for compteur in range(0, self.goodPaths.__len__()):
currentPath = self.goodPaths[compteur]
currentPath.ajustDistance()
if currentPath.totalDistance < goodPath.totalDistance:
goodPath = currentPath
self.printPath(goodPath)
if goodPath.totalDistance == 99999:
self.__displayPathfinder(goodPath, positionRobot)
return False
self.theGoodPath = goodPath
self.__displayPathfinder(goodPath, positionRobot)
return goodPath
def findPath(self, positionRobot, pointToMoveTo):
print("@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@")
goodPositionRobot = self.findGoodPoint(positionRobot)
startingPathNode = self.graph.findGoodSafeNodeToGo(goodPositionRobot)
endingPathNode = self.graph.findGoodSafeNodeToGo(pointToMoveTo)
print pointToMoveTo, endingPathNode.positionX, endingPathNode.positionY
self.theGoodPath = Path()
self.pathsList = []
self.goodPaths = []
path = Path()
path.append(Node(positionRobot))
path.append(startingPathNode)
self.pathsList.append(path)
self.__findAllPaths(path, endingPathNode)
goodPath = Path()
goodPath.append(Node((0,0)))
goodPath.totalDistance = 99999
for compteur in range(0, self.goodPaths.__len__()):
currentPath = self.goodPaths[compteur]
currentPath.append(Node(pointToMoveTo))
self.__polishGoodPaths()
self.lineOfSightCalculator.tryStraightLine(self.goodPaths)
for compteur in range(0, self.goodPaths.__len__()):
currentPath= self.goodPaths[compteur]
currentPath.ajustDistance()
if currentPath.totalDistance < goodPath.totalDistance:
goodPath = currentPath
self.printPath(goodPath)
if goodPath.totalDistance == 99999:
self.__displayPathfinder(goodPath, positionRobot)
return False
self.theGoodPath = goodPath
self.__displayPathfinder(goodPath, positionRobot)
return goodPath
