def test_is_enough_ingredients():
s1 = bot.State()
s1.inv = [0, 0, 0, 0]
p1 = bot.Potion()
p1.delta = [-1, 0, 0, 0]
r1 = bot.is_enough_ingredients(s1, p1)
if r1 == True:
print('Failed')
s2 = bot.State()
s2.inv = [1, 0, 0, 0]
p2 = bot.Potion()
p2.delta = [-1, 0, 0, 0]
r2 = bot.is_enough_ingredients(s2, p2)
if r2 == False:
print('Failed')
def test_real_life():
t1 = time.time()
s = bot.State()
s.inv = [3, 0, 0, 0]
s.spells.append(bot.Spell())
s.spells[0].delta = [2, 0, 0, 0]
s.spells[0].is_ready = True
s.spells[0].id = 0
s.spells.append(bot.Spell())
s.spells[1].delta = [-1, 1, 0, 0]
s.spells[1].is_ready = True
s.spells[1].id = 1
s.spells.append(bot.Spell())
s.spells[2].delta = [0, -1, 1, 0]
s.spells[2].is_ready = True
s.spells[2].id = 2
s.spells.append(bot.Spell())
s.spells[3].delta = [0, 0, -1, 1]
s.spells[3].is_ready = True
s.spells[3].id = 3
p = bot.Potion()
p.delta = [0, -4, 0, 0]
print('main test is here ->')
solved = bot.find_solution(s, p)
print(solved.turns)
t2 = time.time()
print(t2 - t1)
def test_get_distance():
state = bot.State()
potion = bot.Potion()
state.inv = [3, 0, 0, 0]
potion.delta = [-3, 0, 0, 0]
dist = bot.get_distance(state, potion)
if dist != 0:
print("Failed: test_get_distance: v1: should be zero")
state.inv = [3, 0, 0, 0]
potion.delta = [-4, 0, 0, 0]
dist = bot.get_distance(state, potion)
if dist != 1:
print("Failed: test_get_distance: v1: should be one")
state.inv = [4, 0, 0, 0]
potion.delta = [-3, 0, 0, 0]
dist = bot.get_distance(state, potion)
if dist != 0:
print("Failed: test_get_distance: v1: should be zero")
state.inv = [4, 0, 0, 0]
potion.delta = [-3, -1, 0, 0]
dist = bot.get_distance(state, potion)
if dist != 1:
print("Failed: test_get_distance: v1: should be one")
state.inv = [4, 2, 0, 0]
potion.delta = [-3, -1, 0, 0]
dist = bot.get_distance(state, potion)
if dist != 0:
print("Failed: test_get_distance: v1: should be zero")
state.inv = [4, 0, 0, 0]
potion.delta = [-3, 0, -1, 0]
dist = bot.get_distance(state, potion)
if dist != 2:
print("Failed: test_get_distance: v1: should be two")
state.inv = [0, 0, 0, 0]
potion.delta = [0, -1, 0, 0]
dist = bot.get_distance(state, potion)
if dist != 2:
print("Failed: test_get_distance: v1: should be two")
state.inv = [0, 0, 0, 0]
potion.delta = [0, 0, -1, 0]
dist = bot.get_distance(state, potion)
if dist != 3:
print("Failed: test_get_distance: v1: should be three")
state.inv = [0, 0, 0, 0]
potion.delta = [0, -2, -1, -1]
dist = bot.get_distance(state, potion)
if dist != 11:
print("Failed: test_get_distance: v1: should be three")
def test_try_cast():
s = bot.State()
s.inv = [0, 0, 0, 0]
s.spells = []
s.spells.append(bot.Spell())
s.spells[0].delta = [2, 0, 0, 0]
s.spells[0].is_ready = False
new_state, is_casted = bot.try_cast(s, 0)
if is_casted == True:
print('Failed: test_try_cast: not ready spell is casted')
s.spells[0].is_ready = True
new_state, is_casted = bot.try_cast(s, 0)
if is_casted == False:
print('Failed: test_try_cast: ready spell is not casted')
if new_state.spells[0].is_ready == True:
print('Failed: test_try_cast: new spell is ready after cast')
if s.spells[0].is_ready == False:
print('Failed: test_try_cast: old spell is not ready after cast')
if new_state.inv != [2, 0, 0, 0]:
print('Failed: test_try_cast: new inventory is wrong after cast')
if s.inv != [0, 0, 0, 0]:
print('Failed: test_try_cast: old inventory is wrong after cast')
s.spells[0].delta = [-1, 1, 0, 0]
new_state, is_casted = bot.try_cast(s, 0)
if is_casted == True:
print('Failed: test_try_cast: impossible spell is casted')
if new_state.inv != [0, 0, 0, 0]:
print('Failed: test_try_cast: new inventory is wrong after not cast')
if s.inv != [0, 0, 0, 0]:
print('Failed: test_try_cast: old inventory is wrong after not cast')
if new_state.spells[0].is_ready == False:
print('Failed: test_try_cast: new spell is not ready after not cast')
if s.spells[0].is_ready == False:
print('Failed: test_try_cast: old spell is not ready after not cast')
s.inv = [3, 3, 3, 0]
s.spells[0].delta = [2, 0, 0, 0]
new_state, is_casted = bot.try_cast(s, 0)
if is_casted == True:
print('Failed: test_try_cast: impossible spell is casted')
if new_state.inv != [3, 3, 3, 0]:
print('Failed: test_try_cast: new inventory is wrong after not cast')
if s.inv != [3, 3, 3, 0]:
print('Failed: test_try_cast: old inventory is wrong after not cast')
if new_state.spells[0].is_ready == False:
print('Failed: test_try_cast: new spell is not ready after not cast')
if s.spells[0].is_ready == False:
print('Failed: test_try_cast: old spell is not ready after not cast')
def test_rest():
s = bot.State()
s.inv = [0, 0, 0, 0]
s.spells = []
s.spells.append(bot.Spell())
s.spells.append(bot.Spell())
s.spells[0].delta = [2, 0, 0, 0]
s.spells[1].delta = [0, 2, 0, 0]
s.spells[0].is_ready = True
s.spells[1].is_ready = True
new_state = bot.rest(s)
if new_state.spells[0].is_ready == False:
print('Failed: test_try_cast: not ready spell after rest')
if new_state.spells[1].is_ready == False:
print('Failed: test_try_cast: not ready spell after rest')
s.spells[0].is_ready = False
s.spells[1].is_ready = True
new_state = bot.rest(s)
if new_state.spells[0].is_ready == False:
print('Failed: test_try_cast: not ready spell after rest')
if new_state.spells[1].is_ready == False:
print('Failed: test_try_cast: not ready spell after rest')
def test_find_solution():
s = bot.State()
s.inv = [2, 0, 0, 0]
p = bot.Potion()
p.delta = [-1, 0, 0, 0]
solved = bot.find_solution(s, p)
if solved.turns != ['BREW 0']:
print("Failed: test_find_solution: v1: should be possible")
if s.turns != []:
print(
"Failed: test_find_solution: v1: should not chabge initial state")
s.inv = [1, 0, 0, 0]
p.delta = [-2, 0, 0, 0]
solved = bot.find_solution(s, p)
if solved.turns != []:
print("Failed: test_find_solution: should be impossible")
s.spells.append(bot.Spell())
s.spells[0].delta = [2, 0, 0, 0]
s.spells[0].is_ready = True
solved = bot.find_solution(s, p)
if solved.turns != ['CAST 0', 'BREW 0']:
print("Failed: test_find_solution: v3: should be possible")
s.spells[0].is_ready = False
solved = bot.find_solution(s, p)
if solved.turns != ['REST', 'CAST 0', 'BREW 0']:
print("Failed: test_find_solution: v4: wrong turns returned")
p.delta = [-1, -1, 0, 0]
s.spells.append(bot.Spell())
s.spells[1].delta = [-1, 1, 0, 0]
s.spells[1].id = 1
solved = bot.find_solution(s, p)
if solved.turns != ['REST', 'CAST 0', 'CAST 1', 'BREW 0']:
print("Failed: test_find_solution: v5: wrong turns returned")
s = bot.State()
s.inv = [3, 0, 0, 0]
s.spells.append(bot.Spell())
s.spells[0].delta = [2, 0, 0, 0]
s.spells[0].is_ready = True
s.spells[0].id = 0
s.spells.append(bot.Spell())
s.spells[1].delta = [-1, 1, 0, 0]
s.spells[1].is_ready = True
s.spells[1].id = 1
s.spells.append(bot.Spell())
s.spells[2].delta = [0, -1, 1, 0]
s.spells[2].is_ready = True
s.spells[2].id = 2
s.spells.append(bot.Spell())
s.spells[3].delta = [0, 0, -1, 1]
s.spells[3].is_ready = True
s.spells[3].id = 3
p = bot.Potion()
p.delta = [0, -4, 0, 0]
print('main test is here ->')
solved = bot.find_solution(s, p)
print(solved.turns)
(200 by default, can be changed in settings.py)
"""
if __name__ == "__main__":
# Initialize and start the environment
# Open the file containing our scene (robot and its environment)
environment = VrepEnvironment(settings.SCENES + '/room_static.ttt')
environment.connect() # Connect python to the simulator's remote API
agent = Pioneer(environment)
print('\nDemonstration of Simultaneous Localization and Mapping using '
'CoppeliaSim robot simulation software. \nPress "CTRL+C" to exit.\n')
start = time.time()
step = 0
done = False
environment.start_simulation()
time.sleep(1)
state = bot.State()
try:
while step < settings.simulation_steps and not done:
# display.update() # Update the SLAM display
bot.loop(agent, state) # Control loop
step += 1
except KeyboardInterrupt:
print('\n\nInterrupted! Time: {}s'.format(time.time() - start))
# display.close()
environment.stop_simulation()
environment.disconnect()