CBSLab/testsCBS.py at main · Maxon081102/CBSLab · GitHub

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from PIL import Image, ImageDraw, ImageFont, ImageOps
import numpy as np
import matplotlib.pyplot as plt
import math
import heapq
from heapq import heappop, heappush
from time import time
from IPython.display import Image as Img

from map import Map
from draw import draw
from CBS import CBS
from Solutions import make_path
from astar import Node, distance, SearchTreePQS, octile

height = 15
width = 30

test_map_str_1 = '''
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'''

test_map_str_2 = '''
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'''

test_map_str_3 = '''
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'''

test_maps = [
    test_map_str_1,
    test_map_str_2,
    test_map_str_3
]

test_map_1 = Map()

test_on_map_1 = [
    [
        [[0, 0], [0, 1]],
        [[2, 2], [10, 1]]
    ],
    [
        [[0, 1], [0, 0]],
        [[10, 1], [2, 2]]
    ],
    [
        [[0, 0], [0, 1], [1, 0]],
        [[2, 2], [10, 1], [1, 3]]
    ],
    [
        [[0, 0], [0, 1], [1, 0], [1, 1]],
        [[2, 2], [10, 1], [1, 3], [10, 10]]
    ],
    [
        [[0, 0], [0, 1], [1, 0], [1, 1]],
        [[2, 2], [0, 0], [1, 3], [10, 10]]
    ],
    [
        [[0, 0], [0, 1]],
        [[0, 1], [0, 0]]
    ],
    [
        [[0, 0], [0, 1], [1, 0], [1, 1]],
        [[1, 1], [1, 0], [0, 1], [0, 0]]
    ],
    [
        [[0, 0], [0, 1], [1, 0], [1, 1], [2, 1], [1, 2], [2, 0], [0, 2]],
        [[1, 1], [1, 0], [0, 1], [0, 0], [0, 2], [2, 0], [1, 2], [2, 1]]
    ],
    [
        [[0, 0], [0, 1], [1, 0], [1, 1], [2, 0], [2, 1], [0, 2], [1, 2]],
        [[0, 10], [10, 0], [1, 10], [10, 1], [1, 1], [1, 0], [0, 1], [0, 0]]
    ]
]

test_on_map_2 = [
    [
        [[0, 0], [0, 1]],
        [[2, 3], [10, 1]]
    ],
    [
        [[1, 0], [0, 1]],
        [[11, 1], [10, 1]]
    ],
    [
        [[1, 0], [0, 1]],
        [[10, 1], [11, 1]]
    ],
    [
        [[0, 0], [0, 1], [1, 0], [1, 1]],
        [[10, 3], [10, 1], [11, 3], [12, 1]]
    ]
]

test_on_map_3 = [
    [
        [[3, 1], [10, 1]],
        [[10, 1], [3, 1]]
    ]
]

tests = [
    test_on_map_1,
    test_on_map_2,
    test_on_map_3
]

def test_cbs_on_map(number, number_test, show_debug=False, show_all_solution=True, show_path=True):
    test_map = Map()
    test_map.read_from_string(test_maps[number], width, height)
    starts_points = tests[number][number_test][0]
    goal_points = tests[number][number_test][1]
    draw(test_map)
    sol = CBS(test_map, starts_points, goal_points, octile, SearchTreePQS, show_debug)
    if show_all_solution:
        for i in range(len(starts_points)):
            print(sol.get_solution_of_robot(i).get_path())
            draw(test_map, Node(starts_points[i][0], starts_points[i][1]), Node(goal_points[i][0], goal_points[i][1]), sol.get_solution_of_robot(i).get_path())
    if show_path:
        for i in range(len(starts_points)):
            print(sol.get_solution_of_robot(i).get_path())