| """src/vkgs/src/drive.hpp (ํค๋ ์ ์ฉ) ์ ์ถฉ๋ยทํ์ง ๋ก์ง์ g++ ๋ก ์ปดํ์ผํด ์ํํ๋ค. ์ฐฝ์ ๋์ฐ์ง ์๋๋ค.""" |
|
|
| import os |
| import shutil |
| import subprocess |
| from pathlib import Path |
|
|
| import numpy as np |
| import pytest |
|
|
| ROOT = Path(__file__).resolve().parents[1] |
| |
| CXX = os.environ.get("CXX") or "g++" |
|
|
|
|
| @pytest.mark.skipif(shutil.which(CXX) is None, reason="g++ ์์") |
| def test_drive_collision_and_reverse(tmp_path): |
| res, n, x0 = 0.2, 200, -20.0 |
| g = np.zeros((n, n), np.uint8) |
| xs = (np.arange(n) + 0.5) * res + x0 |
| g[:, (xs >= 10) & (xs < 10.4)] = 255 |
| g[np.ix_((xs > 0.3) & (xs < 0.7), (xs > 0.9) & (xs < 1.3))] = 255 |
| g[np.ix_((xs > 5.0) & (xs < 5.2), (xs > -10.0) & (xs < -9.8))] = 255 |
| pgm = tmp_path / "obst.pgm" |
| pgm.write_bytes(f"P5\n# nusim obstacles {x0} {x0} {res}\n{n} {n}\n255\n".encode() + g.tobytes()) |
| exe = tmp_path / "t" |
| subprocess.run([CXX, "-std=c++20", "-O1", "-I", str(ROOT / "src/vkgs/src"), |
| str(ROOT / "tests/cpp/test_drive.cpp"), "-o", str(exe)], check=True) |
| r = subprocess.run([str(exe), str(pgm)], capture_output=True, text=True) |
| assert r.returncode == 0, r.stdout + r.stderr |
|
|
|
|
| @pytest.mark.skipif(shutil.which(CXX) is None, reason="g++ ์์") |
| def test_autopilot_follows_curve_and_stops(tmp_path): |
| exe = tmp_path / "ap" |
| subprocess.run([CXX, "-std=c++20", "-O1", "-I", str(ROOT / "src/vkgs/src"), |
| str(ROOT / "tests/cpp/test_autopilot.cpp"), "-o", str(exe)], check=True) |
| r = subprocess.run([str(exe)], capture_output=True, text=True) |
| assert r.returncode == 0, r.stdout + r.stderr |
|
|
