| """ |
| Coverage for PathfindingProblem's construction-time feasibility guards: a |
| robot's start/goal that is out of bounds, on an obstacle, or an unknown |
| graph node, or a start_time that leaves no time to plan within an explicit |
| horizon, must be rejected at construction time (InfeasibleProblemError), |
| not discovered later as a cryptic var_limit crash, a silently-unsatisfiable |
| QUBO, or a failed benchmark run. |
| """ |
|
|
| import pytest |
|
|
| from quantum.map import Grid, Graph |
| from quantum.robotConfiguration import RobotConfig |
| from quantum.pathFormulation import PathfindingProblem, InfeasibleProblemError |
|
|
|
|
| def _grid(): |
| return Grid(3, 3, obstacles=[(1, 1)]) |
|
|
|
|
| def test_valid_start_and_goal_construct_without_error(): |
| robot = RobotConfig("a", start=(0, 0), goal=(2, 2)) |
| problem = PathfindingProblem(robot, grid=_grid()) |
| assert problem.robots["a"].start == (0, 0) |
|
|
|
|
| def test_start_on_obstacle_raises(): |
| robot = RobotConfig("a", start=(1, 1), goal=(2, 2)) |
| with pytest.raises(InfeasibleProblemError, match="obstacle"): |
| PathfindingProblem(robot, grid=_grid()) |
|
|
|
|
| def test_goal_on_obstacle_raises(): |
| robot = RobotConfig("a", start=(0, 0), goal=(1, 1)) |
| with pytest.raises(InfeasibleProblemError, match="obstacle"): |
| PathfindingProblem(robot, grid=_grid()) |
|
|
|
|
| @pytest.mark.parametrize("start", [(-1, 0), (3, 0), (0, -1), (0, 3)]) |
| def test_out_of_bounds_start_raises(start): |
| robot = RobotConfig("a", start=start, goal=(2, 2)) |
| with pytest.raises(InfeasibleProblemError, match="out of bounds"): |
| PathfindingProblem(robot, grid=_grid()) |
|
|
|
|
| def test_out_of_bounds_goal_raises(): |
| robot = RobotConfig("a", start=(0, 0), goal=(5, 5)) |
| with pytest.raises(InfeasibleProblemError, match="out of bounds"): |
| PathfindingProblem(robot, grid=_grid()) |
|
|
|
|
| def test_one_bad_robot_among_several_still_raises(): |
| robots = [ |
| RobotConfig("good", start=(0, 0), goal=(0, 2)), |
| RobotConfig("bad", start=(1, 1), goal=(2, 0)), |
| ] |
| with pytest.raises(InfeasibleProblemError, match="'bad'"): |
| PathfindingProblem(robots, grid=_grid()) |
|
|
|
|
| def _graph(): |
| return Graph(nodes=[(0, 0), (0, 1), (1, 1)], edges=[(0, 1), (1, 2)]) |
|
|
|
|
| def test_valid_graph_node_ids_construct_without_error(): |
| robot = RobotConfig("a", start=0, goal=2) |
| problem = PathfindingProblem(robot, graph=_graph()) |
| assert problem.robots["a"].goal == 2 |
|
|
|
|
| @pytest.mark.parametrize("goal", [-1, 3, 999]) |
| def test_out_of_range_graph_node_id_raises(goal): |
| robot = RobotConfig("a", start=0, goal=goal) |
| with pytest.raises(InfeasibleProblemError, match="does not exist"): |
| PathfindingProblem(robot, graph=_graph()) |
|
|
|
|
| def test_start_time_beyond_horizon_raises(): |
| robot = RobotConfig("a", start=(0, 0), goal=(2, 2), start_time=5) |
| with pytest.raises(InfeasibleProblemError, match="leaves no time"): |
| PathfindingProblem(robot, grid=_grid(), T=5) |
|
|
|
|
| def test_start_time_at_horizon_raises(): |
| """start_time == T leaves a zero-length window -- also infeasible, not |
| just start_time > T.""" |
| robot = RobotConfig("a", start=(0, 0), goal=(2, 2), start_time=4) |
| with pytest.raises(InfeasibleProblemError, match="leaves no time"): |
| PathfindingProblem(robot, grid=_grid(), T=4) |
|
|
|
|
| def test_start_time_within_horizon_is_fine(): |
| robot = RobotConfig("a", start=(0, 0), goal=(2, 2), start_time=2) |
| problem = PathfindingProblem(robot, grid=_grid(), T=6) |
| assert problem.robots["a"].T == 4 |
|
|
