Test code clean up (AtsushiSakai#456)

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

AerialNavigation/drone_3d_trajectory_following/__init__.py

@@ -0,0 +1,4 @@
+import os
+import sys
+
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))

ArmNavigation/n_joint_arm_3d/__init__.py

@@ -0,0 +1,3 @@
+import sys
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))

ArmNavigation/n_joint_arm_to_point_control/n_joint_arm_to_point_control.py

@@ -6,7 +6,7 @@
 """
 import numpy as np
 
-from NLinkArm import NLinkArm
+from ArmNavigation.n_joint_arm_to_point_control.NLinkArm import NLinkArm
 
 # Simulation parameters
 Kp = 2

LICENSE

@@ -1,6 +1,6 @@
 The MIT License (MIT)
 
-Copyright (c) 2016 Atsushi Sakai
+Copyright (c) 2016 - 2021 Atsushi Sakai
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

Mapping/rectangle_fitting/__init_.py

@@ -0,0 +1,4 @@
+import os
+import sys
+
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))

Mapping/rectangle_fitting/rectangle_fitting.py

@@ -18,7 +18,8 @@
 from enum import Enum
 from scipy.spatial.transform import Rotation as Rot
 
-from simulator import VehicleSimulator, LidarSimulator
+from Mapping.rectangle_fitting.simulator \
+    import VehicleSimulator, LidarSimulator
 
 show_animation = True
 

PathPlanning/ClosedLoopRRTStar/__init__.py

@@ -0,0 +1,8 @@
+import os
+import sys
+
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append(os.path.dirname(
+    os.path.abspath(__file__)) + "/../ReedsSheppPath/")
+sys.path.append(os.path.dirname(
+    os.path.abspath(__file__)) + "/../RRTStarReedsShepp/")

PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py

@@ -6,25 +6,13 @@
 
 """
 
-import os
-import sys
-
 import matplotlib.pyplot as plt
 import numpy as np
+import reeds_shepp_path_planning
+from rrt_star_reeds_shepp import RRTStarReedsShepp
 
 import pure_pursuit
-
-sys.path.append(os.path.dirname(
-    os.path.abspath(__file__)) + "/../ReedsSheppPath/")
-sys.path.append(os.path.dirname(
-    os.path.abspath(__file__)) + "/../RRTStarReedsShepp/")
-
-try:
-    import reeds_shepp_path_planning
-    import unicycle_model
-    from rrt_star_reeds_shepp import RRTStarReedsShepp
-except ImportError:
-    raise
+import unicycle_model
 
 show_animation = True
 
@@ -77,7 +65,8 @@ def search_best_feasible_path(self, path_indexs):
         for ind in path_indexs:
             path = self.generate_final_course(ind)
 
-            flag, x, y, yaw, v, t, a, d = self.check_tracking_path_is_feasible(path)
+            flag, x, y, yaw, v, t, a, d = self.check_tracking_path_is_feasible(
+                path)
 
             if flag and best_time >= t[-1]:
                 print("feasible path is found")
@@ -186,7 +175,8 @@ def main(gx=6.0, gy=7.0, gyaw=np.deg2rad(90.0), max_iter=100):
                                              obstacle_list,
                                              [-2.0, 20.0],
                                              max_iter=max_iter)
-    flag, x, y, yaw, v, t, a, d = closed_loop_rrt_star.planning(animation=show_animation)
+    flag, x, y, yaw, v, t, a, d = closed_loop_rrt_star.planning(
+        animation=show_animation)
 
     if not flag:
         print("cannot find feasible path")

PathPlanning/GridBasedSweepCPP/__init__.py

@@ -0,0 +1,7 @@
+import os
+import sys
+
+GRID_MAP_LIB = os.path.dirname(os.path.abspath(__file__)) + \
+               "/../../Mapping/"
+
+sys.path.append(GRID_MAP_LIB)

PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py

@@ -5,19 +5,12 @@
 """
 
 import math
-import os
-import sys
 from enum import IntEnum
 
 import matplotlib.pyplot as plt
 import numpy as np
 from scipy.spatial.transform import Rotation as Rot
-
-sys.path.append(os.path.relpath("../../Mapping/grid_map_lib/"))
-try:
-    from grid_map_lib import GridMap
-except ImportError:
-    raise
+from Mapping.grid_map_lib.grid_map_lib import GridMap
 
 do_animation = True
 

PathPlanning/HybridAStar/__init__.py

@@ -0,0 +1,4 @@
+import os
+import sys
+
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))

PathPlanning/VoronoiRoadMap/__init__.py

@@ -0,0 +1,4 @@
+import os
+import sys
+
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))

runtests.sh

@@ -1,6 +1,8 @@
 #!/usr/bin/env bash
 echo "Run test suites! "
-# tests: include unittest based tests
+
+# === pytest based test runner ===
 # -Werror: warning as error
 # --durations=0: show ranking of test durations
-pytest tests -Werror --durations=0
+# -l (--showlocals); show local variables when test failed
+pytest tests -l -Werror --durations=0

tests/conftest.py

@@ -0,0 +1,13 @@
+"""Path hack to make tests work."""
+import sys
+import os
+import pytest
+
+TEST_DIR = os.path.dirname(os.path.abspath(__file__))
+sys.path.append(TEST_DIR)  # to import this file from test code.
+ROOT_DIR = os.path.dirname(TEST_DIR)
+sys.path.append(ROOT_DIR)
+
+
+def run_this_test(file):
+    pytest.main([os.path.abspath(file)])

tests/test_LQR_planner.py

@@ -1,15 +1,11 @@
-import sys
-from unittest import TestCase
-
-sys.path.append("./PathPlanning/LQRPlanner")
-
+import conftest  # Add root path to sys.path
 from PathPlanning.LQRPlanner import LQRplanner as m
 
-print(__file__)
 
+def test_1():
+    m.SHOW_ANIMATION = False
+    m.main()
 
-class Test(TestCase):
 
-    def test1(self):
-        m.SHOW_ANIMATION = False
-        m.main()
+if __name__ == '__main__':
+    conftest.run_this_test(__file__)

tests/test_a_star.py

@@ -1,20 +1,11 @@
-from unittest import TestCase
-import sys
-import os
-sys.path.append(os.path.dirname(__file__) + "/../")
-try:
-    from PathPlanning.AStar import a_star as m
-except:
-    raise
+import conftest
+from PathPlanning.AStar import a_star as m
 
 
-class Test(TestCase):
+def test_1():
+    m.show_animation = False
+    m.main()
 
-    def test1(self):
-        m.show_animation = False
-        m.main()
 
-
-if __name__ == '__main__':  # pragma: no cover
-    test = Test()
-    test.test1()
+if __name__ == '__main__':
+    conftest.run_this_test(__file__)

tests/test_a_star_searching_two_side.py

@@ -1,27 +1,16 @@
-from unittest import TestCase
-import os
-import sys
+import conftest
+from PathPlanning.AStar import a_star_searching_from_two_side as m
 
-sys.path.append(os.path.dirname(__file__) + '/../')
 
-try:
-    from PathPlanning.AStar import a_star_searching_from_two_side as m
-except ImportError:
-    raise
+def test1():
+    m.show_animation = False
+    m.main(800)
 
 
-class Test(TestCase):
-
-    def test1(self):
-        m.show_animation = False
-        m.main(800)
-
-    def test2(self):
-        m.show_animation = False
-        m.main(5000)  # increase obstacle number, block path
+def test2():
+    m.show_animation = False
+    m.main(5000)  # increase obstacle number, block path
 
 
 if __name__ == '__main__':
-    test = Test()
-    test.test1()
-    test.test2()
+    conftest.run_this_test(__file__)

tests/test_a_star_variants.py

@@ -1,50 +1,44 @@
-import PathPlanning.AStar.a_star_variants as astar
-from unittest import TestCase
-import sys
-import os
-sys.path.append(os.path.dirname(__file__) + "/../")
-
-
-class Test(TestCase):
-
-    def test(self):
-        # A* with beam search
-        astar.show_animation = False
-
-        astar.use_beam_search = True
-        astar.main()
-        self.reset_all()
-
-        # A* with iterative deepening
-        astar.use_iterative_deepening = True
-        astar.main()
-        self.reset_all()
-
-        # A* with dynamic weighting
-        astar.use_dynamic_weighting = True
-        astar.main()
-        self.reset_all()
-
-        # theta*
-        astar.use_theta_star = True
-        astar.main()
-        self.reset_all()
-
-        # A* with jump point
-        astar.use_jump_point = True
-        astar.main()
-        self.reset_all()
-
-    @staticmethod
-    def reset_all():
-        astar.show_animation = False
-        astar.use_beam_search = False
-        astar.use_iterative_deepening = False
-        astar.use_dynamic_weighting = False
-        astar.use_theta_star = False
-        astar.use_jump_point = False
-
-
-if __name__ == '__main__':  # pragma: no cover
-    test = Test()
-    test.test()
+import PathPlanning.AStar.a_star_variants as a_star
+import conftest
+
+
+def test_1():
+    # A* with beam search
+    a_star.show_animation = False
+
+    a_star.use_beam_search = True
+    a_star.main()
+    reset_all()
+
+    # A* with iterative deepening
+    a_star.use_iterative_deepening = True
+    a_star.main()
+    reset_all()
+
+    # A* with dynamic weighting
+    a_star.use_dynamic_weighting = True
+    a_star.main()
+    reset_all()
+
+    # theta*
+    a_star.use_theta_star = True
+    a_star.main()
+    reset_all()
+
+    # A* with jump point
+    a_star.use_jump_point = True
+    a_star.main()
+    reset_all()
+
+
+def reset_all():
+    a_star.show_animation = False
+    a_star.use_beam_search = False
+    a_star.use_iterative_deepening = False
+    a_star.use_dynamic_weighting = False
+    a_star.use_theta_star = False
+    a_star.use_jump_point = False
+
+
+if __name__ == '__main__':
+    conftest.run_this_test(__file__)

tests/test_batch_informed_rrt_star.py

@@ -1,25 +1,14 @@
-from unittest import TestCase
-import sys
-import os
 import random
-sys.path.append(os.path.dirname(__file__) + "/../")
-try:
-    from PathPlanning.BatchInformedRRTStar import batch_informed_rrtstar as m
-except ImportError:
-    raise
 
-print(__file__)
+import conftest
+from PathPlanning.BatchInformedRRTStar import batch_informed_rrtstar as m
 
-random.seed(12345)
 
+def test_1():
+    m.show_animation = False
+    random.seed(12345)
+    m.main(maxIter=10)
 
-class Test(TestCase):
 
-    def test1(self):
-        m.show_animation = False
-        m.main(maxIter=10)
-
-
-if __name__ == '__main__':  # pragma: no cover
-    test = Test()
-    test.test1()
+if __name__ == '__main__':
+    conftest.run_this_test(__file__)