#!/usr/bin/env python

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# Author: Mark Moll

import sys
from os.path import abspath, dirname, join
sys.path.insert(0, join(dirname(dirname(dirname(abspath(__file__)))),'py-bindings') )
from functools import partial
from os.path import dirname
from time import clock
from math import fabs
import unittest
import copy
import ompl.util as ou
import ompl.base as ob
import ompl.geometric as og
from ompl.util import setLogLevel, LogLevel

SOLUTION_TIME = 10.0

class Environment(object):
    def __init__(self, fname):
        fp = open(fname, 'r')
        lines = fp.readlines()
        fp.close()
        self.width, self.height = [int(i) for i in lines[0].split(' ')[1:3]]
        self.grid = []
        self.start = [int(i) for i in lines[1].split(' ')[1:3]]
        self.goal = [int(i) for i in lines[2].split(' ')[1:3]]
        for i in range(self.width):
            self.grid.append(
                [int(i) for i in lines[4+i].split(' ')[0:self.height]])
        self.char_mapping = ['__', '##', 'oo', 'XX']

    def __str__(self):
        result = ''
        for line in self.grid:
            result = result + ''.join([self.char_mapping[c] for c in line]) + '\n'
        return result

def isValid(grid, state):
    # planning is done in a continuous space, but our collision space
    # representation is discrete
    x = int(state[0])
    y = int(state[1])
    return grid[x][y] == 0 # 0 means valid state

class mySpace(ob.RealVectorStateSpace):
    def __init__(self):
        super(mySpace, self).__init__(2)

    def distance(self, state1, state2):
        x1 = int(state1[0])
        y1 = int(state1[1])
        x2 = int(state2[0])
        y2 = int(state2[1])
        return fabs(x1-x2) + fabs(y1-y2)

class mySpaceInformation(ob.SpaceInformation):
    def __init__(self, env):
        self.sMan = mySpace()
        super(mySpaceInformation, self).__init__(self.sMan)
        sbounds = ob.RealVectorBounds(2)

        # dimension 0 (x) spans between [0, width)
        # dimension 1 (y) spans between [0, height)
        # since sampling is continuous and we round down, we allow values until
        # just under the max limit
        # the resolution is 1.0 since we check cells only
        sbounds.low[0] = 0.0
        sbounds.high[0] = float(env.width) - 0.000000001

        sbounds.low[1] = 0.0
        sbounds.high[1] = float(env.height) - 0.000000001

        self.sMan.setBounds(sbounds)
        self.setStateValidityCheckingResolution(0.5)
        isValidFn = ob.StateValidityCheckerFn(partial(isValid, env.grid))
        self.setStateValidityChecker(isValidFn)
        self.setup()

class TestPlanner(object):

    def execute(self, env, time, pathLength, show = False):
        result = True
        # instantiate space information
        si = mySpaceInformation(env)
        # instantiate problem definition
        pdef = ob.ProblemDefinition(si)
        # instantiate motion planner
        planner = self.newplanner(si)
        planner.setProblemDefinition(pdef)
        planner.setup()

        # the initial state
        state = ob.State(si)
        state()[0] = env.start[0]
        state()[1] = env.start[1]
        pdef.addStartState(state)

        goal = ob.GoalState(si)
        gstate = ob.State(si)
        gstate()[0] = env.goal[0]
        gstate()[1] = env.goal[1]
        goal.setState(gstate)
        goal.threshold = 1e-3
        pdef.setGoal(goal)

        startTime = clock()
        if planner.solve(SOLUTION_TIME):
            elapsed = clock() - startTime
            time = time + elapsed
            if show:
                print('Found solution in %f seconds!' % elapsed)

            path = pdef.getSolutionPath()
            sm = og.PathSimplifier(si)
            startTime = clock()
            sm.reduceVertices(path)
            elapsed = clock() - startTime
            time = time + elapsed
            if show:
                print('Simplified solution in %f seconds!' % elapsed)

            path.interpolate(100)
            pathLength = pathLength + path.length()
            if show:
                print(env, '\n')
                temp = copy.deepcopy(env)
                for i in range(len(path.states)):
                    x = int(path.states[i][0])
                    y = int(path.states[i][1])
                    if temp.grid[x][y] in [0,2]:
                        temp.grid[x][y] = 2
                    else:
                        temp.grid[x][y] = 3
                print(temp, '\n')
        else:
            result = False

        return (result, time, pathLength)

    def newPlanner(si):
        raise NotImplementedError('pure virtual method')

class RRTTest(TestPlanner):
    def newplanner(self, si):
        planner = og.RRT(si)
        planner.setRange(10.0)
        return planner

class TRRTTest(TestPlanner):
    def newplanner(self, si):
        planner = og.TRRT(si)
        planner.setRange(10.0)
        return planner

class RRTConnectTest(TestPlanner):
    def newplanner(self, si):
        planner = og.RRTConnect(si)
        planner.setRange(10.0)
        return planner

class pRRTTest(TestPlanner):
    def newplanner(self, si):
        planner = og.pRRT(si)
        planner.setRange(10.0)
        planner.setThreadCount(4)
        return planner

class LazyRRTTest(TestPlanner):
    def newplanner(self, si):
        planner = og.LazyRRT(si)
        planner.setRange(10.0)
        return planner

class SBLTest(TestPlanner):
    def newplanner(self, si):
        planner = og.SBL(si)
        planner.setRange(10.0)
        projection = ou.vectorUint()
        projection.extend([0, 1])
        cdim = ou.vectorDouble()
        cdim.extend([1, 1])
        proj = ob.RealVectorOrthogonalProjectionEvaluator(si.getStateSpace(), cdim, projection)
        planner.setProjectionEvaluator(proj)
        return planner

class pSBLTest(TestPlanner):
    def newplanner(self, si):
        planner = og.pSBL(si)
        planner.setRange(10.0)
        planner.setThreadCount(4)
        projection = ou.vectorUint()
        projection.extend([0, 1])
        cdim = ou.vectorDouble()
        cdim.extend([1, 1])
        proj = ob.RealVectorOrthogonalProjectionEvaluator(si.getStateSpace(), cdim, projection)
        planner.setProjectionEvaluator(proj)
        return planner

class KPIECE1Test(TestPlanner):
    def newplanner(self, si):
        planner = og.KPIECE1(si)
        planner.setRange(10.0)
        projection = ou.vectorUint()
        projection.extend([0, 1])
        cdim = ou.vectorDouble()
        cdim.extend([1, 1])
        proj = ob.RealVectorOrthogonalProjectionEvaluator(si.getStateSpace(), cdim, projection)
        planner.setProjectionEvaluator(proj)
        return planner

class LBKPIECE1Test(TestPlanner):
    def newplanner(self, si):
        planner = og.LBKPIECE1(si)
        planner.setRange(10.0)
        projection = ou.vectorUint()
        projection.extend([0, 1])
        cdim = ou.vectorDouble()
        cdim.extend([1, 1])
        proj = ob.RealVectorOrthogonalProjectionEvaluator(si.getStateSpace(), cdim, projection)
        planner.setProjectionEvaluator(proj)
        return planner

class ESTTest(TestPlanner):
    def newplanner(self, si):
        planner = og.EST(si)
        planner.setRange(10.0)
        projection = ou.vectorUint()
        projection.extend([0, 1])
        cdim = ou.vectorDouble()
        cdim.extend([1, 1])
        proj = ob.RealVectorOrthogonalProjectionEvaluator(si.getStateSpace(), cdim, projection)
        planner.setProjectionEvaluator(proj)
        return planner

class PRMTest(TestPlanner):
    def newplanner(self, si):
        planner = og.PRM(si)
        return planner

class PlanTest(unittest.TestCase):
    def setUp(self):
        self.env = Environment(dirname(abspath(__file__))+'/../../tests/resources/env1.txt')
        if self.env.width * self.env.height == 0:
            self.fail('The environment has a 0 dimension. Cannot continue')
        self.verbose = True

    def runPlanTest(self, planner):
        time = 0.0
        length = 0.0
        good = 0
        N = 50

        for i in range(N):
            (result, time, length) = planner.execute(self.env, time, length, False)
            if result: good = good + 1

        success = 100.0 * float(good) / float(N)
        avgruntime = time / float(N)
        avglength = length / float(N)

        if self.verbose:
            print('    Success rate: %f%%' % success)
            print('    Average runtime: %f' % avgruntime)
            print('    Average path length: %f' % avglength)

        return (success, avgruntime, avglength)

    def testGeometric_RRT(self):
        planner = RRTTest()
        (success, avgruntime, avglength) = self.runPlanTest(planner)
        self.assertTrue(success >= 99.0)
        self.assertTrue(avgruntime < 0.3)
        self.assertTrue(avglength < 100.0)

    def testGeometric_TRRT(self):
        planner = TRRTTest()
        (success, avgruntime, avglength) = self.runPlanTest(planner)
        self.assertTrue(success >= 99.0)
        self.assertTrue(avgruntime < 0.3)
        self.assertTrue(avglength < 100.0)

    def testGeometric_RRTConnect(self):
        planner = RRTConnectTest()
        (success, avgruntime, avglength) = self.runPlanTest(planner)
        self.assertTrue(success >= 99.0)
        self.assertTrue(avgruntime < 0.5)
        self.assertTrue(avglength < 100.0)

    # need to make bindings threadsafe
    # see http://wiki.python.org/moin/boost.python/HowTo#MultithreadingSupportformyfunction
    # def testGeometric_pRRT(self):
    #     planner = pRRTTest()
    #     (success, avgruntime, avglength) = self.runPlanTest(planner)
    #     self.assertTrue(success >= 99.0)
    #     self.assertTrue(avgruntime < 2.5)
    #     self.assertTrue(avglength < 100.0)

    def testGeometric_LazyRRT(self):
        planner = LazyRRTTest()
        (success, avgruntime, avglength) = self.runPlanTest(planner)
        self.assertTrue(success >= 60.0)
        self.assertTrue(avgruntime < 1)
        self.assertTrue(avglength < 100.0)

    def testGeometric_SBL(self):
        planner = SBLTest()
        (success, avgruntime, avglength) = self.runPlanTest(planner)
        self.assertTrue(success >= 99.0)
        self.assertTrue(avgruntime < 0.1)
        self.assertTrue(avglength < 100.0)

    # need to make bindings threadsafe
    # see http://wiki.python.org/moin/boost.python/HowTo#MultithreadingSupportformyfunction
    # def testGeometric_pSBL(self):
    #     planner = pSBLTest()
    #     (success, avgruntime, avglength) = self.runPlanTest(planner)
    #     self.assertTrue(success >= 99.0)
    #     self.assertTrue(avgruntime < 0.1)
    #     self.assertTrue(avglength < 100.0)

    def testGeometric_KPIECE1(self):
        planner = KPIECE1Test()
        (success, avgruntime, avglength) = self.runPlanTest(planner)
        self.assertTrue(success >= 99.0)
        self.assertTrue(avgruntime < 0.1)
        self.assertTrue(avglength < 100.0)

    def testGeometric_LBKPIECE1(self):
        planner = LBKPIECE1Test()
        (success, avgruntime, avglength) = self.runPlanTest(planner)
        self.assertTrue(success >= 99.0)
        self.assertTrue(avgruntime < 0.1)
        self.assertTrue(avglength < 100.0)

    def testGeometric_EST(self):
        planner = ESTTest()
        (success, avgruntime, avglength) = self.runPlanTest(planner)
        self.assertTrue(success >= 99.0)
        self.assertTrue(avgruntime < 0.1)
        self.assertTrue(avglength < 100.0)

    def testGeometric_PRM(self):
        planner = PRMTest()
        (success, avgruntime, avglength) = self.runPlanTest(planner)
        self.assertTrue(success >= 99.0)
        self.assertTrue(avgruntime < 2.0)
        self.assertTrue(avglength < 100.0)

def suite():
    suites = ( unittest.makeSuite(PlanTest) )
    return unittest.TestSuite(suites)

if __name__ == '__main__':
    setLogLevel(LogLevel.LOG_ERROR)
    unittest.main()
