# This file is part of the CoverageControl library

#

# Author: Saurav Agarwal

# Contact: [email protected], [email protected]

# Repository: https://github.com/KumarRobotics/CoverageControl

#

# Copyright (c) 2024, Saurav Agarwal

#

# The CoverageControl library is free software: you can redistribute it and/or

# modify it under the terms of the GNU General Public License as published by

# the Free Software Foundation, either version 3 of the License, or (at your

# option) any later version.

#

# The CoverageControl library is distributed in the hope that it will be

# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General

# Public License for more details.

#

# You should have received a copy of the GNU General Public License along with

# CoverageControl library. If not, see <https://www.gnu.org/licenses/>.

import tempfile

import warnings

import numpy as np

import coverage_control as cc

def test_env_io():

params = cc.Parameters()

env = cc.CoverageSystem(params)

world_idf1 = env.GetWorldIDFObject()

world_map = world_idf1.GetWorldMap()

with tempfile.TemporaryDirectory() as tmp_dir:

env.WriteEnvironment(tmp_dir + "/env.pos", tmp_dir + "/env.idf")

world_idf2 = cc.WorldIDF(params, tmp_dir + "/env.idf")

env2 = cc.CoverageSystem(params, world_idf2, tmp_dir + "/env.pos")

map2 = world_idf2.GetWorldMap()

is_close = np.allclose(world_map, map2)

if not is_close:

diff = np.abs(world_map - map2).max()

assert is_close

is_equal = np.array_equal(world_map, map2)

if not is_equal and is_close:

diff = np.abs(world_map - map2).max()

print("Max difference: ", diff)

warnings.warn("Not all elements are equal, but all elements are close")