Add hotspot search path generation

modules/generate_hotspot_search_path.py

@@ -0,0 +1,55 @@
+"""
+Generates search path for hotspots.
+"""
+
+import math
+
+from . import plot_circular_path
+from .common.modules import position_global_relative_altitude
+
+
+MINIMUM_POINTS = 3
+
+
+def generate_search_path(
+    center: position_global_relative_altitude.PositionGlobalRelativeAltitude,
+    search_radius: float,
+    search_area_dimensions: "tuple[float, float]",
+) -> "tuple[bool, list[position_global_relative_altitude.PositionGlobalRelativeAltitude] | None]":
+    """
+    Generates list of spline waypoints representing concentric rings for drone search path.
+
+    center: waypoint for center of circle.
+    search_radius: drone search radius.
+    search_area_dimensions: search area width, height
+
+    Returns: Success, list of waypoints.
+    """
+    camera_horizontal_size, camera_vertical_size = search_area_dimensions
+
+    if camera_horizontal_size <= 0 or camera_vertical_size <= 0:
+        print(f"ERROR: Camera dimensions must be greater than 0: {search_area_dimensions}")
+        return False, None
+
+    if search_radius < 0:
+        print(f"ERROR: Search radius must be greater than or equal to 0: {search_radius}")
+        return False, None
+
+    current_radius = camera_horizontal_size / 2
+
+    all_waypoints = []
+
+    while current_radius <= search_radius:
+        circumference = 2 * math.pi * current_radius
+        num_points = max(MINIMUM_POINTS, int(circumference / camera_vertical_size))
+
+        result, waypoints = plot_circular_path.generate_circular_path(
+            center, current_radius, num_points
+        )
+        if not result or waypoints is None:
+            return False, None
+        all_waypoints.extend(waypoints)
+
+        current_radius += camera_horizontal_size
+
+    return True, all_waypoints

tests/unit/test_generate_hotspot_search_path.py

@@ -0,0 +1,95 @@
+"""
+Hotspot search path generation unit tests.
+"""
+
+import math
+
+from modules import generate_hotspot_search_path
+from modules.common.modules import position_global_relative_altitude
+
+
+class TestGenerateSearchPath:
+    """
+    Test suite for generate_search_path.
+    """
+
+    def test_generate_search_path(self) -> None:
+        """
+        Test successful generation of search path.
+        """
+        result, center = position_global_relative_altitude.PositionGlobalRelativeAltitude.create(
+            0.0, 0.0, 100.0
+        )
+        search_radius = 100.0
+        search_area_dimensions = (20.0, 10.0)
+
+        result, waypoints = generate_hotspot_search_path.generate_search_path(
+            center, search_radius, search_area_dimensions
+        )
+
+        assert result
+        assert waypoints
+
+        camera_width, camera_height = search_area_dimensions
+        current_radius = camera_width / 2
+        waypoint_index = 0
+
+        while current_radius <= search_radius:
+            circumference = 2 * math.pi * current_radius
+            num_points = max(3, int(circumference / camera_height))
+
+            assert len(waypoints[waypoint_index : waypoint_index + num_points]) == num_points
+
+            waypoint_index += num_points
+            current_radius += camera_width
+
+    def test_generate_search_path_zero_radius(self) -> None:
+        """
+        Test generate_search_path with a zero search radius.
+        """
+        result, center = position_global_relative_altitude.PositionGlobalRelativeAltitude.create(
+            0.0, 0.0, 100.0
+        )
+        search_radius = 0.0
+        search_area_dimensions = (3.0, 3.0)
+
+        result, waypoints = generate_hotspot_search_path.generate_search_path(
+            center, search_radius, search_area_dimensions
+        )
+
+        assert result
+        assert waypoints == []
+
+    def test_generate_search_path_negative_radius(self) -> None:
+        """
+        Test generate_search_path with a negative search radius.
+        """
+        result, center = position_global_relative_altitude.PositionGlobalRelativeAltitude.create(
+            0.0, 0.0, 100.0
+        )
+        search_radius = -10.0
+        search_area_dimensions = (3.0, 3.0)
+
+        result, waypoints = generate_hotspot_search_path.generate_search_path(
+            center, search_radius, search_area_dimensions
+        )
+
+        assert result is False
+        assert waypoints is None
+
+    def test_generate_search_path_invalid_dimensions(self) -> None:
+        """
+        Test generate_search_path with invalid search area dimensions.
+        """
+        result, center = position_global_relative_altitude.PositionGlobalRelativeAltitude.create(
+            0.0, 0.0, 100.0
+        )
+        search_radius = 10.0
+        search_area_dimensions = (-3, 3.0)
+
+        result, waypoints = generate_hotspot_search_path.generate_search_path(
+            center, search_radius, search_area_dimensions
+        )
+
+        assert result is False
+        assert waypoints is None