@@ -0,0 +1,21 @@
  + from __future__ import annotations
  + 
  + 
  + def execute(payload: dict) -> dict:
  +     width = float(payload["width_m"])
  +     height = float(payload["height_m"])
  +     spacing = float(payload["lane_spacing_m"])
  +     headland = float(payload.get("headland_m", 0))
  +     if width <= 0 or height <= 0 or spacing <= 0 or headland < 0:
  +         raise ValueError("field dimensions and spacing must be positive")
  +     if headland * 2 >= width or headland * 2 >= height:
  +         raise ValueError("headland leaves no workable area")
  +     x0, x1 = headland, width - headland
  +     y, y1, direction = headland, height - headland, 1
  +     points = []
  +     while y <= y1 + 1e-9:
  +         points.extend(([x0, round(y, 3)], [x1, round(y, 3)]) if direction == 1 else ([x1, round(y, 3)], [x0, round(y, 3)]))
  +         y += spacing
  +         direction *= -1
  +     distance = sum(((b[0]-a[0])**2 + (b[1]-a[1])**2)**0.5 for a, b in zip(points, points[1:]))
  +     return {"frame": "field_local", "waypoints": points, "path_length_m": round(distance, 3)}

added examples/input.json +6−0 View file

@@ -0,0 +1,6 @@
  + {
  +   "width_m": 20,
  +   "height_m": 12,
  +   "lane_spacing_m": 4,
  +   "headland_m": 1
  + }

added pyproject.toml +8−0 View file

@@ -0,0 +1,8 @@
  + [project]
  + name = "path_generation_asw"
  + version = "0.1.0"
  + description = "직사각형 농경지와 작업 폭으로 왕복형 커버리지 경로를 생성합니다."
  + requires-python = ">=3.11"
  + 
  + [tool.unittest]
  + test-path = "tests"

added run.py +10−0 View file

@@ -0,0 +1,10 @@
  + from __future__ import annotations
  + import json
  + import sys
  + from asw_component import execute
  + 
  + if __name__ == "__main__":
  +     path = sys.argv[1] if len(sys.argv) > 1 else None
  +     with open(path, encoding="utf-8") if path else sys.stdin as source:
  +         payload = json.load(source)
  +     print(json.dumps(execute(payload), ensure_ascii=False, indent=2))