tests/navigation_test.py

from pathlib import Path
import sys

# 현재 파일 위치: .../nav/caanip-backend/nav_bridge.py
THIS_DIR = Path(__file__).resolve().parent.parent
BACKEND_ROOT = THIS_DIR              # .../caanip-backend

from caainp_csm.graph_4f import Graph4F
from caainp_csm.plan_csm import (Constraints, Step, PlanState, create_simple_plan, update_state_with_node)
from caainp_cvm.nav_engine import init_plan, compute_nav_output, _get_csv_path

CSV_PATH = _get_csv_path()

def quick_test():
    """
    backend 레포에서 CSM + CVM + nav_engine이 제대로 연결되는지 확인용.
    실제 FastAPI 코드에서는 init_plan / compute_nav_output만 가져다 쓰면 됨.
    """
    
    plan, _ = init_plan(
        user_text="401에서 410호까지 이동",
        start_room=401,
    )

    node_images_dir = BACKEND_ROOT / "images"
    img_seq = ["401(1).jpg", "403(3).jpg", "410(1).jpg"]

    prev_node = None

    for img_name in img_seq:
        image_path = node_images_dir / img_name

        out = compute_nav_output(
            image_path=str(image_path),
            plan=plan,          # PlanState 객체 (우리가 nav_engine에서 쓰는 버전 기준)
            prev_node=prev_node,
            csv_path=str(CSV_PATH),
        )

        nav_output = out["nav_output"]
        plan = out["plan"]             # 업데이트된 PlanState 계속 유지
        prev_node = nav_output["current_node"]

        from pprint import pprint
        print(f"\n[IMAGE] {img_name}")
        pprint(nav_output)

if __name__ == "__main__":
    quick_test()