fix: 🐛 Skip the search GIF in path planning smoke tests

src/components/plan/astar/astar_path_planner.py

@@ -203,6 +203,9 @@ def save_path(self, path, filename):
 
 
     def visualize_search(self, gif_name=None):
+        if gif_name is None:
+            return
+
         print(f"Exploring {len(self.explored_nodes)} nodes.")
         if not self.explored_nodes:
             print("Error: No explored nodes. Ensure search() is executed before visualize_search().")
@@ -225,15 +228,12 @@ def visualize_search(self, gif_name=None):
             repeat=False,
         )
 
-        if gif_name is not None:
-            try:
-                print("Saving animation...")
-                self.anime.save(gif_name, writer="pillow")
-                print("Animation saved successfully.")
-            except Exception as e:
-                print(f"Error saving animation: {e}")
-        else:
-            plt.show()
+        try:
+            print("Saving animation...")
+            self.anime.save(gif_name, writer="pillow")
+            print("Animation saved successfully.")
+        except Exception as e:
+            print(f"Error saving animation: {e}")
 
         # clear existing plot and close existing figure
         plt.clf()

src/components/plan/astar_bidirectional/astar_bidirectional_path_planner.py

@@ -357,6 +357,9 @@ def save_path(self, path, filename):
             json.dump(path, f)
 
     def visualize_search(self, gif_name=None):
+        if gif_name is None:
+            return
+
         print(f"Exploring {len(self.explored_nodes)} nodes.")
         if not self.explored_nodes:
             print("Error: No explored nodes. Ensure search() is executed before visualize_search().")
@@ -377,15 +380,12 @@ def visualize_search(self, gif_name=None):
             repeat=False,
         )
 
-        if gif_name is not None:
-            try:
-                print("Saving animation...")
-                self.anime.save(gif_name, writer="pillow")
-                print("Animation saved successfully.")
-            except Exception as e:
-                print(f"Error saving animation: {e}")
-        else:
-            plt.show()
+        try:
+            print("Saving animation...")
+            self.anime.save(gif_name, writer="pillow")
+            print("Animation saved successfully.")
+        except Exception as e:
+            print(f"Error saving animation: {e}")
 
         # clear existing plot and close existing figure
         plt.clf()

src/components/plan/dijkstra/dijkstra_path_planner.py

@@ -197,6 +197,9 @@ def save_path(self, path, filename):
 
 
     def visualize_search(self, gif_name=None):
+        if gif_name is None:
+            return
+
         print(f"Exploring {len(self.explored_nodes)} nodes.")
         if not self.explored_nodes:
             print("Error: No explored nodes. Ensure search() is executed before visualize_search().")
@@ -226,28 +229,25 @@ def visualize_search(self, gif_name=None):
             repeat=False,
         )
 
-        if gif_name is not None:
+        try:
+            print("Saving animation...")
+            # Use FFmpeg writer if available for better memory efficiency
             try:
-                print("Saving animation...")
-                # Use FFmpeg writer if available for better memory efficiency
-                try:
-                    self.anime.save(gif_name, writer="pillow", fps=20, 
-                                  savefig_kwargs={'bbox_inches': 'tight', 'dpi': 100})
-                except Exception:
-                    # Fallback to pillow with reduced quality
-                    self.anime.save(gif_name, writer="pillow")
-                print("Animation saved successfully.")
-            except Exception as e:
-                print(f"Error saving animation: {e}")
-                # Try saving as MP4 instead if GIF fails
-                try:
-                    mp4_name = gif_name.replace('.gif', '.mp4')
-                    self.anime.save(mp4_name, writer="ffmpeg", fps=20)
-                    print(f"Saved as MP4 instead: {mp4_name}")
-                except Exception as e2:
-                    print(f"Both GIF and MP4 saving failed: {e2}")
-        else:
-            plt.show()
+                self.anime.save(gif_name, writer="pillow", fps=20, 
+                              savefig_kwargs={'bbox_inches': 'tight', 'dpi': 100})
+            except Exception:
+                # Fallback to pillow with reduced quality
+                self.anime.save(gif_name, writer="pillow")
+            print("Animation saved successfully.")
+        except Exception as e:
+            print(f"Error saving animation: {e}")
+            # Try saving as MP4 instead if GIF fails
+            try:
+                mp4_name = gif_name.replace('.gif', '.mp4')
+                self.anime.save(mp4_name, writer="ffmpeg", fps=20)
+                print(f"Saved as MP4 instead: {mp4_name}")
+            except Exception as e2:
+                print(f"Both GIF and MP4 saving failed: {e2}")
 
         # clear existing plot and close existing figure
         plt.clf()

src/components/plan/informed_rrt_star/informed_rrt_star_path_planner.py

@@ -320,7 +320,7 @@ def save_path(self, path):
             json.dump(path, f)
 
     def visualize_search(self, gif_name, frame_skip=3):
-        if not self.tree_edges:
+        if gif_name is None or not self.tree_edges:
             return
 
         Path(gif_name).parent.mkdir(parents=True, exist_ok=True)

src/components/plan/rrt/rrt_path_planner.py

@@ -286,6 +286,9 @@ def save_path(self, path, filename):
 
 
     def visualize_search(self, gif_name=None):
+        if gif_name is None:
+            return
+
         print(f"Exploring {len(self.explored_nodes)} nodes.")
         if not self.explored_nodes:
             print("Error: No explored nodes. Ensure search() is executed before visualize_search().")
@@ -308,15 +311,12 @@ def visualize_search(self, gif_name=None):
             repeat=False,
         )
 
-        if gif_name is not None:
-            try:
-                print("Saving animation...")
-                self.anime.save(gif_name, writer="pillow")
-                print("Animation saved successfully.")
-            except Exception as e:
-                print(f"Error saving animation: {e}")
-        else:
-            plt.show()
+        try:
+            print("Saving animation...")
+            self.anime.save(gif_name, writer="pillow")
+            print("Animation saved successfully.")
+        except Exception as e:
+            print(f"Error saving animation: {e}")
 
         # clear existing plot and close existing figure
         plt.clf()

src/components/plan/rrt_star/rrt_star_path_planner.py

@@ -397,6 +397,9 @@ def save_path(self, path, filename):
             json.dump(path, f)
 
     def visualize_search(self, gif_name=None):
+        if gif_name is None:
+            return
+
         print(f"Exploring {len(self.explored_nodes)} nodes.")
         if not self.explored_nodes:
             print("Error: No explored nodes. Ensure search() is executed before visualize_search().")
@@ -417,15 +420,12 @@ def visualize_search(self, gif_name=None):
             repeat=False,
         )
 
-        if gif_name is not None:
-            try:
-                print("Saving animation...")
-                self.anime.save(gif_name, writer="pillow")
-                print("Animation saved successfully.")
-            except Exception as e:
-                print(f"Error saving animation: {e}")
-        else:
-            plt.show()
+        try:
+            print("Saving animation...")
+            self.anime.save(gif_name, writer="pillow")
+            print("Animation saved successfully.")
+        except Exception as e:
+            print(f"Error saving animation: {e}")
 
         plt.clf()
         plt.close()

src/components/plan/rrt_star_bidirectional/rrt_star_bidirectional_path_planner.py

@@ -379,6 +379,9 @@ def save_path(self, path, filename):
             json.dump(path, f)
 
     def visualize_search(self, gif_name=None):
+        if gif_name is None:
+            return
+
         print(f"Exploring {len(self.explored_nodes)} nodes.")
         if not self.explored_nodes:
             print("Error: No explored nodes. Ensure search() is executed before visualize_search().")
@@ -399,15 +402,12 @@ def visualize_search(self, gif_name=None):
             repeat=False,
         )
 
-        if gif_name is not None:
-            try:
-                print("Saving animation...")
-                self.anime.save(gif_name, writer="pillow")
-                print("Animation saved successfully.")
-            except Exception as e:
-                print(f"Error saving animation: {e}")
-        else:
-            plt.show()
+        try:
+            print("Saving animation...")
+            self.anime.save(gif_name, writer="pillow")
+            print("Animation saved successfully.")
+        except Exception as e:
+            print(f"Error saving animation: {e}")
 
         plt.clf()
         plt.close()

src/simulations/path_planning/astar_bidirectional_path_planning/astar_bidirectional_path_planning.py

@@ -112,7 +112,7 @@ def main():
         x_lim=x_lim,
         y_lim=y_lim,
         path_filename=path_filename,
-        gif_name=search_gif_path,
+        gif_name=search_gif_path if show_plot else None,
     )
 
     # Load sparse path from json file

src/simulations/path_planning/astar_path_planning/astar_path_planning.py

@@ -77,7 +77,7 @@ def main():
     occ_grid.save_map()
     # Easy Goal = (50,22)
     # Hard Goal = (50,-10)
-    planner = AStarPathPlanner((0, 0), (50, -10), map_path, weight=5.0, x_lim=x_lim, y_lim=y_lim, path_filename=path_filename, gif_name=search_gif_path)
+    planner = AStarPathPlanner((0, 0), (50, -10), map_path, weight=5.0, x_lim=x_lim, y_lim=y_lim, path_filename=path_filename, gif_name=search_gif_path if show_plot else None)
 
     # Load sparse path from json file
     with open(path_filename, 'r') as f:

src/simulations/path_planning/dijkstra_path_planning/dijkstra_path_planning.py

@@ -77,7 +77,7 @@ def main():
     occ_grid.save_map()
     # Easy Goal = (50,22)
     # Hard Goal = (50,-10)
-    planner = DijkstraPathPlanner((0, 0), (50, -10), map_path, x_lim=x_lim, y_lim=y_lim, path_filename=path_filename, gif_name=search_gif_path)
+    planner = DijkstraPathPlanner((0, 0), (50, -10), map_path, x_lim=x_lim, y_lim=y_lim, path_filename=path_filename, gif_name=search_gif_path if show_plot else None)
 
     # Load sparse path from json file
     with open(path_filename, 'r') as f:

src/simulations/path_planning/informed_rrt_star_path_planning/informed_rrt_star_path_planning.py

@@ -71,7 +71,7 @@ def main():
     occ_grid.add_object(obst_list)
     occ_grid.save_map()
 
-    planner = InformedRrtStarPathPlanner((10, 0), (30, 0), map_path, x_lim=x_lim, y_lim=y_lim, path_filename=path_filename, gif_name=search_gif_path,
+    planner = InformedRrtStarPathPlanner((10, 0), (30, 0), map_path, x_lim=x_lim, y_lim=y_lim, path_filename=path_filename, gif_name=search_gif_path if show_plot else None,
                              max_iterations=1200,step_size=1.5,goal_sample_rate=0.05, visualize_live=False)
 
     # Load sparse path from json file

src/simulations/path_planning/rrt_path_planning/rrt_path_planning.py

@@ -77,7 +77,7 @@ def main():
     occ_grid.save_map()
     # Easy Goal = (50,22)
     # Hard Goal = (50,-10)
-    planner = RrtPathPlanner((0, 0), (50, -10), map_path, x_lim=x_lim, y_lim=y_lim, path_filename=path_filename, gif_name=search_gif_path,
+    planner = RrtPathPlanner((0, 0), (50, -10), map_path, x_lim=x_lim, y_lim=y_lim, path_filename=path_filename, gif_name=search_gif_path if show_plot else None,
                              max_iterations=5000,step_size=0.5,goal_sample_rate=0.05)
 
     # Load sparse path from json file

src/simulations/path_planning/rrt_star_bidirectional_path_planning/rrt_star_bidirectional_path_planning.py

@@ -77,7 +77,7 @@ def main():
     occ_grid.save_map()
     # Easy Goal = (50,22)
     # Hard Goal = (50,-10)
-    planner = RrtStarBidirectionalPathPlanner((0, 0), (50, -10), map_path, x_lim=x_lim, y_lim=y_lim, path_filename=path_filename, gif_name=search_gif_path,
+    planner = RrtStarBidirectionalPathPlanner((0, 0), (50, -10), map_path, x_lim=x_lim, y_lim=y_lim, path_filename=path_filename, gif_name=search_gif_path if show_plot else None,
                                                max_iterations=5000, step_size=0.5, goal_sample_rate=0.05)
 
     # Load sparse path from json file

src/simulations/path_planning/rrt_star_path_planning/rrt_star_path_planning.py

@@ -77,7 +77,7 @@ def main():
     occ_grid.save_map()
     # Easy Goal = (50,22)
     # Hard Goal = (50,-10)
-    planner = RrtStarPathPlanner((0, 0), (50, -10), map_path, x_lim=x_lim, y_lim=y_lim, path_filename=path_filename, gif_name=search_gif_path,
+    planner = RrtStarPathPlanner((0, 0), (50, -10), map_path, x_lim=x_lim, y_lim=y_lim, path_filename=path_filename, gif_name=search_gif_path if show_plot else None,
                                  max_iterations=5000, step_size=0.5, goal_sample_rate=0.05)
 
     # Load sparse path from json file