Global Path Bug (#448)

* Made global path none in localpathstate and checked it when initializing reference_latlon

* Changed the test case to not have localpathstate to be none

src/local_pathfinding/local_pathfinding/local_path.py

@@ -47,6 +47,8 @@ def __init__(
                 HelperLatLon(latitude=waypoint.latitude, longitude=waypoint.longitude)
                 for waypoint in global_path.waypoints
             ]
+        else:
+            self.global_path = global_path
 
         if filtered_wind_sensor:  # TODO: remove when mock can be run
             self.wind_speed = filtered_wind_sensor.speed.speed

src/local_pathfinding/local_pathfinding/ompl_path.py

@@ -5,17 +5,18 @@
 won't work). The C++ API is documented on the OMPL website:
 https://ompl.kavrakilab.org/api_overview.html.
 """
+
 from __future__ import annotations
 
 from typing import TYPE_CHECKING, List, Tuple, Type
 
-from custom_interfaces.msg import HelperLatLon
 from ompl import base as ob
 from ompl import geometric as og
 from ompl import util as ou
 from rclpy.impl.rcutils_logger import RcutilsLogger
 
 import local_pathfinding.coord_systems as cs
+from custom_interfaces.msg import HelperLatLon
 from local_pathfinding.objectives import get_sailing_objective
 
 if TYPE_CHECKING:
@@ -39,7 +40,7 @@ def __init__(self, local_path_state: LocalPathState, logger: RcutilsLogger):
 
         self.reference_latlon = (
             local_path_state.global_path[-1]
-            if local_path_state and len(local_path_state.global_path) > 0
+            if local_path_state.global_path and len(local_path_state.global_path) > 0
             else HelperLatLon(latitude=0.0, longitude=0.0)
         )
 

src/local_pathfinding/test/test_ompl_path.py

@@ -21,7 +21,14 @@
 
 
 def test_OMPLPathState():
-    state = ompl_path.OMPLPathState(local_path_state=None, logger=RcutilsLogger())
+    local_path_state = LocalPathState(
+        gps=GPS(),
+        ais_ships=AISShips(),
+        global_path=Path(),
+        filtered_wind_sensor=WindSensor(),
+        planner="rrtstar",
+    )
+    state = ompl_path.OMPLPathState(local_path_state, logger=RcutilsLogger())
     assert state.state_domain == (-1, 1), "incorrect value for attribute state_domain"
     assert state.state_range == (-1, 1), "incorrect value for attribute start_state"
     assert state.start_state == pytest.approx(