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Done for the night

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Need to change planning algo for square to go right to left.
This commit is contained in:
Brady Bodily
2020-12-15 00:09:29 -07:00
parent 5bb82f7579
commit 257aaa331f
13 changed files with 119 additions and 67 deletions
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4
.idea/.idea.RobotIntelFinal/.idea/contentModel.xml generated
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@@ -9,7 +9,6 @@
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<e p="IJsonDeserializor.cs" t="Include" />
<e p="IModule.cs" t="Include" />
<e p="IPathPlanner.cs" t="Include" />
<e p="ISimRunner.cs" t="Include" />
<e p="IUserConsole.cs" t="Include" />
<e p="IVehicle.cs" t="Include" />
@@ -34,7 +33,10 @@
</e>
</e>
</e>
<e p="PathPlanners" t="Include">
<e p="IPathPlanner.cs" t="Include" />
<e p="PathPlanner.cs" t="Include" />
</e>
<e p="Program.cs" t="Include" />
<e p="SimRunner.cs" t="Include" />
<e p="UserConsole.cs" t="Include" />

81
.idea/.idea.RobotIntelFinal/.idea/workspace.xml generated
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@@ -18,17 +18,18 @@
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1
ConsoleApp/ConsoleApp.csproj
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@@ -15,6 +15,7 @@
<ItemGroup>
<PackageReference Include="DryIoc.dll" Version="4.5.2" />
<PackageReference Include="HexCore" Version="4.1.0" />
</ItemGroup>
<ItemGroup>

1
ConsoleApp/CoreModule.cs
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@@ -1,6 +1,7 @@
using System.Text.Json;
using System.Threading;
using ConsoleApp.Maps;
using ConsoleApp.PathPlanners;
using DryIoc;
namespace ConsoleApp

12
ConsoleApp/Maps/Cell.cs
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@@ -6,18 +6,14 @@ namespace ConsoleApp.Maps
{
public int X { get; }
public int Y { get; }
public int Z { get; }
public Cell(int x, int y, int z = default)
{
if (z != default)
{
if (x + y + z != 0) throw new ArgumentException("x + y + z must be 0");
}
public Cell(int x, int y)
{
X = x;
Y = y;
Z = z;
}
}
}

6
ConsoleApp/Maps/GlobalDirection.cs
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@@ -5,6 +5,10 @@ namespace ConsoleApp.Maps
North,
South,
East,
West
West,
NorthEast,
SouthEast,
NorthWest,
SouthWest
}
}

53
ConsoleApp/Maps/HexMap.cs
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@@ -1,13 +1,17 @@
using System;
using System.Collections.Generic;
using HexCore;
namespace ConsoleApp.Maps
{
public class HexMap : IHexMap
{
private int _mapHeight;
private int _mapWidth;
public Cell[,] Map { get; }
public Cell StartingCell { get; }
public Cell LastCell { get; }
public Graph HexGraph { get; }
/// <summary>
/// Generate Hex map with cells of 25cm X 25cm
@@ -19,27 +23,60 @@ namespace ConsoleApp.Maps
//convert to cm
x *= 100;
y *= 100;
//calculate number of cells on x and y axis
var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
_mapHeight = yCellCount;
_mapWidth = xCellCount;
//Initialize Map
Map = new Cell[xCellCount, yCellCount];
//set last cell;
//set Starting cell;
StartingCell = Map[0, 0];
for (int r = 0; r < yCellCount; r++) {
int r_offset = Convert.ToInt32(Math.Floor(Convert.ToDouble(r)/2));
for (int q = r_offset; q < xCellCount - r_offset; q++) {
// Console.WriteLine($"r:{r}, q:{q}-----x:{x}, y:{y}");
Map[r, q] = new Cell(q, r, -q-r);
var unclearedTerrain = new TerrainType(1, "uncleared");
var clearedTerrain = new TerrainType(2, "cleared");
//Populate Map
var list = new List<CellState>();
for (int i = 0; i < _mapHeight; i++)
{
for (int j = 0; j < _mapWidth; j++)
{
list.Add(new CellState(false, new Coordinate2D(i, j, OffsetTypes.OddRowsRight), unclearedTerrain));
}
}
var movement = new MovementType(1, "default");
var movementTypes = new MovementTypes(
new ITerrainType[] { unclearedTerrain, clearedTerrain },
new Dictionary<IMovementType, Dictionary<ITerrainType, int>>
{
[movement] = new Dictionary<ITerrainType, int>
{
[unclearedTerrain] = 1,
[clearedTerrain] = 2
}
}
);
HexGraph = GraphFactory.CreateRectangularGraph(_mapWidth, _mapHeight, movementTypes, unclearedTerrain);
}
public List<GlobalDirection> PossibleMoves(ICell currentCell)
{
throw new NotImplementedException();
var x = currentCell.X;
var y = currentCell.Y;
var possibles = new List<GlobalDirection>();
if(currentCell.Y != _mapHeight)
possibles.Add(GlobalDirection.North);
if(currentCell.Y != 0)
possibles.Add(GlobalDirection.South);
if(currentCell.X != _mapWidth && currentCell.Y != _mapHeight)
possibles.Add(GlobalDirection.NorthEast);
return possibles;
}
}
}

1
ConsoleApp/Maps/ICell.cs
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@@ -4,6 +4,5 @@ namespace ConsoleApp.Maps
{
int X { get; }
int Y { get; }
int Z { get; }
}
}

3
ConsoleApp/Maps/IMap.cs
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@@ -1,5 +1,6 @@
using System.Collections.Generic;
using System.ComponentModel;
using HexCore;
namespace ConsoleApp.Maps
{
@@ -9,5 +10,7 @@ namespace ConsoleApp.Maps
Cell StartingCell { get; }
Cell LastCell { get; }
public List<GlobalDirection> PossibleMoves(ICell currentCell);
Graph HexGraph { get; }
}
}

6
ConsoleApp/Maps/SquareMap.cs
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@@ -1,5 +1,6 @@
using System;
using System.Collections.Generic;
using HexCore;
namespace ConsoleApp.Maps
{
@@ -16,6 +17,7 @@ namespace ConsoleApp.Maps
private int _mapHeight;
public SquareMap(int x, int y)
{
HexGraph = default;
//convert to cm
x *= 100;
y *= 100;
@@ -23,7 +25,7 @@ namespace ConsoleApp.Maps
var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
//set Width and height fields
//set Width and height fields and Properties
_mapWidth = xCellCount-1;
_mapHeight = yCellCount-1;
Height = _mapHeight;
@@ -60,6 +62,8 @@ namespace ConsoleApp.Maps
return possibles;
}
public Graph HexGraph { get; }
public Cell this[in int x, in int y] => Map[x, y];
}
}

3
ConsoleApp/IPathPlanner.cs → ConsoleApp/PathPlanners/IPathPlanner.cs
View File

@@ -1,11 +1,12 @@
using System.Collections.Generic;
using ConsoleApp.Maps;
namespace ConsoleApp
namespace ConsoleApp.PathPlanners
{
public interface IPathPlanner
{
Queue<ICell> GenerateOptimalSquarePath(SquareMap map, IVehicle vehicle);
Queue<ICell> GenerateOptimalHexPath(HexMap hexMap, IVehicle vehicle);
}
}

7
ConsoleApp/PathPlanner.cs → ConsoleApp/PathPlanners/PathPlanner.cs
View File

@@ -2,7 +2,7 @@ using System;
using System.Collections.Generic;
using ConsoleApp.Maps;
namespace ConsoleApp
namespace ConsoleApp.PathPlanners
{
public class PathPlanner : IPathPlanner
{
@@ -52,5 +52,10 @@ namespace ConsoleApp
return path;
}
public Queue<ICell> GenerateOptimalHexPath(HexMap hexMap, IVehicle vehicle)
{
throw new NotImplementedException();
}
}
}

6
ConsoleApp/SimRunner.cs
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@@ -3,6 +3,7 @@ using System.Collections.Generic;
using System.Threading;
using System.Threading.Tasks;
using ConsoleApp.Maps;
using ConsoleApp.PathPlanners;
namespace ConsoleApp
{
@@ -27,8 +28,8 @@ namespace ConsoleApp
public void Run()
{
SquareSimulation();
// var hexTask = Task.Run(() => HexSimulation());
//SquareSimulation();
HexSimulation();
// while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
}
@@ -37,6 +38,7 @@ namespace ConsoleApp
{
var hexMap = (HexMap)_mapFactory.Maps["HexMap"];
_vehicle.CurrentHexCell = hexMap.StartingCell;
var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
}