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This commit is contained in:
Brady Bodily
2020-12-15 15:46:45 -07:00
parent 00444fbba9
commit 45eca3b572
16 changed files with 146 additions and 40 deletions
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2
ConsoleApp/ConsoleApp.csproj
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@@ -19,7 +19,7 @@
</ItemGroup>
<ItemGroup>
<None Update="VehicleConfiguration.json">
<None Update="Vehicle\VehicleConfiguration.json">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
</ItemGroup>

13
ConsoleApp/Maps/HexMap.cs
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@@ -1,6 +1,8 @@
using System;
using System.Collections.Generic;
using System.Linq;
using HexCore;
using ImTools;
namespace ConsoleApp.Maps
{
@@ -12,6 +14,10 @@ namespace ConsoleApp.Maps
public int Height { get; }
public Graph Graph { get; }
public OffsetTypes OffsetType { get; }
public MovementType DefaultMovement { get; }
/// <summary>
/// Generate Hex map with cells of 25cm X 25cm
@@ -20,6 +26,8 @@ namespace ConsoleApp.Maps
/// <param name="y"></param>
public HexMap(int x, int y)
{
//Set Offset Type for 2d -> 3d conversion
OffsetType = OffsetTypes.OddRowsRight;
//convert to cm
x *= 100;
y *= 100;
@@ -34,12 +42,12 @@ namespace ConsoleApp.Maps
var unclearedTerrain = new TerrainType(1, "uncleared");
var clearedTerrain = new TerrainType(2, "cleared");
var movement = new MovementType(1, "default");
DefaultMovement = new MovementType(1, "default");
var movementTypes = new MovementTypes(
new ITerrainType[] { unclearedTerrain, clearedTerrain },
new Dictionary<IMovementType, Dictionary<ITerrainType, int>>
{
[movement] = new Dictionary<ITerrainType, int>
[DefaultMovement] = new Dictionary<ITerrainType, int>
{
[unclearedTerrain] = 1,
[clearedTerrain] = 2
@@ -49,5 +57,6 @@ namespace ConsoleApp.Maps
Graph = GraphFactory.CreateRectangularGraph(Width, Height, movementTypes, unclearedTerrain);
}
}
}

4
ConsoleApp/Maps/IHexMap.cs
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@@ -5,5 +5,9 @@ namespace ConsoleApp.Maps
public interface IHexMap
{
Graph Graph { get; }
OffsetTypes OffsetType { get; }
int Width { get; }
int Height { get; }
MovementType DefaultMovement { get; }
}
}

1
ConsoleApp/Maps/ISquareMap.cs
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@@ -12,5 +12,6 @@ namespace ConsoleApp.Maps
Cell GetCell(int x, int y);
int Height { get; }
int Width { get; }
List<Cell> GetRange(Cell centerCell, int radius);
}
}

1
ConsoleApp/Maps/MapFactory.cs
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@@ -1,5 +1,6 @@
using System;
using System.Collections.Generic;
using ConsoleApp.Vehicle;
namespace ConsoleApp.Maps
{

49
ConsoleApp/Maps/SquareMap.cs
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@@ -1,7 +1,6 @@
using System;
using System.Collections.Generic;
using HexCore;
using ImTools;
namespace ConsoleApp.Maps
{
@@ -20,7 +19,6 @@ namespace ConsoleApp.Maps
/// <param name="y"></param>
public SquareMap(int x, int y)
{
HexGraph = default;
//convert to cm
x *= 100;
y *= 100;
@@ -63,8 +61,49 @@ namespace ConsoleApp.Maps
return possibles;
}
public Graph HexGraph { get; }
public List<Cell> GetRange(Cell centerCell, int radius)
{
var inRange = new List<Cell>();
var cx = centerCell.X;
var cy = centerCell.Y;
var topLeft = GetTopCellInBoundingBox(cx, cy, radius);
var bottomRight = GetBottomCellInBoundingBox(cx, cy, radius);
for (var i = topLeft.X; i < bottomRight.X; i++)
{
for (var j = bottomRight.Y; j < topLeft.Y; j++)
{
if (Math.Pow(i - cx, 2) + Math.Pow(j - cy, 2) < Math.Pow(radius,2))
{
inRange.Add(Map[i,j]);
}
}
}
return inRange;
}
private Cell GetTopCellInBoundingBox(int cx, int cy, int radius)
{
int topX, topY;
if (cy + radius > Height) topY = Height;
else
topY = cy + radius;
if (cx - radius < 0) topX = 0;
else
topX = cx - radius;
return Map[topX, topY];
}
private Cell GetBottomCellInBoundingBox(int cx, int cy, int radius)
{
int bottomX, bottomY;
if (cy - radius > 0) bottomY = 0;
else
bottomY = cy - radius;
if (cx + radius < Width) bottomX = Width;
else
bottomX = cx + radius;
return Map[bottomX, bottomY];
}
public Cell GetCell(int x, int y) => Map[x, y];

3
ConsoleApp/PathPlanners/IPathPlanner.cs
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@@ -1,12 +1,13 @@
using System.Collections.Generic;
using ConsoleApp.Maps;
using ConsoleApp.Vehicle;
namespace ConsoleApp.PathPlanners
{
public interface IPathPlanner
{
Queue<ICell> GenerateOptimalSquarePath(ISquareMap map, IVehicle vehicle);
Queue<ICell> GenerateOptimalHexPath(HexMap hexMap, IVehicle vehicle);
Queue<ICell> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle);
}
}

9
ConsoleApp/PathPlanners/PathPlanner.cs
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@@ -1,6 +1,8 @@
using System;
using System.Collections.Generic;
using ConsoleApp.Maps;
using ConsoleApp.Vehicle;
using HexCore;
namespace ConsoleApp.PathPlanners
{
@@ -11,7 +13,7 @@ namespace ConsoleApp.PathPlanners
var path = new Queue<ICell>();
var myCell = map.StartingCell;
var finished = false;
var width_cm = (double)(vehicle.DetectorWidth) * 100;
var width_cm = (double)(vehicle.DetectorRadius) * 100 * 2;
var swathOffset = (int)Math.Floor((decimal) (width_cm) / 25) + 1;
var currentHeading = GlobalDirection.North;
while (!finished)
@@ -53,8 +55,11 @@ namespace ConsoleApp.PathPlanners
return path;
}
public Queue<ICell> GenerateOptimalHexPath(HexMap hexMap, IVehicle vehicle)
public Queue<ICell> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
{
// var t = hexMap.Graph.GetMovementRange(
// new Coordinate2D(0, 0, hexMap.OffsetType), 2, hexMap.DefaultMovement);
// Console.WriteLine(t);
throw new NotImplementedException();
}
}

3
ConsoleApp/SimRunner.cs
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@@ -4,6 +4,7 @@ using System.Threading;
using System.Threading.Tasks;
using ConsoleApp.Maps;
using ConsoleApp.PathPlanners;
using ConsoleApp.Vehicle;
using HexCore;
namespace ConsoleApp
@@ -39,7 +40,7 @@ namespace ConsoleApp
{
var hexMap = _mapFactory.GetHexMap();
_vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
//var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
}

20
ConsoleApp/Vehicle/DetectionHead.cs Normal file
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@@ -0,0 +1,20 @@
using System.Collections.Generic;
using ConsoleApp.Maps;
using HexCore;
namespace ConsoleApp.Vehicle
{
public class DetectionHead
{
public List<Coordinate2D> GetCoveredCells(
Graph graph,
Coordinate2D centerCoordinate,
int detectorRadius,
GlobalDirection direction) => graph.GetRange(centerCoordinate, detectorRadius);
public List<Cell> GetCoveredCells(
ISquareMap squareMap,
Cell centerCell,
int detectorRadius) => squareMap.GetRange(centerCell, detectorRadius);
}
}

4
ConsoleApp/IVehicle.cs → ConsoleApp/Vehicle/IVehicle.cs
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@@ -1,13 +1,13 @@
using ConsoleApp.Maps;
namespace ConsoleApp
namespace ConsoleApp.Vehicle
{
public interface IVehicle
{
int Length { get; }
int Width { get; }
int DetectorOffset { get;}
int DetectorWidth { get;}
int DetectorRadius { get;}
HexCore.Coordinate2D CurrentHexCell { get; set; }
Heading HexHeading { get; set; }
Heading SquareHeading { get; set; }

13
ConsoleApp/Vehicle.cs → ConsoleApp/Vehicle/Vehicle.cs
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@@ -1,7 +1,6 @@
using System;
using ConsoleApp.Maps;
namespace ConsoleApp
namespace ConsoleApp.Vehicle
{
public class Vehicle : IVehicle
{
@@ -9,25 +8,25 @@ namespace ConsoleApp
public int Width { get; }
public int DetectorOffset { get;}
public int DetectorWidth { get;}
public int DetectorRadius { get;}
public HexCore.Coordinate2D CurrentHexCell { get; set; }
public Heading HexHeading { get; set; }
public Heading SquareHeading { get; set; }
public ICell CurrentSquareCell { get; set; }
public DetectionHead DetectionHead { get; }
public Vehicle(IJsonDeserializor jsonDeserializor)
{
var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/VehicleConfiguration.json");
var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Vehicle/VehicleConfiguration.json");
Length = config.Length;
Width = config.Width;
DetectorWidth = config.DetectorWidth;
DetectorRadius = config.DetectorRadius;
DetectorOffset = config.DetectorOffset;
CurrentHexCell = default;
CurrentSquareCell = default;
HexHeading = default;
SquareHeading = default;
DetectionHead = new DetectionHead();
}
}
}

4
ConsoleApp/VehicleConfiguration.cs → ConsoleApp/Vehicle/VehicleConfiguration.cs
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@@ -1,10 +1,10 @@
namespace ConsoleApp
namespace ConsoleApp.Vehicle
{
public class VehicleConfiguration
{
public int Length { get; set; }
public int Width { get; set; }
public int DetectorWidth { get; set; }
public int DetectorRadius { get; set; }
public int DetectorOffset { get; set; }
}
}

0
ConsoleApp/VehicleConfiguration.json → ConsoleApp/Vehicle/VehicleConfiguration.json
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